目录 1 Introduction 1.1 Autonomous Navigation Technology 1.1.1 Inertial Navigation 1.1.2 Autonomous Optical Navigation 1.1.3 Autonomous Pulsar-Based Navigation 1.2 Multi-source Information Fusion Technology 1.2.1 Definition of Multi-source Information Fusion 1.2.2 Classification of Multi-source Information Fusion Technologies 1.2.3 Multi-source Information Fusion Methods 1.3 Autonomous Navigation Technology Based on Multi-source Information Fusion 1.3.1 Research and Application Progress 1.3.2 Necessity and Advantages 1.4 Outline References 2 Point Estimation Theory 2.1 Basic Concepts 2.2 Common Parameter Estimators 2.2.1 MMSE Estimation 2.2.2 ML Estimator 2.2.3 Maximum a Posteriori (MAP) Estimator 2.2.4 Weight Least-Square (WLS) Estimator 2.3 Closed Form Parameter Estimators 2.3.1 Linear Estimator 2.3.2 MMSE Estimator for Jointly Gaussian Distribution 2.3.3 Estimation Algorithms for Linear Measurement Equation 2.4 State Estimation Algorithms in Dynamic Systems 2.4.1 Recursive Bayesian Estimation 2.4.2 Kalman Filtering 2.4.3 Extended Kalman Filtering 2.4.4 Unscented Kalman Filtering 2.4.5 Constrained Kalman Filtering 2.5 Brief Summary References 3 Estimation Fusion Algorithm 3.1 Linear Fusion Models and Algorithms 3.1.1 Linear Unified Model 3.1.2 Fusion Algorithm from the Linear Unified Model 3.1.3 Covariance Intersection Algorithm in the Distributed Fusion 3.2 Centralized-Fusion Kalman Filtering for a Dynamic System 3.2.1 Parallel Filtering 3.2.2 Sequential Filtering 3.2.3 Data Compression Filtering 3.3 Distributed-Fusion Kalman Filtering for a Dynamic System 3.3.1 Standard Distributed Kalman Filtering 3.3.2 Covariance Intersection Algorithm 3.3.3 Federated Filtering Algorithm 3.4 Brief Summary References 4 Performance Analysis 4.1 Observability of Linear System 4.1.1 Observability Analysis of LTI Systems 4.1.2 Observability Analysis of LTV Systems 4.2 Observability of Nonlinear Systems 4.2.1 Definition and Criteria of the Observability of Nonlinear Systems 4.2.2 Observability Analysis Based on Singular Value Decomposition 4.3 Degree of Observability for Autonomous Navigation System 4.3.1 Observability Gramian Based Method 4.3.2 Error Covariance-Based Method 4.4 Monte Carlo Method 4.5 Technique of Linear Covariance Analysis 4.6 Brief Summary References 5 Time and Coordinate Systems 5.1 Time Systems 5.1.1 Definition of Time System 5.1.2 Definition and Conversion of Julian Date 5.2 Coordinate Frames 5.2.1 Definition of Reference Coordinate System 5.2.2 Coordinate Transformation 5.3 Ephemeris of Navigational Celestial Bodies 5.3.1 Calculation of High-Precision Celestial Ephemerides 5.3.2 Calculation of Simple Celestial Ephemerides 5.4 Brief Summary References 6 Dynamic Models and Environment Models 6.1 Orbit Dynamics Model 6.1.1 Orbital Perturbation Model 6.1.2 Spacecraft Orbit Dynamics Model 6.2 Attitude Kinematics Model 6.2.1 Description of Attitude 6.2.2 Attitude Kinematics Equation 6.3 Mars Environment Model 6.3.1 Mars Ellipsoid Model 6.3.2 Mars Gravitation Field Model 6.4 Asteroid Environment Model 6.4.1 Asteroid 3D Model 6.4.2 Asteroid Gravitation Field Model 6.5 Brief Summary References 7 Inertial Autonomous Navigation Technology 7.1 Measurement Equation 7.1.1 Gyroscope Measurement Equation 7.1.2 Accelerometer Measurement Equation 7.2 Differential Equation of Strapdown Inertial Navigation . 7.3 Strapdown Inertial Navigation Update Equations 7.3.1 Attitude Update Equation 7.3.2 Inertial Velocity Update Equation 7.3.3 Inertial Position Update Equation 7.4 Com
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