電子導航

第一章導航簡介.............................................1.1導航基本量..............................................1.1-1地球..................................................1.1-2地圖..................................................1.1-3距離..................................................1.1-4方向..................................................1.1-5修正與定位線..........................................1.2導航簡史................................................第二章導航數學基礎.........................................2.1座標系統................................................2.1-1地球慣性系統..........................................2.1-2地球固定系統..........................................2.1-3本地水平系統..........................................2.1-4座標轉換..............................................2.2參數估算方法............................................2.3卡爾曼濾波器............................................2.3-1機率、隨機變數、與隨機過程............................2.3-2線性均方估算..........................................2.3-3卡爾曼濾波器..........................................2.4導航誤差................................................2.5導航系統性能要求........................................第三章無線電導航輔助系統...................................3.1無線電波................................................3.1-1電磁波的偏極化........................................3.1-2電波功率的考量........................................3.1-3電波的傳送特性........................................3.1-4電波的傳送路徑........................................3.1-5電波的調變............................................3.2歸航台與自動定向儀......................................3.3多向導航台..............................................3.4儀器降落系統............................................3.5微波降落系統............................................3.6精確測距儀..............................................3.7羅遠長距離導航..........................................3.8亞米茄導航..............................................3.9雷達....................................................3.9-1都卜勒雷達............................................3.9-2雷達高度計............................................3.9-3氣象雷達..............................................第四章全球定位性統.........................................4.1衛星軌道力學............................................4.2GPS訊號與電碼...........................................4.2-1GPS訊號產生流程.......................................4.2-2GPS的PRN碼及其特性....................................4.2-3GPS的導航資料.........................................4.3GPS接收器...............................................4.3-1訊號強度分析..........................................4.3-2訊號擷取與追蹤........................................4.4GPS之觀測量.............................................4.4-1GPS基本觀測量.........................................4.4-2觀測量之誤差..........................................4.4-3觀測量之組合..........................................4.5GPS定位計算.............................................4.5-1精度因子..............................................4.5-2整數未定值............................................4.6差分式GPS定位...........................................4.6-1近域差分GPS...........................................4.6-2廣域差分GPS...........................................4.6-3動態GPS...............................................4.7GPS整體性...............................................第五章慣性導航系統.........................................5.1慣性感測器..............................................5.1-1加速規................................................5.1-2機械式陀螺儀..........................................5.1-3光學式陀螺儀..........................................5.2慣性導航計算基礎........................................5.2-1姿態表示..............................................5.2-2運動方程式............................................5.3環架式慣性導航計算......................................5.3-1疏勒調諧..............................................5.3-2校正與對準............................................5.4固裝式慣性導航計算......................................5.5誤差分析.................................................第六章整合式導航...........................................6.1GPS與INS的整合..........................................6.2全球導航衛星系統........................................6.2-1GLONASS...............................................6.2-2廣域輔助系統..........................................6.2-3近域輔助系統..........................................6.2-4歐洲的全球衛星導航....................................6.2-5GPS提昇計畫...........................................6.3車輛導航................................................6.3-1感測元件..............................................6.3-2數值地圖..............................................6.3-3車輛行動通訊..........................................6.3-4車輛導航計算..........................................參考文獻....................................................xvii

第一章導航簡介.............................................1.1導航基本量..............................................1.1-1地球..................................................1.1-2地圖..................................................1.1-3距離..................................................1.1-4方向..................................................1.1-5修正與定位線..........................................1.2導航簡史................................................第二章導航數學基礎.............