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純距離目標(biāo)運(yùn)動(dòng)分析及應(yīng)用 
定 價(jià)：98 元
9 7 2 8 5 7 2 1 5 2 0 1 1 讀者對(duì)象:本書可供仿真建模專業(yè)的本科及研究生學(xué)習(xí)參考，也可作為相關(guān)專業(yè)工程設(shè)計(jì)師和管理人員參考使用。 
本書系統(tǒng)地介紹了純距離目標(biāo)運(yùn)動(dòng)分析的理論及應(yīng)用等相關(guān)知識(shí)。全書共分10章，系統(tǒng)討論了純距離目標(biāo)運(yùn)動(dòng)分析涉及的可觀測(cè)性分析、目標(biāo)定位與跟蹤算法、單站機(jī)動(dòng)航路優(yōu)化、靜止多站站址布局優(yōu)化等基礎(chǔ)問(wèn)題，并對(duì)純距離系統(tǒng)在水下聲學(xué)傳感器中的應(yīng)用進(jìn)行了論述。
王璐，女，博士，主要研究方向?yàn)槟繕?biāo)運(yùn)動(dòng)分析、系統(tǒng)建模與仿真，發(fā)表純距離目標(biāo)運(yùn)動(dòng)分析領(lǐng)域研究論文10余篇，參與完成科研項(xiàng)目6項(xiàng)，編寫教材3部。
第1 章 緒論 ················································································ 1
1.1 純距離目標(biāo)運(yùn)動(dòng)分析基本概念 ·············································· 1
1.2 純距離目標(biāo)運(yùn)動(dòng)分析的研究現(xiàn)狀 ··········································· 4
1.2.1 可觀測(cè)性分析的研究現(xiàn)狀 ············································ 4
1.2.2 目標(biāo)定位與跟蹤算法的研究現(xiàn)狀 ··································· 6
1.2.3 單觀測(cè)站機(jī)動(dòng)航路優(yōu)化的研究現(xiàn)狀 ································ 7
1.2.4 靜止多觀測(cè)站站址布局優(yōu)化的研究現(xiàn)狀 ·························· 7
1.2.5 基于純距離的水下聲學(xué)傳感器網(wǎng)絡(luò)節(jié)點(diǎn)自定位算法的研究現(xiàn)狀 ························································ 8
1.2.6 基于純距離的水下聲學(xué)傳感器網(wǎng)絡(luò)目標(biāo)跟蹤算法的研究現(xiàn)狀 ·································································
1.3 純距離目標(biāo)運(yùn)動(dòng)分析的研究熱點(diǎn) ··········································· 9
1.4 本書的組織結(jié)構(gòu) ······························································· 10
第2 章 單站純距離系統(tǒng)可觀測(cè)性分析 ·············································· 12
2.1 引言 ·············································································· 12
2.2 系統(tǒng)數(shù)學(xué)描述 ·································································· 13
2.2.1 直角坐標(biāo)系下的系統(tǒng)數(shù)學(xué)描述 ····································· 13
2.2.2 極坐標(biāo)系下的系統(tǒng)數(shù)學(xué)描述 ········································ 14
2.2.3 修正極坐標(biāo)系下的系統(tǒng)數(shù)學(xué)描述 ·································· 15
2.3 系統(tǒng)可觀測(cè)性定義 ···························································· 16
2.4 系統(tǒng)可觀測(cè)分析 ······························································· 17
2.4.1 觀測(cè)站靜止、目標(biāo)靜止時(shí)的系統(tǒng)可觀測(cè)性分析 ················ 18
2.4.2 觀測(cè)站靜止、目標(biāo)勻速直線運(yùn)動(dòng)時(shí)的系統(tǒng)可觀測(cè)性分析 ···· 18
2.4.3 觀測(cè)站靜止、目標(biāo)勻加速直線運(yùn)動(dòng)時(shí)的系統(tǒng)可觀測(cè)性分析 ··· 21
2.4.4 觀測(cè)站勻速直線運(yùn)動(dòng)、目標(biāo)靜止時(shí)的系統(tǒng)可觀測(cè)性分析 ···· 21
2.4.5 觀測(cè)站勻速直線運(yùn)動(dòng)、目標(biāo)勻速直線運(yùn)動(dòng)時(shí)的系統(tǒng)可觀測(cè)性分析 ·························································· 24
2.4.6 觀測(cè)站勻速直線運(yùn)動(dòng)、目標(biāo)勻加速直線運(yùn)動(dòng)時(shí)的系統(tǒng)可觀測(cè)性分析 ·························································· 25
2.4.7 觀測(cè)站勻加速直線運(yùn)動(dòng)、目標(biāo)靜止時(shí)的可觀測(cè)性分析 ······· 25
2.4.8 觀測(cè)站勻加速運(yùn)動(dòng)、目標(biāo)勻速直線運(yùn)動(dòng)時(shí)的可觀測(cè)分析 ···· 26
2.4.9 勻加速運(yùn)動(dòng)觀測(cè)站、勻加速直線運(yùn)動(dòng)目標(biāo)的可觀測(cè)分析 ···· 27
2.4.10 其他結(jié)論 ······························································ 31
2.5 單站純距離系統(tǒng)與單站純方位系統(tǒng)可觀測(cè)性比較 ······················· 32
第3 章 單站純距離系統(tǒng)目標(biāo)定位與跟蹤算法研究 ······························· 33
3.1 引言 ·············································································· 33
3.2 系統(tǒng)數(shù)學(xué)模型 ·································································· 34
3.3 基于最小二乘原理的目標(biāo)參數(shù)估計(jì)算法 ·································· 36
3.3.1 遞推格式的目標(biāo)參數(shù)估計(jì)算法 ····································· 36
3.3.2 基于全局收斂策略的目標(biāo)參數(shù)估計(jì)算法 ························· 40
3.4 基于極大似然原理的目標(biāo)參數(shù)估計(jì)算法 ·································· 48
3.4.1 單站純距離系統(tǒng)的極大似然估計(jì) ·································· 48
3.4.2 基于全局收斂策略的改進(jìn)算法 ····································· 51
3.4.3 仿真試驗(yàn)及分析 ······················································· 52
3.5 UKF 算法的基本原理 ························································· 57
3.5.1 UT 變換 ································································· 57
3.5.2 標(biāo)準(zhǔn)UKF 算法 ························································ 58
3.5.3 迭代UKF 算法 ························································ 59
3.5.4 仿真試驗(yàn)及分析 ······················································· 60
3.6 自適應(yīng)迭代UKF 算法 ························································ 63
3.6.1 自適應(yīng)迭代UKF 算法步驟 ········································· 63
3.6.2 仿真試驗(yàn)及分析 ······················································· 64
第4 章 單站機(jī)動(dòng)航路優(yōu)化研究 ······················································· 70
4.1 引言 ·············································································· 70
4.2 觀測(cè)站勻速直線一次轉(zhuǎn)向機(jī)動(dòng)時(shí)的可觀測(cè)度分析 ······················ 71
4.2.1 可觀測(cè)度的定義 ······················································· 71
4.2.2 仿真試驗(yàn)及分析 ······················································· 72
4.3 單站純距離測(cè)量模型的CRLB ·············································· 74
4.3.1 定位與跟蹤誤差下限 ················································· 74
4.3.2 單站純距離測(cè)量模型CRLB 計(jì)算 ·································· 76
4.4 觀測(cè)站機(jī)動(dòng)航路優(yōu)化研究 ··················································· 78
4.4.1 航路優(yōu)化問(wèn)題的提出 ················································· 78
4.4.2 勻速直線一次轉(zhuǎn)向機(jī)動(dòng)優(yōu)化航路 ·································· 79
4.4.3 勻速轉(zhuǎn)彎?rùn)C(jī)動(dòng)優(yōu)化航路 ·············································· 82
4.5 航路優(yōu)化的方法 ······························································· 85
第5 章 多站純距離系統(tǒng)可觀測(cè)性分析 ·············································· 87
5.1 引言 ·············································································· 87
5.2 多站純距離系統(tǒng)的數(shù)學(xué)描述及可觀測(cè)性定義 ···························· 87
5.2.1 直角坐標(biāo)系下的系統(tǒng)描述 ··········································· 87
5.2.2 多站純距離系統(tǒng)可觀測(cè)性的定義 ·································· 88
5.3 多站純距離系統(tǒng)可觀測(cè)性分析 ············································· 89
5.3.1 可觀測(cè)性分析 ·························································· 89
5.3.2 多站純距離系統(tǒng)與多站純方位系統(tǒng)可觀測(cè)性比較 ············· 93
5.3.3 多站純距離系統(tǒng)與多站距離差系統(tǒng)可觀測(cè)性比較 ············· 93
第6 章 多站純距離系統(tǒng)目標(biāo)定位與跟蹤算法研究 ······························· 95
6.1 引言 ·············································································· 95
6.2 “蛙跳”算法 ·································································· 96
6.2.1 “蛙跳”算法原理 ···················································· 96
6.2.2 仿真試驗(yàn)及分析 ······················································· 97
6.3 集中融合式定位算法 ························································· 99
6.3.1 集中融合式定位算法原理 ··········································· 99
6.3.2 仿真試驗(yàn)及分析 ····················································· 101
6.3.3 與多站TDOA 定位精度比較 ····································· 103
6.4 基于最小二乘原理的定位算法 ··········································· 108
6.4.1 多觀測(cè)站最小二乘定位原理 ······································ 108
6.4.2 線性近似法 ··························································· 109
6.4.3 基于全局收斂策略的牛頓迭代算法 ····························· 109
6.4.4 仿真試驗(yàn)及分析 ······················································ 110
6.5 改進(jìn)粒子濾波算法 ··························································· 111
6.5.1 標(biāo)準(zhǔn)粒子濾波算法基本原理 ······································· 111
6.5.2 粒子濾波算法存在的主要問(wèn)題 ···································· 115
6.5.3 基于遺傳算法的改進(jìn)粒子濾波算法 ······························ 116
6.5.4 基于簡(jiǎn)化入侵式野草優(yōu)化理論的改進(jìn)粒子濾波算法 ········ 121
第7 章 靜止多站站址布局優(yōu)化研究 ··············································· 130
7.1 引言 ············································································ 130
7.2 定位誤差分析 ································································ 131
7.3 三站站址布局模型 ·························································· 133
7.3.1 觀測(cè)站相對(duì)位置對(duì)定位精度的影響 ····························· 133
7.3.2 測(cè)距誤差對(duì)定位精度的影響 ······································ 138
7.3.3 站址誤差對(duì)定位精度的影響 ······································ 138
7.3.4 目標(biāo)高度對(duì)定位精度的影響 ······································ 139
7.3.5 仿真分析 ······························································ 140
7.4 站址布局優(yōu)化 ································································ 140
7.4.1 站址布局優(yōu)化問(wèn)題的提出 ········································· 140
7.4.2 站址布局優(yōu)化模型 ·················································· 142
7.4.3 仿真試驗(yàn)及分析 ····················································· 143
第8 章 基于純距離的水下聲學(xué)傳感器網(wǎng)絡(luò)節(jié)點(diǎn)定位算法 ···················· 145
8.1 引言 ············································································ 145
8.2 節(jié)點(diǎn)定位問(wèn)題描述與節(jié)點(diǎn)定位算法 ····································· 147
8.2.1 節(jié)點(diǎn)定位問(wèn)題與節(jié)點(diǎn)定位算法的分類 ·························· 147
8.2.2 基本節(jié)點(diǎn)定位算法 ·················································· 149
8.2.3 節(jié)點(diǎn)定位算法的評(píng)價(jià)指標(biāo) ········································· 150
8.2.4 水下聲學(xué)傳感器網(wǎng)絡(luò)中基于TOA 的測(cè)距 ····················· 153
8.3 自組織過(guò)程中的數(shù)據(jù)傳播算法 ··········································· 154
8.3.1 基于深度優(yōu)先遍歷的數(shù)據(jù)傳播算法 ····························· 155
8.3.2 分布式的并發(fā)無(wú)沖突數(shù)據(jù)傳播算法 ····························· 157
8.4 考慮局部拓?fù)潢P(guān)系的分布式節(jié)點(diǎn)定位算法 ····························· 160
8.4.1 基本原理 ······························································ 161
8.4.2 Layer-TERRAIN ····················································· 162
8.4.3 試驗(yàn)及分析 ··························································· 167
第9 章 基于純距離的水下聲學(xué)傳感器網(wǎng)絡(luò)目標(biāo)跟蹤算法 ···················· 169
9.1 引言 ············································································ 169
9.2 測(cè)距的可實(shí)現(xiàn)性 ····························································· 170
9.2.1 單目標(biāo)的聲強(qiáng)測(cè)距模型 ············································ 170
9.2.2 多目標(biāo)的聲強(qiáng)測(cè)距模型 ············································ 171
9.3 分布式跟蹤系統(tǒng)結(jié)構(gòu) ······················································· 171
9.3.1 動(dòng)態(tài)簇的組建 ························································ 171
9.3.2 基于動(dòng)態(tài)簇的目標(biāo)跟蹤過(guò)程 ······································ 174
9.4 基于粒子濾波的分布式目標(biāo)跟蹤算法 ··································· 175
9.4.1 基于加權(quán)質(zhì)心的預(yù)處理機(jī)制 ······································ 175
9.4.2 分布式粒子濾波算法 ··············································· 176
9.5 基于量化觀測(cè)理論的改進(jìn)粒子濾波算法 ································ 181
9.5.1 量化估計(jì)原理 ························································ 182
9.5.2 試驗(yàn)與分析 ··························································· 183
第10 章 水下聲學(xué)傳感器網(wǎng)絡(luò)目標(biāo)跟蹤原型系統(tǒng) ······························ 186
10.1 引言 ··········································································· 186
10.2 水聲節(jié)點(diǎn)硬件結(jié)構(gòu) ························································· 187
10.2.1 水聲通信模塊主要功能 ·········································· 187
10.2.2 水聲通信模塊結(jié)構(gòu) ················································ 188
10.3 軟件體系結(jié)構(gòu) ······························································· 190
10.3.1 網(wǎng)絡(luò)結(jié)構(gòu)組件 ······················································ 192
10.3.2 數(shù)據(jù)庫(kù)管理算法 ··················································· 196
10.3.3 數(shù)據(jù)融合算法 ······················································ 197
10.3.4 路由協(xié)議 ···························································· 198
10.4 原型系統(tǒng) ····································································· 199
參考文獻(xiàn) ··················································································· 201
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