智能导航系统毕业论文

“仿生智能导航系统”打造无人机发展新思路

人们一直希望研制一种能够自行避障的无人机系统，灾难发生时发挥应急侦察作用。无人机虽然可以远程控制，但却有很多的局限性，比如遥控装置和无人机之间的信号可能会因为墙的干扰或欺骗信号干扰而受到影响等等。因此，如何实现无人机系统的智能自主导航成为当今的研究热点与难点。

自然界的生物可以利用复眼的视觉成像以及偏振导航实现在复杂环境下的觅食、捕捉、归巢等行为，受生物这种导航方式的启发，仿生智能导航系统应运而生。

区别于人类的视觉系统，仿生智能导航系统不仅仅借助立体视觉来确定目标的深度和距离，还可模拟昆虫的复眼，具备光流测速、偏振导航等功能，可实现在非结构化等复杂环境下的自主导航与避障。

之所以模拟昆虫复眼系统，是因为昆虫复眼在原理上具有体积小、重量轻、视场大、动态性高、运动目标探测灵敏等优点。

此外，在信息融合与处理方面，系统内部嵌入了复合干扰建模及复合干扰滤波算法、空间姿态抗干扰信息融合算法等，实现了从复合干扰建模-分离估计-运动信息融合的智能硬件设计，提高了仿生智能导航系统的自主性及环境适应性。

北京航空航天大学“飞行器先进导航与控制系统技术”科技部重点领域创新团队在负责人郭雷教授带领下，围绕国家安全领域重大需求，坚持前沿理论与工程实践相结合，通过实施有组织科研开展了十余年的多学科交叉研究。

所研制的仿生智能导航系统，“看得清”、“导得准”、“控得稳”是其首要目标，使得无人机运动信息感知能力达到了一个新高度。纵观全球的无人机发展，中国的无人机各项技术已经取得了长足进步，尤其是在仿生智能导航方面，已经取得了较大突破。师法自然——提高感知的自主性、适应性和可靠性，自研全系列仿生自主导航系统，必将让中国的无人机发展更上一层楼。

GPS1. SpaceThe space is part of GPS satellite by 24 work [1], it is located above the surface of the 20 200km, evenly distributed in six track surface (4) each track surface, orbit for 55 ° Angle. In addition, there are four star orbiting satellites active backup. The distribution of satellite in global anywhere at any time can be observed in 4 above, and can keep good satellite positioning accuracy of geometrical image solution. This provides a continuous on time in the global navigation skills. GPS satellite produces two groups, one group called Morse code (C/A Coarse/Acquisition Code11023MHz), A group called the P (Procise Code 10123MHz), P Code for higher frequency, not suffer interference, high precision, so by the . military control, and the password, generally, mainly for folk cannot . military service. C/A code for measures to lower accuracy, and deliberately used mainly open to . The ground controlThe ground control station by a master, five global stations and 3 ground control station. There are equipped with precision of the station clock and continuous measuring cesium visible satellites to accept machine. The satellite observation stations will obtain data, including the ionosphere and meteorological data, after initial treatment, to master station. Master station from various stations, satellite tracking data calculated the orbit and clock parameters, then will result to 3 ground control station. The ground control station in each satellite run over to the navigation, master station instructions and data into a satellite. The injection of each star GPS satellite, and in every time inject stood range from satellite before finally injection. If a ground fault, so in the satellite navigation of stored information can also be used for a period of time, but the navigation precision will gradually . User equipment partsUser equipment parts namely GPS signal receiver. Its main function is to capture by certain Angle of satellite deadline to choose to follow these satellites and satellite, the operation. When the receiver to capture the satellite tracking, after receiving antenna can be measured and satellite pseudo distance and the distance change, satellite orbits parameters, such as the demodulation data. Based on these data, the receiver can handle the computer by positioning solution method and computing the user's position in the longitude and altitude geographical position, speed, time, etc. The hardware and software receivers in GPS data post-processing software package and form a complete GPS user equipment. GPS receiver unit and receiving antenna structure is divided into two parts of the unit. Receiver generally USES machine and together two kinds of dc power supply. Setting machine aims to replace the power supply without interruption continuous observation. In use within the time machine power battery charging automatically. After shutdown, machine battery power for the RAM, memory, in order to prevent the loss of data. At present various types of accept machine, weight and small volume and light, facilitate the field Ground control system (by now), the Station so the control Station (Master), so now the Antenna (Ground), the Antenna control Station, colo springfield, Colorado (are). The ground control station is responsible for collecting information by satellite, and alex, relative to star satellite data from the atmosphere correction. Secondly, the existing users receiver for two and two, double-frequency due to price factor, general user buys more for single-rate at the application of GPS road engineeringThe application of GPS in road construction, is mainly used to establish various road engineering control network and determination of the control points electricity, etc. Along with the rapid development of the highway to survey technology, puts forward a higher request, due to long, known points less, therefore, with the conventional measure method not only, and the net difficulties are hard to meet the requirement of high precision. At present, China has gradually establish lines using GPS technology, then head high precision control network layont wires with conventional methods. Practice has proved, in a few tens of kilometers within the scope of the point error only 2 centimeters, reached the conventional method to realize the accuracy, but also greatly ahead of time. GPS technology also applied to the control measure of large bridge. Since it is unnecessary to tong, can form strong nets, improve accuracy of inspection, via conventional measure fulcrum is effective. GPS technology in the measurement of the tunnel has broad prospect of application, GPS, reduced need through conventional method, the intermediate links, therefore, high speed, high accuracy, significant economic and social GPS navigation and traffic management in automotive applicationsThree-dimensional navigation is the primary function, GPS, ships, aircraft and ground vehicles pacers can use GPS navigation device for navigation. Car navigation system is in the global positioning system (GPS developed on the basis of a new technology. Car navigation system by GPS navigation, self-discipline, navigation and microprocessor, speed sensor, gyro sensor and cd-rom drives, LCD display. GPS navigation systems and electronic map, radio communication network, computer vehicle management information system, combining can achieve vehicle tracking and traffic management and many other GPS in long-distance passenger vehicle management application (for example),In the first set of professional long-haul GPS vehicle management system, and long-distance communication GPS intelligent management system, for example, it is combined with the satellite positioning technology, GPRS/CDMA communications business, GIS, image collection technology, computer network technology, and database in the company to build a passenger control (C/S structure and B/S structure combining), and the other for points, the public security bureau and control YunGuan departments and departments of the control system, established by the control center system, wireless communication system platform (GPRS/CDMA), global positioning system (GPS), four parts and trackside equipment all-weather, a full range of driver and vehicle tracking management platform, System can be registered vehicle dynamic tracking and monitoring implementation, pictures, driving record, management, data analysis and so on the function, monitoring vehicles in electronic map, and display of vehicles running track data, Operating terminal optional internal network or the Internet server to visit and through the center to provide online IE browser integrated passenger management data analysis of the control system (B/S structure), And the capacity of the system software available according to the center of the hardware configuration and operating terminal server, the most greatly expanded, net vehicles 500,000 can not only is long, can the passenger vehicles such social vehicles. And the system still can use group management, different types of vehicles into different groups, facilitate the operation technology application examples in the navigatorGPS navigators international leading brand: Ahada YiHang (of) -- from silicon valley, now login China!The core products function:1) map queryA penny saved is a penny gained in operation on a terminal search your destination penny saved is a penny gained can record you always want to place, and retain information, also can be Shared with others and the location penny saved is a penny gained fuzzy query your attachment or a location near the station, hotel, such as ) route planningA penny saved is a penny gained GPS navigation system will be set according to the starting point and destination, automatic programming penny saved is a penny gained planning routes whether can be set to pass some penny saved is a penny gained planning routes whether can avoid high-speed etc. ) automatic navigationA penny saved is a penny gained speech navigation:To provide drivers advance in speech, navigation condition intersection traffic information, such as a way to understand the wizard tells you how to drive to the destination. Navigation in one of the most important function, make you need, through watching operation terminal voice prompt can safe penny saved is a penny gained picture navigation:In the end, will display operate maps and position of the car now, driving speed, the destination of the route, planning, crossing the road to penny saved is a penny gained redesign line:When you have the line planning, or go wrong when crossing, GPS navigation system according to your present position, for you to plan a new route to the principleGPS navigation system is the basic principle of measuring the satellite to known position of the distance between the user receiver, and then integrated satellite data can know the location of the receiver. To achieve this objective, the position of the satellite can according to record the clock time on satellite star found in a calendar. Visible GPS navigation system is part of the satellite launch navigation ceaselessly. However, due to the use of the user to accept machine with satellite space-borne clock clock synchronization, may not always except user 3d coordinate x, y, z, will also introduce a Δ t is the difference between the satellite and the receiver as unknown, then use four equations will these four unknown. So if you want to know, the receiver's place at least four satellites can receive the receiver can receive the GPS clock can be used to accurately on the two levels of second time information, Used to forecast the next few months in the general position of satellite prediction star alex, Can be used to calculate the location for the satellite radio star alex, the coordinates for a few meters to dozens of accuracy of each different, rice (change) satellite, And the GPS system information, such as receiver to code measurement can get satellite receiver, because of the distance to the clock contains receiver satellite transmission error, error and the atmosphere is called pseudorange. 0A yards of measured pseudorange called UA yards pseudorange and accuracy for about 20 meters of P yards, measured pseudorange called P yards pseudorange and accuracy for about 2 receiver of received signal, decoding technology, or other information on the carrier modulation in removed, can restore carrier. Strictly speaking, the carrier phase should be called the carrier frequency phase, it is patted the received by doppler frequency influence of satellite signal receiver carrier phase and machine generated signal phase difference oscillations. General bell in the epoch receiver determined to keep time measurement, satellite signal, it can track record of phase change, but start when the value of the receiver and satellite observations of the oscillator is not know the initial phase of the epoch, also don't know phase integers, namely the fuzzy degrees, only in data processing as parameters. Phase observations of high precision and mm, but the premise is a whole week, so only in fuzzy relative positioning, and a continuous observation can use phase observations, and to achieve superior level meters positioning accuracy of also only using phase to the localization way, GPS positioning and relative into single point positioning (difference). According to a single point positioning receiver is the observation data to determine the position of the receiver, it only USES pseudorange observation, can be used as a compendium of navigation and positioning vehicles. Relative location (difference) is based on the observation data of two above receiver to determine the relative position between the observation methods, it can be adopted pseudorange observation may adopt phase observation and geodesy or engineering measurement shall be made phase observation value relative the GPS observation satellite and the receiver is contained in the clock, atmospheric propagation delay, the multipath effect etc, in the positioning error when calculating by satellite radio star alex, the influence of error in relative positioning error when most public offset or weakened by positioning accuracy, so will greatly improve, double-frequency receiver can according to the observation of two frequency offset the atmosphere, the main part of the error of the ionosphere, high accuracy in the distance between the receiver when significant difference (air), should choose double-frequency receiver.

随着社会发展的需要和机器人应用领域的扩大，人们对智能机器人的要求也越来越高。下面是我整理的机器人智能技术论文，希望你能从中得到感悟!

刍议智能机器人及其关键技术

【摘 要】文章介绍了机器人的定义，阐述了智能机器人研究领域的关键技术，最后展望了智能机器人今后的发展趋势。

【关键词】智能机器人;信息融合;智能控制

一、机器人的定义

自机器人问世以来，人们就很难对机器人下一个准确的定义，欧美国家认为机器人应该是“由计算机控制的通过编程具有可以变更的多功能的自动机械”;日本学者认为“机器人就是任何高级的自动机械”，我国科学家对机器人的定义是：“机器人是一种自动化的机器，所不同的是这种机器具备一些与人或生物相似的智能能力，如感知能力、规划能力、动作能力和协同能力，是一种具有高度灵活性的自动化机器。”目前国际上对机器人的概念已经渐趋一致，联合国标准化组织采纳了美国机器人协会(RIA：Robot Institute of America)于1979 年给机器人下的定义：“一种可编程和多功能的，用来搬运材料、零件、工具的操作机;或是为了执行不同的任务而具有可改变和可编程动作的专门系统。”概括说来，机器人是靠自身动和控制能力来实现各种功能的一种机器。

二、智能机器人关键技术

随着社会发展的需要和机器人应用领域的扩大，人们对智能机器人的要求也越来越高。智能机器人所处的环境往往是未知的、难以预测的，在研究这类机器人的过程中，主要涉及到以下关键技术：

(1)多传感器信息融合。多传感器信息融合技术是近年来十分热门的研究课题，它与控制理论、信号处理、人工智能、概率和统计相结合，为机器人在各种复杂、动态、不确定和未知的环境中执行任务提供了一种技术解决途径。机器人所用的传感器有很多种，根据不同用途分为内部测量传感器和外部测量传感器两大类。内部测量传感器用来检测机器人组成部件的内部状态，包括：特定位置、角度传感器;任意位置、角度传感器;速度、角度传感器;加速度传感器;倾斜角传感器;方位角传感器等。外部传感器包括：视觉(测量、认识传感器)、触觉(接触、压觉、滑动觉传感器)、力觉(力、力矩传感器)、接近觉(接近觉、距离传感器)以及角度传感器(倾斜、方向、姿式传感器)。多传感器信息融合就是指综合来自多个传感器的感知数据，以产生更可靠、更准确或更全面的信息。经过融合的多传感器系统能够更加完善、精确地反映检测对象的特性，消除信息的不确定性，提高信息的可靠性。融合后的多传感器信息具有以下特性：冗余性、互补性、实时性和低成本性。目前多传感器信息融合方法主要有贝叶斯估计、卡尔曼滤波、神经网络、小波变换等。

(2)导航与定位。在机器人系统中，自主导航是一项核心技术，是机器人研究领域的重点和难点问题。导航的基本任务有3点：一是基于环境理解的全局定位：通过环境中景物的理解，识别人为路标或具体的实物，以完成对机器人的定位，为路径规划提供素材;二是目标识别和障碍物检测：实时对障碍物或特定目标进行检测和识别，提高控制系统的稳定性;三是安全保护：能对机器人工作环境中出现的障碍和移动物体作出分析并避免对机器人造成的损伤。机器人有多种导航方式，根据环境信息的完整程度、导航指示信号类型等因素的不同，可以分为基于地图的导航、基于创建地图的导航和无地图的导航3类。根据导航采用的硬件的不同，可将导航系统分为视觉导航和非视觉传感器组合导航。视觉导航是利用摄像头进行环境探测和辨识，以获取场景中绝大部分信息。目前视觉导航信息处理的内容主要包括：视觉信息的压缩和滤波、路面检测和障碍物检测、环境特定标志的识别、三维信息感知与处理。非视觉传感器导航是指采用多种传感器共同工作，如探针式、电容式、电感式、力学传感器、雷达传感器、光电传感器等，用来探测环境，对机器人的位置、姿态、速度和系统内部状态等进行监控，感知机器人所处工作环境的静态和动态信息，使得机器人相应的工作顺序和操作内容能自然地适应工作环境的变化，有效地获取内外部信息。

(3)路径规划。路径规划技术是机器人研究领域的一个重要分支。最优路径规划就是依据某个或某些优化准则(如工作代价最小、行走路线最短、行走时间最短等)，在机器人工作空间中找到一条从起始状态到目标状态、可以避开障碍物的最优路径。路径规划方法大致可以分为传统方法和智能方法两种。传统路径规划方法主要有以下几种：自由空间法、图搜索法、栅格解耦法、人工势场法。大部分机器人路径规划中的全局规划都是基于上述几种方法进行的，但这些方法在路径搜索效率及路径优化方面有待于进一步改善。人工势场法是传统算法中较成熟且高效的规划方法，它通过环境势场模型进行路径规划，但是没有考察路径是否最优。智能路径规划方法是将遗传算法、模糊逻辑以及神经网络等人工智能方法应用到路径规划中，来提高机器人路径规划的避障精度，加快规划速度，满足实际应用的需要。其中应用较多的算法主要有模糊方法、神经网络、遗传算法、Q学习及混合算法等，这些方法在障碍物环境已知或未知情况下均已取得一定的研究成果。

(4)机器人视觉。视觉系统是自主机器人的重要组成部分，一般由摄像机、图像采集卡和计算机组成。机器人视觉系统的工作包括图像的获取、图像的处理和分析、输出和显示，核心任务是特征提取、图像分割和图像辨识。而如何精确高效的处理视觉信息是视觉系统的关键问题。目前视觉信息处理逐步细化，包括视觉信息的压缩和滤波、环境和障碍物检测、特定环境标志的识别、三维信息感知与处理等。其中环境和障碍物检测是视觉信息处理中最重要、也是最困难的过程。机器人视觉是其智能化最重要的标志之一，对机器人智能及控制都具有非常重要的意义。目前国内外都在大力研究，并且已经有一些系统投入使用。

(5)智能控制。随着机器人技术的发展，对于无法精确解析建模的物理对象以及信息不足的病态过程，传统控制理论暴露出缺点，近年来许多学者提出了各种不同的机器人智能控制系统。机器人的智能控制方法有模糊控制、神经网络控制、智能控制技术的融合(模糊控制和变结构控制的融合;神经网络和变结构控制的融合;模糊控制和神经网络控制的融合;智能融合技术还包括基于遗传算法的模糊控制方法)等。近几年，机器人智能控制在理论和应用方面都有较大的进展。在模糊控制方面，等人论证了模糊系统的逼近特性，首次将模糊理论用于一台实际机器人。模糊系统在机器人的建模控制、对柔性臂的控制、模糊补偿控制以及移动机器人路径规划等各个领域都得到了广泛的应用。在机器人神经网络控制方面，CMCA(Cere-bella Model Controller Articulation)应用较早的一种控制方法，其最大特点是实时性强，尤其适用于多自由度操作臂的控制。

(6)人机接口技术。智能机器人的研究目标并不是完全取代人，复杂的智能机器人系统仅仅依靠计算机来控制目前是有一定困难的，即使可以做到，也由于缺乏对环境的适应能力而并不实用。智能机器人系统还不能完全排斥人的作用，而是需要借助人机协调来实现系统控制。因此，设计良好的人机接口就成为智能机器人研究的重点问题之一。人机接口技术是研究如何使人方便自然地与计算机交流。为了实现这一目标，除了最基本的要求机器人控制器有1个友好的、灵活方便的人机界面之外，还要求计算机能够看懂文字、听懂语言、说话表达，甚至能够进行不同语言之间的翻译，而这些功能的实现又依赖于知识表示方法的研究。因此，研究人机接口技术既有巨大的应用价值，又有基础理论意义。目前，人机接口技术已经取得了显著成果，文字识别、语音合成与识别、图像识别与处理、机器翻译等技术已经开始实用化。另外，人机接口装置和交互技术、监控技术、远程操作技术、通讯技术等也是人机接口技术的重要组成部分，其中远程操作技术是一个重要的研究方向。

三、总结与展望

机器人是自动化领域的主题之一，人们几十年来对机器人的开发和研究，使机器人技术取得了巨大的进步。随着人工智能、智能控制和计算机技术的发展，机器人的应用领域必将不断扩大，性能不断提高，在未来的生产、生活、科研当中会发挥更重要的作用。

参 考 文 献

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[2]王灏，毛宗源.机器人的智能控制方法[M].北京：国防工业出版社，2002

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