基于zigbee的井下搜救机器人定位算法分析-analysis of localization algorithm of underground search and rescue robot based on zigbee.docxVIP

目录摘要 ........................................................................................................... IAbstract ............................................................................................................ II引言 .......................................................................................................... 11简介 ............................................................................................................ 21.1选题背景及意义 ................................................................................21.2国内外救灾机器人的研究现状 ..........................................................21.3ZigBee 通信技术 31.4本文的主要工作 ................................................................................52.移动机器人定位技术 ................................................................................. 62.1概述 ...................................................................................................62.2相对定位技术 ....................................................................................62.2.1航迹推算法 ................................................................................... 62.2.2定位误差 ...................................................................................... 72.2.3测距法 .......................................................................................... 72.3绝对定位技术 ....................................................................................72.3.1全球定位系统(GPS)92.3.2路标定位 ...................................................................................... 92.4本章小结 .......................................................................................... 103.无线传感器网络节点定位技术 ................................................................ 113.1WSN 节点的分类113.2WSN 节点定位技术的分类123.3基于测距技术的定位算法分析 ........................................................ 143.3.1三边定位法 ................................................................................. 143.3.2三角定位法 ..................................................................