{"id":101960,"date":"2026-09-07T22:09:23","date_gmt":"2026-09-07T14:09:23","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/101960.html"},"modified":"2026-09-07T22:09:23","modified_gmt":"2026-09-07T14:09:23","slug":"%e3%80%90%e7%be%a4%e4%bd%93%e6%99%ba%e8%83%bd%e9%9b%86%e7%be%a4%e6%8e%a7%e5%88%b6%e5%b7%a5%e7%a8%8b%e5%ae%9e%e8%b7%b5%e3%80%91%e7%ac%ac7%e7%ab%a0-%e6%97%a0%e4%ba%ba%e6%9c%ba%e8%9c%82%e7%be%a4%e6%a0%b8","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/101960.html","title":{"rendered":"\u3010\u7fa4\u4f53\u667a\u80fd\u96c6\u7fa4\u63a7\u5236\u5de5\u7a0b\u5b9e\u8df5\u3011\u7b2c7\u7ae0 \u65e0\u4eba\u673a\u8702\u7fa4\u6838\u5fc3\u529f\u80fd\u5b9e\u73b0"},"content":{"rendered":"

\u7b2c 7 \u7ae0\u3000\u65e0\u4eba\u673a\u8702\u7fa4\u6838\u5fc3\u529f\u80fd\u5b9e\u73b0<\/h2>\n

\u6240\u5c5e\u5377\u518c：\u7b2c\u4e09\u5377\u3000\u65e0\u4eba\u673a\u8702\u7fa4\u63a7\u5236\u5de5\u7a0b\u5b9e\u8df5<\/p>\n

\u7b2c 6 \u7ae0\u642d\u597d\u4e86\u8702\u7fa4\u7cfb\u7edf\u7684\u9aa8\u67b6（\u5e73\u53f0\u3001\u94fe\u8def\u3001\u8f6f\u4ef6\u5206\u5c42），\u672c\u7ae0\u628a\u7b2c\u4e8c\u5377\u7684\u7b97\u6cd5"\u586b\u5145"\u8fdb\u9aa8\u67b6，\u5b9e\u73b0\u8702\u7fa4\u7684\u4e09\u7c7b\u6838\u5fc3\u529f\u80fd：\u7f16\u961f\u98de\u884c（7.1）\u3001\u534f\u540c\u907f\u969c（7.2）\u4e0e\u4efb\u52a1\u6267\u884c（7.3）\u3002\u4e09\u7c7b\u529f\u80fd\u5bf9\u5e94\u7b97\u6cd5\u5c42\u7ea7\u7684\u9012\u8fdb：\u7f16\u961f\u98de\u884c\u662f"\u4fdd\u6301\u51e0\u4f55\u6784\u578b\u8fd0\u52a8"\u7684\u5e95\u5c42\u80fd\u529b，\u534f\u540c\u907f\u969c\u662f"\u5728\u52a8\u6001\u73af\u5883\u4e2d\u4e0d\u649e"\u7684\u5b89\u5168\u80fd\u529b，\u4efb\u52a1\u6267\u884c\u662f"\u9488\u5bf9\u76ee\u6807\u5bf9\u8c61\u5de5\u4f5c"\u7684\u4f5c\u6218\/\u4f5c\u4e1a\u80fd\u529b\u3002\u672c\u7ae0\u7684\u6bcf\u4e00\u5c0f\u8282\u90fd\u9075\u5faa\u7edf\u4e00\u6a21\u5f0f：\u7b97\u6cd5\u9009\u62e9（\u5f15\u7528\u524d\u6587\u7ed3\u8bba）\u2192 \u5de5\u7a0b\u5b9e\u73b0\u8981\u70b9（\u53c2\u6570\u3001\u6d41\u7a0b\u3001\u5931\u6548\u5904\u7406）\u2192 \u9a8c\u6536\u6307\u6807\u3002\u9700\u8981\u9884\u5148\u8bf4\u660e\u7684\u662f，\u672c\u7ae0\u5927\u91cf\u5185\u5bb9\u662f"\u5de5\u7a0b\u6b63\u786e\u6027"\u95ee\u9898\u2014\u2014\u540c\u6837\u7684\u7b97\u6cd5，\u53c2\u6570\u4e0e\u6d41\u7a0b\u4e0d\u5f53\u4f1a\u5728\u771f\u673a\u4e0a\u5448\u73b0\u5b8c\u5168\u4e0d\u540c\u7684\u7ed3\u679c，\u56e0\u6b64\u5404\u8282\u90fd\u7ed9\u51fa\u4e86\u53ef\u6267\u884c\u7684\u5b9e\u73b0\u4e0e\u6d4b\u8bd5\u6b65\u9aa4\u3002\u8702\u7fa4\u529f\u80fd\u7684\u771f\u5b9e\u7cfb\u7edf\u9a8c\u8bc1\u53ef\u5bf9\u6807\u5df2\u6709\u5f00\u6e90\u4e0e\u8bba\u6587\u62a5\u9053\u7684\u5b9e\u98de\u8702\u7fa4（\u5982\u5ba4\u5916\u53d7\u9650\u7a7a\u95f4\u6570\u767e\u67b6\u6b21\u89c4\u6a21\u7684\u4f18\u5316\u8702\u62e5\u5b9e\u98de[1]）\u7684\u5de5\u7a0b\u7ed3\u8bba\u3002<\/p>\n

7.1\u3000\u96c6\u7fa4\u7f16\u961f\u98de\u884c\u63a7\u5236<\/h3>\n

7.1.1\u3000\u4e8c\u7ef4\/\u4e09\u7ef4\u7f16\u961f\u751f\u6210<\/h4>\n

\u7f16\u961f\u751f\u6210\u6307\u96c6\u7fa4\u4ece"\u8d77\u98de\u6563\u5e03\u72b6\u6001"\u6536\u655b\u5230"\u671f\u671b\u51e0\u4f55\u6784\u578b"\u7684\u8fc7\u7a0b，\u5206\u4e3a\u4e24\u6b65：\u521d\u59cb\u961f\u5f62\u5f62\u6210（\u4ece\u6563\u4e71\u5230\u6210\u5f62）\u4e0e\u7f16\u961f\u4fdd\u6301（\u6210\u5f62\u540e\u968f\u961f\u8fd0\u52a8）\u3002\u5de5\u7a0b\u4e0a\u961f\u5f62\u751f\u6210\u91c7\u7528"\u865a\u62df\u9886\u822a\u8005 + \u504f\u79fb\u4e00\u81f4\/\u52bf\u573a"\u7684\u7ec4\u5408：\u865a\u62df\u9886\u822a\u8005\u63d0\u4f9b\u961f\u5f62\u53c2\u8003（\u7b2c 4.1.2.2 \u8282\u504f\u79fb\u4e00\u81f4\u5f0f(4.7)\u7684\u5de5\u7a0b\u5b9e\u4f8b），\u52bf\u573a\u4fdd\u8bc1\u6536\u655b\u8fc7\u7a0b\u4e0d\u78b0\u649e\u3002<\/p>\n

7.1.1.1\u3000\u57fa\u4e8e\u865a\u62df\u9886\u822a\u8005\u7684\u961f\u5f62\u521d\u59cb\u5316\u65b9\u6cd5<\/h5>\n

\u961f\u5f62\u521d\u59cb\u5316\u8f93\u5165\u4e3a\u961f\u5f62\u5b9a\u4e49\u8868（\u6210\u5458 ID \u2192 \u961f\u5f62\u4f4d\u59ff (riinit,\u03c8i)(\\\\mathbf{r}_i^{\\\\mathrm{init}}, \\\\psi_i)<\/span><\/span>(<\/span>r<\/span><\/span>i<\/span><\/span><\/span><\/span>init<\/span><\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>,<\/span><\/span>\u03c8<\/span><\/span>i<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>)<\/span><\/span><\/span><\/span><\/span>），\u8f93\u51fa\u4e3a\u5404\u673a"\u5f00\u59cb\u8ddf\u8e2a\u7f16\u961f\u72b6\u6001"\u7684\u5224\u636e\u3002\u865a\u62df\u9886\u822a\u8005\u65b9\u6848\u5728\u6bcf\u673a\u672c\u5730\u751f\u6210\u961f\u5f62\u53c2\u8003：<\/p>\n

pid(t)=pv(t)+R(\u03c8v)\u2009ri,ei(t)=pi(t)\u2212pid(t)(7.1)\\\\mathbf{p}_i^{d}(t) = \\\\mathbf{p}_v(t) + \\\\mathbf{R}(\\\\psi_v) \\\\, \\\\mathbf{r}_i, \\\\qquad \\\\mathbf{e}_i(t) = \\\\mathbf{p}_i(t) – \\\\mathbf{p}_i^{d}(t) \\\\tag{7.1}<\/span><\/span>p<\/span><\/span>i<\/span><\/span><\/span><\/span>d<\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>(<\/span>t<\/span>)<\/span><\/span>=<\/span><\/span><\/span><\/span>p<\/span><\/span>v<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>(<\/span>t<\/span>)<\/span><\/span>+<\/span><\/span><\/span><\/span>R<\/span>(<\/span>\u03c8<\/span><\/span>v<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>)<\/span><\/span>r<\/span><\/span>i<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>,<\/span><\/span><\/span>e<\/span><\/span>i<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>(<\/span>t<\/span>)<\/span><\/span>=<\/span><\/span><\/span><\/span>p<\/span><\/span>i<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>(<\/span>t<\/span>)<\/span><\/span>\u2212<\/span><\/span><\/span><\/span>p<\/span><\/span>i<\/span><\/span><\/span><\/span>d<\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>(<\/span>t<\/span>)<\/span><\/span><\/span>(<\/span>7.1<\/span><\/span>)<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/p>\n

\u5176\u4e2d (pv,\u03c8v)(\\\\mathbf{p}_v, \\\\psi_v)<\/span><\/span>(<\/span>p<\/span><\/span>v<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>,<\/span><\/span>\u03c8<\/span><\/span>v<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>)<\/span><\/span><\/span><\/span><\/span> \u4e3a\u865a\u62df\u9886\u822a\u8005\u4f4d\u59ff（\u7531\u4e00\u81f4\u6027\u7b97\u6cd5\u5728\u673a\u95f4\u5171\u8bc6，\u6216\u7531\u957f\u673a\u672c\u5730\u53d1\u5e03\u2014\u2014\u6ce8\u610f\u7b2c 6.2 \u7ae0\u67b6\u6784\u4e2d\u5b83\u5e94\u5728\u534f\u8c03\u5c42\u4f5c\u4e3a\u4e00\u6761"\u961f\u5f62\u53c2\u8003\u4e3b\u9898"\u5b58\u5728），ri\\\\mathbf{r}_i<\/span><\/span>r<\/span><\/span>i<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span> \u4e3a\u8be5\u673a\u5728\u961f\u5f62\u4e2d\u7684\u76f8\u5bf9\u4f4d\u7f6e（\u672c\u4f53\u7cfb）\u3002\u521d\u59cb\u5316\u6d41\u7a0b\u7684\u5de5\u7a0b\u8981\u70b9：<\/p>\n

  • \u8d77\u98de\u524d\u5b8c\u6210\u961f\u5f62\u8868\u5206\u53d1\u4e0e\u6821\u9a8c：\u961f\u5f62\u8868\u662f\u4efb\u52a1\u7ea7\u8f93\u5165，\u7531\u5730\u9762\u7ad9\/\u4efb\u52a1\u5c42\u4e0b\u53d1，\u6bcf\u673a\u672c\u5730\u4fdd\u5b58；\u8d77\u98de\u540e"\u53d1\u73b0\u961f\u5f62\u8868\u7f3a\u5931\/ID \u91cd\u590d"\u5e94\u5728\u5730\u9762\u5224\u6545\u800c\u975e\u7a7a\u4e2d\u5904\u7406；<\/li>\n
  • \u6536\u655b\u8fc7\u7a0b\u4e09\u9636\u6bb5\u653e\u884c：\u8d77\u98de\u722c\u5347（\u5404\u673a\u72ec\u7acb，\u4fdd\u8bc1\u5b89\u5168\u9ad8\u5ea6）\u2192 \u961f\u5f62\u8d8b\u8fd1（\u4ee5\u52bf\u573a\/\u504f\u79fb\u4e00\u81f4\u5411\u5f0f(7.1)\u6536\u655b，\u671f\u95f4\u901f\u5ea6\u4e0a\u9650\u6309\u5b89\u5168\u95f4\u8ddd\u7ea6\u675f，\u53c2\u8003\u7b2c 4.2.2 \u8282）\u2192 \u961f\u5f62\u4fdd\u6301（\u8bef\u5dee \u2225ei\u2225\\\\|\\\\mathbf{e}_i\\\\|<\/span><\/span>\u2225<\/span>e<\/span><\/span>i<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u2225<\/span><\/span><\/span><\/span><\/span> \u8fdb\u5165\u9a8c\u6536\u5e26\u540e\u89c6\u4e3a\u6210\u5f62）；\u9636\u6bb5\u5207\u6362\u7531"\u5168\u673a\u7f16\u961f\u8bef\u5dee\u5305\u7edc"\u89e6\u53d1（Emax\u2061=max\u2061i\u2225ei\u2225<eaccE_{\\\\max} = \\\\max_i \\\\|\\\\mathbf{e}_i\\\\| < e_{\\\\mathrm{acc}}<\/span><\/span>E<\/span><\/span>m<\/span>a<\/span>x<\/span><\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>=<\/span><\/span><\/span><\/span>max<\/span><\/span>i<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u2225<\/span>e<\/span><\/span>i<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u2225<\/span><\/span><<\/span><\/span><\/span><\/span>e<\/span><\/span>acc<\/span><\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span> \u6301\u7eed KK<\/span><\/span>K<\/span><\/span><\/span><\/span><\/span> \u4e2a\u5468\u671f），\u907f\u514d\u5355\u673a\u77ac\u65f6\u8fbe\u6807\u8bef\u5224；<\/li>\n
  • \u6210\u5f62\u9a8c\u6536\u6307\u6807：\u4f4d\u7f6e\u8bef\u5dee\u5305\u7edc Emax\u2061E_{\\\\max}<\/span><\/span>E<\/span><\/span>m<\/span>a<\/span>x<\/span><\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u3001\u76f8\u5bf9\u4f4d\u7f6e\u7cbe\u5ea6（\u4efb\u610f\u6210\u5458\u5bf9\u8bef\u5dee）\u3001\u6781\u5316\u5e8f\u53c2\u91cf \u03c6\\\\varphi<\/span><\/span>\u03c6<\/span><\/span><\/span><\/span><\/span>（\u7b2c 1.2.1.1 \u8282）\u4e09\u9879\u8054\u5408\u2014\u2014\u53ea\u6709 Emax\u2061E_{\\\\max}<\/span><\/span>E<\/span><\/span>m<\/span>a<\/span>x<\/span><\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span> \u8fbe\u6807\u800c \u03c6\\\\varphi<\/span><\/span>\u03c6<\/span><\/span><\/span><\/span><\/span> \u672a\u8fbe\u6807\u8bf4\u660e"\u5f62\u72b6\u5bf9\u4e86\u4f46\u671d\u5411\u4e0d\u4e00\u81f4"，\u53cd\u4e4b\u4ea6\u7136\u3002<\/li>\n

    \u865a\u62df\u9886\u822a\u8005\u76f8\u5bf9\u4e8e\u7269\u7406\u957f\u673a\u7684\u4f18\u52bf\u5728\u4e8e\u65e0\u5355\u70b9\u6545\u969c\u4e0e\u652f\u6301\u4efb\u610f\u961f\u5f62\u51e0\u4f55，\u5176\u961f\u5f62\u6536\u655b\u7684\u4e00\u81f4\u6027\u4e0e\u7a33\u5b9a\u6027\u7ed3\u8bba\u89c1\u6587\u732e[2]；\u7b2c 4 \u7ae0\u7684\u504f\u79fb\u4e00\u81f4(4.7)\u4e0e\u9886\u822a-\u8ddf\u968f(4.3)\u5206\u522b\u5bf9\u5e94"\u65e0\u663e\u5f0f\u9886\u822a"\u4e0e"\u6709\u7269\u7406\u9886\u822a"\u4e24\u79cd\u7f16\u961f\u5f62\u6001，\u672c\u8282\u65b9\u6848\u53ef\u9000\u5316\u4e3a\u4efb\u4e00\u5f62\u6001\u3002<\/p>\n

    7.1.1.2\u3000\u7f16\u961f\u4fdd\u6301\u7684 PID \u53c2\u6570\u6574\u5b9a\u6d41\u7a0b<\/h5>\n

    \u7f16\u961f\u4fdd\u6301\u6267\u884c\u5c42\u91c7\u7528\u4f4d\u7f6e\u73af PID（\u5728 PX4\/ArduPilot \u4e2d\u5373\u4f4d\u7f6e\u63a7\u5236\u5668，\u6216\u4ee5\u7b2c 6.1.1.1 \u8282 MAVLink \u4f4d\u7f6e\u6307\u4ee4\u6ce8\u5165）\u3002PID \u6574\u5b9a\u5fc5\u987b\u4ece\u52a8\u529b\u5b66\u7b49\u6548\u53c2\u6570\u51fa\u53d1\u800c\u975e\u76f2\u76ee\u8bd5\u51d1：\u4f4d\u7f6e\u73af\u8fd1\u4f3c\u4e3a\u4e8c\u9636\u7cfb\u7edf，\u4f4d\u7f6e-\u901f\u5ea6\u901a\u9053\u589e\u76ca\u4e0e\u81ea\u7136\u9891\u7387\u3001\u963b\u5c3c\u6bd4\u6ee1\u8db3<\/p>\n

    kp=\u03c9n2,kd=2\u03b6\u03c9n(7.2)k_p = \\\\omega_n^2, \\\\qquad k_d = 2 \\\\zeta \\\\omega_n \\\\tag{7.2}<\/span><\/span>k<\/span><\/span>p<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>=<\/span><\/span><\/span><\/span>\u03c9<\/span><\/span>n<\/span><\/span><\/span><\/span>2<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>,<\/span><\/span><\/span>k<\/span><\/span>d<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>=<\/span><\/span><\/span><\/span>2<\/span>\u03b6<\/span>\u03c9<\/span><\/span>n<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>(<\/span>7.2<\/span><\/span>)<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/p>\n

    （\u5bf9\u53cc\u901a\u9053 PID \u7684 P\u3001D \u901a\u9053；I \u901a\u9053\u8d1f\u8d23\u9759\u6001\u504f\u5dee\u6d88\u9664，\u5176\u65f6\u95f4\u5e38\u6570\u53d6 Ti\u22485\u223c10\/\u03c9nT_i \\\\approx 5\\\\sim10\/\\\\omega_n<\/span><\/span>T<\/span><\/span>i<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u2248<\/span><\/span><\/span><\/span>5<\/span><\/span>\u223c<\/span><\/span><\/span><\/span>10\/<\/span>\u03c9<\/span><\/span>n<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>）\u3002\u6574\u5b9a\u6d41\u7a0b\u5206\u4e94\u6b65：<\/p>\n

  • \u5185\u73af\u5148\u4e8e\u5916\u73af：\u59ff\u6001\/\u901f\u7387\u73af\u7531\u98de\u63a7\u9ed8\u8ba4\u53c2\u6570+\u60ac\u505c\u81ea\u7a33\u9a8c\u8bc1，\u5916\u73af\u6574\u5b9a\u7684\u4e00\u5207\u524d\u63d0\u662f\u5185\u73af\u65e0\u632f\u8361；<\/li>\n
  • \u5355\u673a\u9636\u8dc3\u6807\u5b9a：\u5355\u673a\u60ac\u505c\u4e0b\u7ed9 xx<\/span><\/span>x<\/span><\/span><\/span><\/span><\/span> \u5411 1~2 m \u9636\u8dc3\u4f4d\u7f6e\u6307\u4ee4，\u7531\u8d85\u8c03\u4e0e\u8c03\u8282\u65f6\u95f4\u53cd\u63a8\u5b9e\u9645 \u03b6,\u03c9n\\\\zeta, \\\\omega_n<\/span><\/span>\u03b6<\/span>,<\/span><\/span>\u03c9<\/span><\/span>n<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u2014\u2014\u7406\u60f3\u54cd\u5e94\u53d6 \u03b6\u22480.7\u223c1.0\\\\zeta \\\\approx 0.7\\\\sim1.0<\/span><\/span>\u03b6<\/span><\/span>\u2248<\/span><\/span><\/span><\/span>0.7<\/span><\/span>\u223c<\/span><\/span><\/span><\/span>1.0<\/span><\/span><\/span><\/span><\/span>（\u6b20\u963b\u5c3c\u4f1a\u8868\u73b0\u4e3a\u7f16\u961f\u4e2d\u4f4d\u7f6e\u632f\u8361，\u8fc7\u963b\u5c3c\u8868\u73b0\u4e3a\u54cd\u5e94\u8fdf\u949d\u3001\u961f\u5f62\u6ede\u540e\u5927）；<\/li>\n
  • \u98ce\u6270\u95ed\u73af\u9a8c\u8bc1：\u6709\u98ce\u6761\u4ef6\u4e0b\u5355\u673a\u5b9a\u70b9\u7cbe\u5ea6\u9a8c\u6536（1\u03c31\\\\sigma<\/span><\/span>1<\/span>\u03c3<\/span><\/span><\/span><\/span><\/span> \u4f4d\u7f6e\u8bef\u5dee < 0.2 m \u91cf\u7ea7，\u968f\u5e73\u53f0\u4e0e\u4f20\u611f\u5668\u6d6e\u52a8），\u540c\u65f6\u68c0\u67e5\u6307\u4ee4\u9891\u7387\u5185\u65e0\u6301\u7eed\u632f\u8361；<\/li>\n
  • \u7f16\u961f\u8026\u5408\u5fae\u8c03：\u5355\u673a\u8fbe\u6807\u540e\u8fdb\u7f16\u961f\u2014\u2014\u673a\u95f4\u6c14\u6d41（\u87ba\u65cb\u6868\u5c3e\u6d41）\u3001\u5b9a\u4f4d\u5171\u4eab\u8bef\u5dee\u4f1a\u5f15\u5165\u8026\u5408\u632f\u8361，\u6b64\u65f6\u53ea\u5fae\u8c03 kdk_d<\/span><\/span>k<\/span><\/span>d<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>（\u589e\u52a0\u963b\u5c3c）\u800c\u4e0d\u52a8 kpk_p<\/span><\/span>k<\/span><\/span>p<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>；<\/li>\n
  • \u5168\u961f\u9a8c\u6536：\u4ee5\u961f\u5f62\u8bef\u5dee\u5305\u7edc\u4e0e\u7b2c 7.1.1.1 \u8282\u6307\u6807\u9a8c\u6536，\u5de5\u51b5\u8986\u76d6\u60ac\u505c\u3001\u5de1\u822a\u3001\u52a0\u51cf\u901f\u4e0e\u8f6c\u5411\u3002<\/li>\n

    \u5de5\u7a0b\u4e0a\u4e09\u4e2a\u9ad8\u9891\u5751：\u5176\u4e00，"PID \u589e\u76ca\u5927=\u54cd\u5e94\u5feb"\u7684\u8bef\u533a\u2014\u2014\u4f4d\u7f6e\u73af\u589e\u76ca\u53d7\u5185\u73af\u5e26\u5bbd\u4e0e\u6267\u884c\u5668\u9971\u548c\u5171\u540c\u7ea6\u675f（\u5f0f(3.11)），\u653e\u5927 kpk_p<\/span><\/span>k<\/span><\/span>p<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span> \u8d85\u8fc7\u9971\u548c\u9884\u7b97\u53ea\u4f1a\u8ba9\u98de\u673a\u5728\u9971\u548c-\u9000\u9971\u548c\u95f4\u632f\u8361；\u5176\u4e8c，I \u901a\u9053\u5728\u7f16\u961f\u573a\u666f\u8981\u5f31\u2014\u2014\u7f16\u961f\u8bef\u5dee\u4e3b\u8981\u7531 D\/PD \u901a\u9053\u6536\u655b，I \u901a\u9053\u8fc7\u5927\u5728\u961f\u5f62\u5207\u6362\u65f6\u4f1a\u9020\u6210\u79ef\u5206\u8d85\u8c03（\u5bf9\u5e94\u7b2c 3.2.1.1 \u8282 windup \u7684\u7f16\u961f\u7248），\u5fc5\u8981\u65f6\u5207\u6362\u671f\u95f4\u51bb\u7ed3\u79ef\u5206；\u5176\u4e09，\u5b9a\u4f4d\u566a\u58f0\u76f4\u63a5\u51b3\u5b9a\u53ef\u5b9e\u73b0\u7684\u7cbe\u5ea6\u2014\u2014\u4f4d\u7f6e\u73af kdk_d<\/span><\/span>k<\/span><\/span>d<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span> \u653e\u5927\u901f\u5ea6\u566a\u58f0，RTK \u4e0e\u89c6\u89c9\u5b9a\u4f4d\u7684\u566a\u58f0\u5dee\u5f02\u4f1a\u8ba9"\u540c\u4e00\u5957 PID"\u8868\u73b0\u8fe5\u5f02，\u9a8c\u6536\u5fc5\u987b\u5e26\u771f\u5b9e\u5b9a\u4f4d\u6e90\u3002<\/p>\n

    \u56fe 7-1 \u5efa\u8bae\u63d2\u5165\u4f4d：\u5355\u673a\u9636\u8dc3\u54cd\u5e94\u66f2\u7ebf\u65cf（\u03b6=0.5\/0.8\/1.2\\\\zeta = 0.5\/0.8\/1.2<\/span><\/span>\u03b6<\/span><\/span>=<\/span><\/span><\/span><\/span>0.5\/0.8\/1.2<\/span><\/span><\/span><\/span><\/span>）\u4e0e"\u7f16\u961f\u5207\u6362\u540e\u8bef\u5dee\u5305\u7edc\u56de\u7a33"\u793a\u610f\u56fe\u3002<\/p>\n

    7.1.2\u3000\u52a8\u6001\u961f\u5f62\u53d8\u6362<\/h4>\n

    7.1.2.1\u3000\u961f\u5f62\u5207\u6362\u7684\u5e73\u6ed1\u8fc7\u6e21\u8f68\u8ff9\u89c4\u5212<\/h5>\n

    \u961f\u5f62\u53d8\u6362（\u5982\u4fa6\u5bdf\u7eb5\u961f \u2192 \u641c\u7d22\u6a2a\u961f）\u5de5\u7a0b\u4e0a\u6309\u7b2c 4.1.2.2 \u8282\u7684\u53c2\u6570\u5316\u8fc7\u6e21\u6846\u67b6\u5b9e\u73b0：\u961f\u5f62\u53c2\u6570 \u03bb\\\\boldsymbol{\\\\lambda}<\/span><\/span>\u03bb<\/span><\/span><\/span><\/span><\/span><\/span><\/span> \u4ece 0（\u65e7\u961f\u5f62）\u6e10\u53d8\u5230 1（\u65b0\u961f\u5f62），\u6bcf\u673a\u671f\u671b\u4f4d\u7f6e pid(\u03bb(t))p_i^d(\\\\boldsymbol{\\\\lambda}(t))<\/span><\/span>p<\/span><\/span>i<\/span><\/span><\/span><\/span>d<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>(<\/span>\u03bb<\/span><\/span><\/span>(<\/span>t<\/span>))<\/span><\/span><\/span><\/span><\/span> \u6cbf\u8fc7\u6e21\u66f2\u7ebf\u6ed1\u52a8\u3002\u89c4\u5212\u5bf9\u8c61\u662f \u03bb(t)\\\\boldsymbol{\\\\lambda}(t)<\/span><\/span>\u03bb<\/span><\/span><\/span>(<\/span>t<\/span>)<\/span><\/span><\/span><\/span><\/span>，\u7ea6\u675f\u4e3a：\u5e73\u6ed1\u6027（\u03bb\\\\boldsymbol{\\\\lambda}<\/span><\/span>\u03bb<\/span><\/span><\/span><\/span><\/span><\/span><\/span> \u4e8c\u9636\u8fde\u7eed，\u5207\u6362\u4e2d\u65e0\u52a0\u901f\u5ea6\u8df3\u53d8\u2014\u2014\u4e0e\u7b2c 4.1.1.1 \u8282\u591a\u9879\u5f0f\u8f68\u8ff9\u540c\u6784，\u53ef\u5bf9 \u03bb\\\\boldsymbol{\\\\lambda}<\/span><\/span>\u03bb<\/span><\/span><\/span><\/span><\/span><\/span><\/span> \u505a\u6700\u5c0f\u6025\u52a8\u5ea6\u53c2\u6570\u5316）\u4e0e\u65f6\u95f4\u4e00\u81f4\u6027（\u5168\u7f51\u540c\u6b65\u7684\u8fc7\u6e21\u65f6\u949f，\u6216\u7531\u8fc7\u6e21\u6307\u4ee4\u7684\u65f6\u95f4\u6233+\u6301\u7eed\u65f6\u95f4\u5e7f\u64ad\u5b9e\u73b0，\u5404\u673a\u6309\u540c\u4e00 \u03bb\\\\boldsymbol{\\\\lambda}<\/span><\/span>\u03bb<\/span><\/span><\/span><\/span><\/span><\/span><\/span> \u65f6\u523b\u8868\u6267\u884c，\u5426\u5219\u8fc7\u6e21\u6784\u578b\u5728\u673a\u95f4\u4e0d\u540c\u6b65）\u3002\u8fc7\u6e21\u65f6\u95f4\u7684\u9009\u53d6\u7531"\u671f\u671b\u901f\u5ea6\u4e0a\u9650 vtransv_{\\\\mathrm{trans}}<\/span><\/span>v<\/span><\/span>trans<\/span><\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span> \u4e0e\u8def\u5f84\u6700\u957f\u6210\u5458\u4f4d\u79fb"\u51b3\u5b9a：Ttrans=max\u2061i\u2225rinew\u2212riold\u2225\/vtransT_{\\\\mathrm{trans}} = \\\\max_i \\\\|\\\\mathbf{r}_i^{\\\\mathrm{new}} – \\\\mathbf{r}_i^{\\\\mathrm{old}}\\\\| \/ v_{\\\\mathrm{trans}}<\/span><\/span>T<\/span><\/span>trans<\/span><\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>=<\/span><\/span><\/span><\/span>max<\/span><\/span>i<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u2225<\/span>r<\/span><\/span>i<\/span><\/span><\/span><\/span>new<\/span><\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u2212<\/span><\/span><\/span><\/span>r<\/span><\/span>i<\/span><\/span><\/span><\/span>old<\/span><\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u2225\/<\/span>v<\/span><\/span>trans<\/span><\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>，\u8fc7\u6e21\u65f6\u957f\u53d6\u6574\u62cd\u4ee5\u5bf9\u9f50\u63a7\u5236\u5468\u671f\u3002<\/p>\n

    \u56fe 7-2 \u5efa\u8bae\u63d2\u5165\u4f4d：\u961f\u5f62\u53d8\u6362\u7684\u53c2\u6570\u5316\u8fc7\u6e21\u793a\u610f\u2014\u2014\u4e2d\u95f4\u6784\u578b\u5e8f\u5217\u4e0e\u6210\u5458\u8f68\u8ff9，\u6807\u6ce8\u6700\u957f\u4f4d\u79fb\u6210\u5458\u4e0e\u8fc7\u6e21\u65f6\u949f\u3002<\/p>\n

    7.1.2.2\u3000\u53d8\u6362\u8fc7\u7a0b\u4e2d\u7684\u9632\u78b0\u649e\u7ea6\u675f\u5904\u7406<\/h5>\n

    \u961f\u5f62\u53d8\u6362\u662f\u8702\u7fa4\u78b0\u649e\u98ce\u9669\u6700\u9ad8\u7684\u9636\u6bb5：\u6210\u5458\u4e92\u76f8\u7a7f\u8d8a，\u671f\u671b\u8f68\u8ff9\u53ef\u80fd\u76f8\u4ea4\u3002\u9632\u78b0\u649e\u7ea6\u675f\u5904\u7406\u7684\u5de5\u7a0b\u6d41\u7a0b\u662f"\u5148\u9a8c\u8bc1\u3001\u540e\u6267\u884c\u3001\u518d\u515c\u5e95"：<\/p>\n

  • \u6267\u884c\u524d\u79bb\u7ebf\u9a8c\u8bc1：\u5bf9\u4e2d\u95f4\u6784\u578b\u5e8f\u5217 {pid(tk)}\\\\{\\\\mathbf{p}_i^d(t_k)\\\\}<\/span><\/span>{<\/span>p<\/span><\/span>i<\/span><\/span><\/span><\/span>d<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>(<\/span>t<\/span><\/span>k<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>)}<\/span><\/span><\/span><\/span><\/span> \u9010\u65f6\u523b\u68c0\u67e5\u4efb\u610f\u6210\u5458\u5bf9\u95f4\u8ddd dij(tk)\u2265dsafed_{ij}(t_k) \\\\geq d_{\\\\mathrm{safe}}<\/span><\/span>d<\/span><\/span>ij<\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>(<\/span>t<\/span><\/span>k<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>)<\/span><\/span>\u2265<\/span><\/span><\/span><\/span>d<\/span><\/span>safe<\/span><\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>（dsafed_{\\\\mathrm{safe}}<\/span><\/span>d<\/span><\/span>safe<\/span><\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span> \u53d6\u7ffc\u5c55\u5b89\u5168\u500d\u6570+\u5b9a\u4f4d\u8bef\u5dee\u548c）；\u53d1\u73b0\u8fdd\u4f8b\u5373\u56de\u9000\u8c03\u6574（\u5ef6\u957f TtransT_{\\\\mathrm{trans}}<\/span><\/span>T<\/span><\/span>trans<\/span><\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u3001\u4fee\u6539 \u03bb\\\\boldsymbol{\\\\lambda}<\/span><\/span>\u03bb<\/span><\/span><\/span><\/span><\/span><\/span><\/span> \u8def\u5f84\u2014\u2014\u5982\u5148\u5206\u79bb\u518d\u53d8\u6362\u7684\u4e09\u9636\u6bb5\u7b56\u7565，\u907f\u514d"\u5fc5\u7ecf\u4ea4\u53c9"\u7684\u51e0\u4f55\u6784\u578b）；<\/li>\n
  • \u6267\u884c\u4e2d\u5b9e\u65f6\u9632\u7ebf：\u5373\u4f7f\u79bb\u7ebf\u9a8c\u8bc1\u901a\u8fc7，\u5b9a\u4f4d\u566a\u58f0\u3001\u98ce\u6270\u4e0e\u6267\u884c\u8bef\u5dee\u4ecd\u4f1a\u9020\u6210\u5b9e\u9645\u95f4\u8ddd\u5c0f\u4e8e\u9884\u6d4b\u2014\u2014\u5b9e\u65f6\u9632\u7ebf\u4e3a"\u52bf\u573a\u786c\u6838\u65a5\u529b"（\u7b2c 4.2.2.1 \u8282，\u4f5c\u7528\u5728\u6210\u5458\u95f4\u800c\u975e\u969c\u788d\u7269）+ \u901f\u5ea6\u5305\u7edc\u9650\u5236（\u5207\u6362\u4e2d \u2225vi\u2225\u2264vsafe<vmax\u2061\\\\|v_i\\\\| \\\\leq v_{\\\\mathrm{safe}} < v_{\\\\max}<\/span><\/span>\u2225<\/span>v<\/span><\/span>i<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u2225<\/span><\/span>\u2264<\/span><\/span><\/span><\/span>v<\/span><\/span>safe<\/span><\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><<\/span><\/span><\/span><\/span>v<\/span><\/span>m<\/span>a<\/span>x<\/span><\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>，\u7ed9\u5b9e\u65f6\u9632\u7ebf\u7559\u53cd\u5e94\u4f59\u5730）；<\/li>\n
  • \u515c\u5e95\u4fdd\u62a4：\u82e5\u5b9e\u65f6\u95f4\u8ddd\u7a81\u7834\u9884\u8b66\u9608\u503c（dij<dwarnd_{ij} < d_{\\\\mathrm{warn}}<\/span><\/span>d<\/span><\/span>ij<\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><<\/span><\/span><\/span><\/span>d<\/span><\/span>warn<\/span><\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>），\u89e6\u53d1"\u5207\u6362\u6682\u505c"\u2014\u2014\u5168\u4f53\u51bb\u7ed3\u8fc7\u6e21（\u4fdd\u6301\u5f53\u524d\u671f\u671b\u4f4d\u7f6e）\u76f4\u81f3\u95f4\u8ddd\u6062\u590d\u5b89\u5168，\u9632\u6b62\u5728\u5371\u9669\u6784\u578b\u4e0a\u7ee7\u7eed\u6ed1\u884c\u3002<\/li>\n

    \u9632\u78b0\u649e\u6027\u80fd\u7684\u9a8c\u6536\u4ee5\u8499\u7279\u5361\u6d1b\u6270\u52a8\u6ce8\u5165\u4e3a\u51c6：\u5728\u6807\u79f0\u8fc7\u6e21\u4e0a\u53e0\u52a0\u5b9a\u4f4d\u566a\u58f0\u4e0e\u98ce\u6270\u5404\u8dd1 MM<\/span><\/span>M<\/span><\/span><\/span><\/span><\/span> \u6b21，\u7edf\u8ba1\u6700\u5c0f\u95f4\u8ddd\u5206\u5e03，\u8981\u6c42"\u6700\u5c0f\u95f4\u8ddd\u7684 3\u03c3 \u4e0b\u754c\u4ecd\u5927\u4e8e\u786c\u6027\u5b89\u5168\u95f4\u8ddd"\u2014\u2014\u8fd9\u662f\u8702\u7fa4\u5b89\u5168\u6027\u9a8c\u6536\u7684\u4e00\u822c\u65b9\u6cd5\u8bba（\u4e0e\u7b2c 8.1 \u8282\u6d4b\u8bd5\u6846\u67b6\u5171\u7528）\u3002<\/p>\n

    7.2\u3000\u96c6\u7fa4\u534f\u540c\u907f\u969c<\/h3>\n

    7.2.1\u3000\u5c40\u90e8\u611f\u77e5\u907f\u969c<\/h4>\n

    7.2.1.1\u3000\u6fc0\u5149\u96f7\u8fbe\/\u89c6\u89c9\u4f20\u611f\u5668\u7684\u6570\u636e\u878d\u5408\u65b9\u6cd5<\/h5>\n

    \u907f\u969c\u611f\u77e5\u7684\u5178\u578b\u914d\u7f6e\u4e3a"\u6fc0\u5149\u96f7\u8fbe（\u6216\u6df1\u5ea6\u76f8\u673a）+ \u89c6\u89c9\u76f8\u673a"\u4e92\u8865：\u6fc0\u5149\/\u6df1\u5ea6\u5728\u6697\u5149\u4e0e\u8fd1\u8ddd\u79bb\u53ef\u9760\u3001\u63d0\u4f9b\u7a20\u5bc6\u8ddd\u79bb，\u89c6\u89c9\u63d0\u4f9b\u7eb9\u7406\u4e0e\u8fdc\u8ddd\u79bb\u68c0\u6d4b\u3002\u878d\u5408\u7684\u5de5\u7a0b\u76ee\u6807\u4e0d\u662f"\u66f4\u6f02\u4eae\u7684\u70b9\u4e91"，\u800c\u662f\u5e26\u4e0d\u786e\u5b9a\u5ea6\u7684\u969c\u788d\u7269\u72b6\u6001\u4f30\u8ba1（\u4f4d\u7f6e\u3001\u901f\u5ea6\u3001\u51e0\u4f55\u3001\u7f6e\u4fe1\u5ea6），\u5176\u65b9\u6cd5\u5206\u5c42\u4e3a：<\/p>\n

      \n
    • \u6570\u636e\u7ea7\/\u7279\u5f81\u7ea7\u878d\u5408（\u70b9\u4e91\u5bf9\u9f50\u3001\u76ee\u6807\u6846\u5173\u8054）：\u591a\u4f20\u611f\u5668\u76ee\u6807\u5173\u8054\u7528\u6700\u8fd1\u90bb\/\u5308\u7259\u5229\u5339\u914d（\u65f6\u95f4\u6233\u5bf9\u9f50\u540e），\u5173\u8054\u5931\u8d25\u7684\u76ee\u6807\u8fdb\u5165\u6682\u5b58\u533a\u7b49\u5f85\u518d\u6b21\u786e\u8ba4\u2014\u2014\u5355\u5e27\u8bef\u68c0\u4e0d\u5e94\u4ea7\u751f\u907f\u969c\u52a8\u4f5c（\u907f\u969c\u8bef\u52a8\u4f5c\u7684\u4ee3\u4ef7\u662f\u504f\u822a\u4e0e\u6389\u961f）；<\/li>\n
    • \u51b3\u7b56\u7ea7\u878d\u5408：\u591a\u6e90\u969c\u788d\u5019\u9009\u6309"\u7c7b\u578b-\u8ddd\u79bb-\u7f6e\u4fe1\u5ea6"\u8868\u51b3\u4ea7\u751f\u907f\u969c\u8f93\u5165\u3002\u5f02\u6784\u4f20\u611f\u5668\u7684\u5206\u6b67\u5904\u7406\u539f\u5219\u662f\u4fdd\u5b88\u53d6\u8fd1：\u8ddd\u79bb\u4f30\u8ba1\u4ee5\u6700\u8fd1\u6e90\u4e3a\u51c6（\u5b81\u53ef\u65e9\u907f\u4e0d\u665a\u907f），\u901f\u5ea6\u4f30\u8ba1\u4ee5\u6700\u53ef\u4fe1\u6e90\u4e3a\u51c6（\u6fc0\u5149\u591a\u666e\u52d2\u4f18\u4e8e\u89c6\u89c9\u5149\u6d41）；<\/li>\n
    • \u72b6\u6001\u5c42\u878d\u5408：\u591a\u6e90\u91cf\u6d4b\u8fdb\u5165\u7edf\u4e00\u7684\u969c\u788d\u7269\u8ddf\u8e2a\u5668（\u5361\u5c14\u66fc\/\u6269\u5c55\u5361\u5c14\u66fc，\u89c1 7.2.1.2），\u8f93\u51fa\u65f6\u95f4\u4e00\u81f4\u7684\u969c\u788d\u72b6\u6001\u3002\u591a\u4f20\u611f\u5668\u878d\u5408\u7684\u4e00\u822c\u65b9\u6cd5\u5b66\u7efc\u8ff0\u89c1\u6587\u732e[3]\u3002<\/li>\n<\/ul>\n

      \u5de5\u7a0b\u5b9e\u73b0\u7684\u4e24\u4e2a\u5173\u952e\u73af\u8282：\u6807\u5b9a（\u76f8\u673a-\u6fc0\u5149\u5916\u53c2\u3001\u65f6\u5ef6\u8865\u507f\u2014\u2014\u6beb\u7c73\u7ea7\u5916\u53c2\u8bef\u5dee\u5728 50 m \u5904\u4ea7\u751f\u7c73\u7ea7\u6295\u5f71\u8bef\u5dee，\u4e14\u673a\u8f7d\u632f\u52a8\u4f7f\u5916\u53c2\u6f02\u79fb，\u9700\u5728\u7ebf\u6821\u51c6\u6216\u5b9a\u671f\u6807\u5b9a）\u4e0e\u9000\u5316\u573a\u666f\u7ba1\u7406（\u96e8\u96fe\u4e2d\u6fc0\u5149\u70b9\u4e91\u7a00\u758f\u3001\u9006\u5149\u4e0b\u89c6\u89c9\u5931\u6548，\u878d\u5408\u5668\u5fc5\u987b\u663e\u5f0f\u7ba1\u7406"\u5355\u4f20\u611f\u5668\u9000\u5316"\u72b6\u6001\u2014\u2014\u964d\u7ea7\u4e3a\u5269\u4f59\u53ef\u7528\u6e90\u5e76\u964d\u4f4e\u907f\u969c\u901f\u5ea6\u4e0a\u9650，\u800c\u975e\u7ee7\u7eed\u7b49\u989d\u878d\u5408）\u3002<\/p>\n

      7.2.1.2\u3000\u52a8\u6001\u969c\u788d\u7269\u7684\u8f68\u8ff9\u9884\u6d4b\u6a21\u578b<\/h5>\n

      \u907f\u969c\u51b3\u7b56\u9700\u8981\u969c\u788d\u7269\u7684\u672a\u6765\u8f68\u8ff9\u3002\u5de5\u7a0b\u4e0a\u7684\u6807\u51c6\u9884\u6d4b\u6a21\u578b\u6309\u590d\u6742\u5ea6\u9012\u8fdb：\u6052\u901f（CV）\u6a21\u578b（\u969c\u788d\u8fd0\u52a8\u5e73\u6ed1\u65f6\u6700\u4f18\u6027\u4ef7\u6bd4）\u3001\u6052\u5b9a\u8f6c\u7387（CT）\u6a21\u578b（\u673a\u52a8\u76ee\u6807，\u8f6c\u5f2f\u7387\u7ecf\u6ee4\u6ce2\u4f30\u8ba1）\u4e0e\u610f\u56fe\u6a21\u578b（\u914d\u5408\u901a\u4fe1\u7684\u667a\u80fd\u4f53，\u7528\u5176\u5e7f\u64ad\u610f\u56fe\u66ff\u4ee3\u5916\u63a8\u2014\u2014\u89c1 5.2.1.2）\u3002CV \u6a21\u578b\u7684\u79bb\u6563\u5f62\u5f0f\u4e3a<\/p>\n

      xo(k+1)=F\u2009xo(k)+w,F=[I2\u0394tI202I2](7.3)\\\\mathbf{x}_o(k+1) = \\\\mathbf{F}\\\\,\\\\mathbf{x}_o(k) + \\\\mathbf{w}, \\\\qquad \\\\mathbf{F} = \\\\begin{bmatrix} \\\\mathbf{I}_2 & \\\\Delta t \\\\mathbf{I}_2 \\\\\\\\ \\\\mathbf{0}_2 & \\\\mathbf{I}_2 \\\\end{bmatrix} \\\\tag{7.3}<\/span><\/span>x<\/span><\/span>o<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>(<\/span>k<\/span><\/span>+<\/span><\/span><\/span><\/span>1<\/span>)<\/span><\/span>=<\/span><\/span><\/span><\/span>F<\/span><\/span>x<\/span><\/span>o<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>(<\/span>k<\/span>)<\/span><\/span>+<\/span><\/span><\/span><\/span>w<\/span>,<\/span><\/span><\/span>F<\/span><\/span>=<\/span><\/span><\/span><\/span>[<\/span><\/span><\/span>I<\/span><\/span>2<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>0<\/span><\/span>2<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u0394<\/span>t<\/span>I<\/span><\/span>2<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>I<\/span><\/span>2<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>]<\/span><\/span><\/span><\/span><\/span>(<\/span>7.3<\/span><\/span>)<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/p>\n

      \u5176\u4e2d\u72b6\u6001\u4e3a\u969c\u788d\u7269（\u4f4d\u7f6e, \u901f\u5ea6），w\\\\mathbf{w}<\/span><\/span>w<\/span><\/span><\/span><\/span><\/span> \u4e3a\u8fc7\u7a0b\u566a\u58f0（\u6a21\u578b\u4e0d\u786e\u5b9a\u5ea6），\u914d\u5408\u91cf\u6d4b\u66f4\u65b0\u5373\u6807\u51c6\u5361\u5c14\u66fc\u6ee4\u6ce2（KF\/EKF），\u5176\u9884\u6d4b\u534f\u65b9\u5dee\u968f\u65f6\u95f4\u589e\u957f：P(t)=P0+Qt\\\\mathbf{P}(t) = \\\\mathbf{P}_0 + \\\\mathbf{Q}t<\/span><\/span>P<\/span>(<\/span>t<\/span>)<\/span><\/span>=<\/span><\/span><\/span><\/span>P<\/span><\/span>0<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>+<\/span><\/span><\/span><\/span>Q<\/span>t<\/span><\/span><\/span><\/span><\/span>\u2014\u2014\u9884\u6d4b\u8d8a\u8fdc\u8d8a\u4e0d\u786e\u5b9a，\u8fd9\u6b63\u662f\u7b2c 5.2.1.1 \u8282\u901f\u5ea6\u969c\u788d"\u6269\u8fb9"\u7684\u91cf\u5316\u4f9d\u636e（\u9884\u6d4b\u65f6\u57df\u8d8a\u957f\u3001\u6269\u8fb9\u8d8a\u5927）\u3002\u8f68\u8ff9\u9884\u6d4b\u7684\u5efa\u6a21\u4e0e\u6ee4\u6ce2\u65b9\u6cd5\u7ec6\u8282\u89c1\u8ddf\u8e2a\u9886\u57df\u7684\u6807\u51c6\u6559\u6750[4]\u3002<\/p>\n

      \u5de5\u7a0b\u5b9e\u73b0\u7684\u4e09\u6761\u7ecf\u9a8c：\u5176\u4e00，\u9884\u6d4b\u65f6\u57df\u4e0e\u907f\u969c\u673a\u52a8\u80fd\u529b\u5339\u914d\u2014\u2014\u9884\u6d4b\u53ea\u7528\u4e8e"\u51b3\u7b56\u662f\u5426\u907f\u8ba9\u3001\u5f80\u54ea\u4e2a\u65b9\u5411\u907f\u8ba9"，\u4e0d\u7528\u4e8e\u957f\u65f6\u5916\u63a8；\u65f6\u57df\u53d6"\u672c\u673a\u4ee5\u6700\u5927\u51cf\u901f\u5ea6\u505c\u4e0b\u6240\u9700\u65f6\u95f4+\u53cd\u5e94\u4f59\u91cf"（\u4e0e\u7b2c 5.2.1.2 \u8282\u4e00\u81f4）；\u5176\u4e8c，\u566a\u58f0\u53c2\u6570\u73b0\u573a\u6807\u5b9a\u2014\u2014\u8fc7\u7a0b\u566a\u58f0 Q\\\\mathbf{Q}<\/span><\/span>Q<\/span><\/span><\/span><\/span><\/span> \u51b3\u5b9a\u9884\u6d4b\u53ef\u4fe1\u5ea6（Q \u592a\u5c0f\u5219\u9884\u6d4b"\u8fc7\u5ea6\u81ea\u4fe1"，\u649e\u4e0a\u673a\u52a8\u76ee\u6807；\u592a\u5927\u5219\u6269\u8fb9\u8fc7\u5927\u3001\u673a\u52a8\u9891\u7e41），\u6807\u51c6\u505a\u6cd5\u662f\u7528\u8bb0\u5f55\u7684\u771f\u5b9e\u969c\u788d\u8f68\u8ff9\u505a Q \u79bb\u7ebf\u8fa8\u8bc6；\u5176\u4e09，\u9884\u6d4b\u4e0d\u786e\u5b9a\u5ea6\u8981\u4f20\u9012\u5230\u4e0b\u6e38\u2014\u2014\u907f\u969c\u89c4\u5212\u5668\u4f7f\u7528"\u534f\u65b9\u5dee\u6269\u8fb9\u540e\u7684\u969c\u788d\u5706\u76d8"\u800c\u975e\u70b9\u969c\u788d，\u4fdd\u8bc1"\u4e0d\u77e5\u9053\u76ee\u6807\u5f80\u54ea\u62d0"\u65f6\u7cfb\u7edf\u81ea\u52a8\u9009\u62e9\u4fdd\u5b88\u673a\u52a8\u3002<\/p>\n

      7.2.2\u3000\u96c6\u7fa4\u534f\u540c\u907f\u969c<\/h4>\n

      7.2.2.1\u3000\u57fa\u4e8e\u4e00\u81f4\u6027\u534f\u8bae\u7684\u907f\u969c\u65b9\u5411\u534f\u5546<\/h5>\n

      \u5355\u673a\u907f\u969c\u89e3\u51b3"\u6211\u4e0d\u649e\u969c\u788d\u7269"，\u96c6\u7fa4\u907f\u969c\u8fd8\u8981\u89e3\u51b3"\u6211\u4e0d\u649e\u961f\u53cb\u4e14\u961f\u53cb\u4e5f\u8fd9\u4e48\u60f3"\u3002\u82e5\u5404\u673a\u72ec\u7acb\u907f\u969c，\u53ef\u80fd\u51fa\u73b0"\u8ba9\u884c\u65b9\u5411\u51b2\u7a81"（\u4e24\u673a\u540c\u65f6\u8ba9\u5411\u540c\u4e00\u4fa7）\u4e0e"\u907f\u969c-\u4fdd\u961f\u77db\u76fe"（\u907f\u969c\u673a\u52a8\u6495\u5f00\u961f\u5f62\u540e\u65e0\u6cd5\u91cd\u7ec4）\u3002\u534f\u540c\u907f\u969c\u7684\u5de5\u7a0b\u505a\u6cd5\u662f\u5728\u907f\u969c\u673a\u52a8\u751f\u6210\u540e\u52a0\u4e00\u5c42\u65b9\u5411\u534f\u5546：\u5404\u673a\u628a\u672c\u5730\u907f\u969c\u5efa\u8bae\u65b9\u5411 \u03b8iavoid\\\\theta_i^{\\\\mathrm{avoid}}<\/span><\/span>\u03b8<\/span><\/span>i<\/span><\/span><\/span><\/span>avoid<\/span><\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>（\u7531\u52bf\u573a\/VO \u8ba1\u7b97\u7684\u671f\u671b\u504f\u822a）\u5728\u90bb\u5c45\u95f4\u4ea4\u6362，\u7528\u4e00\u81f4\u6027\u534f\u8bae\u5bf9"\u6700\u7ec8\u504f\u822a\u65b9\u5411"\u8fbe\u6210\u4e00\u81f4：<\/p>\n

      \u03b8icmd=\u03b8iavoid\u2212\u2211j\u2208Niaij\u2009\u03c3\u03b4(\u03b8iavoid\u2212\u03b8javoid)(7.4)\\\\theta_i^{\\\\mathrm{cmd}} = \\\\theta_i^{\\\\mathrm{avoid}} – \\\\sum_{j \\\\in \\\\mathcal{N}_i} a_{ij} \\\\, \\\\sigma_{\\\\delta}\\\\Big( \\\\theta_i^{\\\\mathrm{avoid}} – \\\\theta_j^{\\\\mathrm{avoid}} \\\\Big) \\\\tag{7.4}<\/span><\/span>\u03b8<\/span><\/span>i<\/span><\/span><\/span><\/span>cmd<\/span><\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>=<\/span><\/span><\/span><\/span>\u03b8<\/span><\/span>i<\/span><\/span><\/span><\/span>avoid<\/span><\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u2212<\/span><\/span><\/span><\/span><\/span>j<\/span>\u2208<\/span>N<\/span><\/span>i<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u2211<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>a<\/span><\/span>ij<\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u03c3<\/span><\/span>\u03b4<\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>(<\/span><\/span>\u03b8<\/span><\/span>i<\/span><\/span><\/span><\/span>avoid<\/span><\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u2212<\/span><\/span><\/span><\/span>\u03b8<\/span><\/span>j<\/span><\/span><\/span><\/span>avoid<\/span><\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>)<\/span><\/span><\/span><\/span>(<\/span>7.4<\/span><\/span>)<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/p>\n

      \u5f0f(7.4)\u628a"\u672c\u5730\u5efa\u8bae"\u4e0e"\u90bb\u5c45\u5efa\u8bae\u7684\u5206\u6b67"\u5408\u5e76\u2014\u2014\u65b9\u5411\u5206\u6b67\u5927\u7684\u6210\u5458\u4e92\u76f8\u4fee\u6b63，\u65b9\u5411\u5efa\u8bae\u63a5\u8fd1\u7684\u6210\u5458\u534f\u540c\u4fdd\u6301；\u03c3\u03b4\\\\sigma_{\\\\delta}<\/span><\/span>\u03c3<\/span><\/span>\u03b4<\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span> \u9650\u5e45\u4fdd\u8bc1\u4fee\u6b63\u91cf\u6709\u754c（\u5bf9\u5e94\u5f0f(3.9)\u7684\u76f8\u5bf9\u9971\u548c\u601d\u60f3）\u3002\u5927\u89c4\u6a21\u5b9e\u98de\u9a8c\u8bc1\u8868\u660e，\u8fd9\u7c7b"\u672c\u5730\u5efa\u8bae + \u90bb\u5c45\u534f\u5546 + \u786c\u6838\u907f\u78b0"\u7684\u5c42\u6b21\u7ed3\u6784\u80fd\u5728\u53d7\u9650\u7a7a\u95f4\u4e2d\u7ef4\u6301\u6570\u767e\u67b6\u91cf\u7ea7\u65e0\u4eba\u673a\u7fa4\u7684\u81ea\u4e3b\u98de\u884c[1]，\u662f\u7ecf\u8fc7\u771f\u673a\u68c0\u9a8c\u7684\u6846\u67b6\u3002\u5de5\u7a0b\u5b9e\u73b0\u6ce8\u610f：\u534f\u5546\u6d88\u606f\u5fc5\u987b\u5e26\u610f\u56fe\u6709\u6548\u671f（\u534f\u5546\u7ed3\u679c\u53ea\u5728 \u0394T\\\\Delta T<\/span><\/span>\u0394<\/span>T<\/span><\/span><\/span><\/span><\/span> \u5185\u6709\u6548，\u8d85\u65f6\u56de\u5230\u72ec\u7acb\u907f\u969c\u2014\u2014\u9632\u6b62\u5931\u8054\u6210\u5458\u62d6\u4f4f\u534f\u5546）\u3001\u4ee5\u53ca\u907f\u969c\u4f18\u5148\u7ea7\u9ad8\u4e8e\u4fdd\u961f（\u65b9\u5411\u534f\u5546\u53ea\u5728"\u65e0\u76f4\u63a5\u78b0\u649e\u5371\u9669"\u65f6\u8fd0\u884c，\u5371\u9669\u8ddd\u79bb\u5185\u76f4\u63a5\u6267\u884c\u672c\u5730\u907f\u8ba9，\u534f\u5546\u7ed3\u679c\u7559\u5f85\u8131\u9669\u540e\u91cd\u7ec4）\u3002<\/p>\n

      7.2.2.2\u3000\u72ed\u7a84\u901a\u9053\u573a\u666f\u7684\u901a\u884c\u4f18\u5148\u7ea7\u5206\u914d<\/h5>\n

      \u72ed\u7a84\u901a\u9053（\u95e8\u5eca\u3001\u6811\u51a0\u95f4\u9699\u3001\u697c\u5b87\u5939\u7f1d）\u662f\u534f\u540c\u907f\u969c\u7684\u6781\u9650\u573a\u666f：\u7269\u7406\u4e0a\u4e0d\u5bb9\u8bb8\u4e24\u673a\u5e76\u884c，\u5fc5\u987b\u6392\u961f\/\u5206\u65f6\u901a\u8fc7\u3002\u901a\u884c\u4f18\u5148\u7ea7\u5206\u914d\u673a\u5236\u4e3a：\u8fdb\u5165\u901a\u9053\u524d，\u5019\u9009\u6210\u5458\u6309"\u4efb\u52a1\u7d27\u6025\u5ea6-\u8ddd\u901a\u9053\u53e3\u8ddd\u79bb-\u961f\u5f62\u89d2\u8272"\u8bc4\u5206\u6392\u5e8f，\u5e7f\u64ad"\u901a\u884c\u610f\u5411 + \u9884\u8ba1\u5360\u7528\u7a97\u53e3 [tenter,texit][t_{\\\\mathrm{enter}}, t_{\\\\mathrm{exit}}]<\/span><\/span>[<\/span>t<\/span><\/span>enter<\/span><\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>,<\/span><\/span>t<\/span><\/span>exit<\/span><\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>]<\/span><\/span><\/span><\/span><\/span>"；\u51b2\u7a81\u7a97\u53e3\u91cd\u53e0\u7684\u4e24\u673a\u6309\u4f18\u5148\u7ea7\u8ba9\u884c\u2014\u2014\u4f4e\u4f18\u5148\u7ea7\u673a\u5728\u901a\u9053\u53e3\u5916\u60ac\u505c\u7b49\u5f85（\u4fdd\u6301\u4e0e\u901a\u9053\u53e3\u7684\u5b89\u5168\u8ddd\u79bb），\u9ad8\u4f18\u5148\u7ea7\u673a\u901a\u8fc7\u540e\u518d\u8fdb\u5165\u3002\u7a97\u53e3\u5360\u7528\u51b2\u7a81\u68c0\u6d4b\u7684\u5224\u636e\u4e3a\u901a\u9053\u5165\u53e3\u4fa7\u4e24\u673a\u8ddd\u79bb\u540c\u65f6\u5c0f\u4e8e"\u6392\u961f\u8ddd\u79bb"\u4e14\u671f\u671b\u901a\u8fc7\u65f6\u95f4\u7a97\u53e3\u76f8\u4ea4\u3002<\/p>\n

      \u5de5\u7a0b\u8981\u70b9：\u5176\u4e00，\u901a\u9053\u53e3\u5bb9\u91cf\u611f\u77e5\u2014\u2014\u8fdb\u5165\u901a\u9053\u524d\u5148\u7531\u524d\u54e8\u673a（\u6216\u611f\u77e5\u6700\u8fdc\u673a）\u5e7f\u64ad"\u901a\u9053\u51c0\u5bbd\/\u51c0\u9ad8\u6d4b\u91cf\u503c"，\u4f4e\u4e8e\u672c\u673a\u5b89\u5168\u5305\u7edc\u5219\u6574\u961f\u6539\u9053（\u7a84\u901a\u9053\u5224\u636e\u6765\u81ea 1.2.1 \u8282\u611f\u77e5\u534a\u5f84\u4e0e\u5b89\u5168\u95f4\u8ddd\u7684\u8054\u5408\u9884\u7b97），\u907f\u514d\u961f\u5217\u8d70\u5230\u901a\u9053\u53e3\u624d\u53d1\u73b0\u8fc7\u4e0d\u53bb；\u5176\u4e8c，\u7b49\u5f85\u4f4d\u7f6e\u907f\u8ba9\u961f\u5f62\u2014\u2014\u7b49\u5f85\u673a\u7fa4\u5728\u901a\u9053\u53e3\u5916\u5c55\u5f00\u4e3a"\u758f\u6563\u5f85\u547d\u961f\u5f62"（\u6210\u5458\u95f4\u8ddd\u62c9\u5927），\u907f\u514d\u5728\u72ed\u7a84\u5165\u53e3\u5904\u624e\u5806\u4e92\u76f8\u63a8\u6324；\u5176\u4e09，\u901a\u8fc7\u5931\u8d25\u56de\u9000\u2014\u2014\u7a97\u53e3\u5185\u65e0\u6cd5\u5b8c\u6210\u901a\u8fc7（\u901a\u9053\u88ab\u5360\u3001\u611f\u77e5\u5f02\u5e38）\u65f6\u9000\u51fa\u961f\u5217\u5e76\u91cd\u65b0\u7533\u8bf7，\u9632\u6b62\u6b7b\u9501\u5f0f\u53cd\u590d\u5c1d\u8bd5；\u5176\u56db，\u4f18\u5148\u7ea7\u907f\u514d\u6c38\u4e45\u9965\u997f\u2014\u2014\u4f4e\u4f18\u5148\u7ea7\u673a\u7b49\u5f85\u8d85\u65f6\u540e\u63d0\u5347\u4f18\u5148\u7ea7（\u8001\u5316\u673a\u5236），\u4fdd\u8bc1\u4efb\u52a1\u516c\u5e73\u3002<\/p>\n

      7.3\u3000\u96c6\u7fa4\u4efb\u52a1\u6267\u884c<\/h3>\n

      7.3.1\u3000\u534f\u540c\u641c\u7d22\u4efb\u52a1<\/h4>\n

      7.3.1.1\u3000\u533a\u57df\u8986\u76d6\u7684\u7f51\u683c\u5212\u5206\u65b9\u6cd5<\/h5>\n

      \u534f\u540c\u641c\u7d22\u7684\u9996\u8981\u95ee\u9898\u662f\u628a\u5927\u641c\u7d22\u533a\u57df\u5212\u5206\u4e3a\u5404\u673a\u7684\u5de5\u4f5c\u5b50\u533a\u3002\u5de5\u7a0b\u4e0a\u6309\u5148\u9a8c\u4fe1\u606f\u5206\u5c42\u5904\u7406：\u5148\u9a8c\u65e0\u4fe1\u606f（\u76f2\u641c）\u2192 \u7b49\u9762\u79ef\/\u7b49\u80fd\u529b\u5212\u5206；\u5148\u9a8c\u6709\u6982\u7387\u56fe（\u76ee\u6807\u6982\u7387\u5206\u5e03\u5df2\u77e5）\u2192 \u6982\u7387\u52a0\u6743\u5212\u5206\u3002\u9762\u79ef\u5212\u5206\u7684\u57fa\u7ebf\u65b9\u6cd5\u662f\u6761\u5e26\u5212\u5206\u4e0e Voronoi \u5212\u5206：<\/p>\n

        \n
      • \u6761\u5e26\u5212\u5206（\u626b\u63cf\u7ebf\u641c\u7d22\u7684\u5929\u7136\u914d\u5957）：\u628a\u533a\u57df\u6cbf\u626b\u63cf\u65b9\u5411\u5206\u6210 NN<\/span><\/span>N<\/span><\/span><\/span><\/span><\/span> \u6761\u7b49\u5bbd\u6761\u5e26，\u6bcf\u673a\u626b\u4e00\u6761\u3002\u5bbd\u5ea6\u7531"\u5355\u673a\u7eed\u822a-\u626b\u63cf\u901f\u5ea6"\u51b3\u5b9a：\u2113i=L\\\\ell_i = L<\/span><\/span>\u2113<\/span><\/span>i<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>=<\/span><\/span><\/span><\/span>L<\/span><\/span><\/span><\/span><\/span>（\u5168\u957f），wi=W\/Nw_i = W\/N<\/span><\/span>w<\/span><\/span>i<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>=<\/span><\/span><\/span><\/span>W<\/span>\/<\/span>N<\/span><\/span><\/span><\/span><\/span>；\u8d1f\u8f7d\u5747\u8861\u7531"\u603b\u626b\u63cf\u65f6\u95f4\u76f8\u7b49"\u7ea6\u675f wi\u22c5L\/vi=Tw_i \\\\cdot L \/ v_i = T<\/span><\/span>w<\/span><\/span>i<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u22c5<\/span><\/span><\/span><\/span>L<\/span>\/<\/span>v<\/span><\/span>i<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>=<\/span><\/span><\/span><\/span>T<\/span><\/span><\/span><\/span><\/span> \u63a8\u5e7f\u4e3a wi\u221dviw_i \\\\propto v_i<\/span><\/span>w<\/span><\/span>i<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u221d<\/span><\/span><\/span><\/span>v<\/span><\/span>i<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>（\u5f02\u6784\u901f\u5ea6\u5e73\u53f0\u6309\u901f\u5ea6\u5206\u914d\u5e26\u5bbd，\u5bf9\u5e94\u7b2c 5 \u7ae0\u5f02\u6784\u80fd\u529b\u5339\u914d\u7684\u601d\u60f3）；<\/li>\n
      • Voronoi \u5212\u5206（\u52a0\u6743\u8986\u76d6\/\u533a\u57df\u76d1\u63a7）：\u4ee5\u5404\u673a\u4f4d\u7f6e\u4e3a\u4e2d\u5fc3\u5212\u5206\u533a\u57df，\u6bcf\u70b9\u5f52\u5c5e\u6700\u8fd1\u673a，\u914d\u5408 Lloyd \u8fed\u4ee3\u4f7f\u5212\u5206\u968f\u5e73\u53f0\u79fb\u52a8\u81ea\u5e73\u8861：<\/li>\n<\/ul>\n

        Vi={q\u2208A:\u2225q\u2212pi\u2225\u2264\u2225q\u2212pj\u2225,\u00a0\u2200j}(7.5)V_i = \\\\left\\\\{ \\\\mathbf{q} \\\\in \\\\mathcal{A} : \\\\| \\\\mathbf{q} – \\\\mathbf{p}_i \\\\| \\\\leq \\\\| \\\\mathbf{q} – \\\\mathbf{p}_j \\\\|, \\\\ \\\\forall j \\\\right\\\\} \\\\tag{7.5}<\/span><\/span>V<\/span><\/span>i<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>=<\/span><\/span><\/span><\/span>{<\/span>q<\/span><\/span>\u2208<\/span><\/span>A<\/span><\/span>:<\/span><\/span>\u2225<\/span>q<\/span><\/span>\u2212<\/span><\/span>p<\/span><\/span>i<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u2225<\/span><\/span>\u2264<\/span><\/span>\u2225<\/span>q<\/span><\/span>\u2212<\/span><\/span>p<\/span><\/span>j<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u2225<\/span>,<\/span>\u00a0<\/span><\/span>\u2200<\/span>j<\/span>}<\/span><\/span><\/span><\/span>(<\/span>7.5<\/span><\/span>)<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/p>\n

        Voronoi \u5212\u5206\u7684\u5206\u5e03\u5f0f\u53ef\u8ba1\u7b97\u6027\u4e0e Lloyd \u66f4\u65b0\u7684\u6536\u655b\u6027\u4f7f\u5176\u6210\u4e3a\u8986\u76d6\u63a7\u5236\u7684\u6570\u5b66\u9aa8\u5e72[5]；\u5de5\u7a0b\u4e0a\u628a"\u6b27\u6c0f\u8ddd\u79bb"\u66ff\u6362\u4e3a"\u52a0\u6743\u8ddd\u79bb \u2225q\u2212pi\u2225\/vi\\\\| \\\\mathbf{q} – \\\\mathbf{p}_i \\\\| \/ v_i<\/span><\/span>\u2225<\/span>q<\/span><\/span>\u2212<\/span><\/span><\/span><\/span>p<\/span><\/span>i<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u2225\/<\/span>v<\/span><\/span>i<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>"（\u901f\u5ea6\u5feb\u7684\u5e73\u53f0\u591a\u5206）\u5373\u53ef\u6269\u5c55\u4e3a\u5f02\u6784\u7248\u672c\u3002\u4e24\u79cd\u65b9\u6cd5\u7684\u9009\u53d6\u539f\u5219：\u626b\u63cf\u578b\u4efb\u52a1（\u641c\u6551\u3001\u6d4b\u7ed8）\u7528\u6761\u5e26，\u6301\u7eed\u76d1\u63a7\u578b\u4efb\u52a1（\u5de1\u903b\u3001\u76d1\u89c6）\u7528 Voronoi+Lloyd；\u7f51\u683c\u7c92\u5ea6\u7531\u4f20\u611f\u5668\u8986\u76d6\u5bbd\u5ea6\u51b3\u5b9a（\u6bcf\u683c\u4e0d\u5927\u4e8e\u673a\u8f7d\u4f20\u611f\u5668\u5e45\u5bbd\u7684\u4e00\u534a，\u4fdd\u8bc1\u626b\u63cf\u65e0\u7f1d\u9699）\u3002<\/p>\n

        \u56fe 7-3 \u5efa\u8bae\u63d2\u5165\u4f4d：\u6761\u5e26\u5212\u5206\u4e0e Voronoi \u5212\u5206\u5bf9\u6bd4\u793a\u610f（\u542b\u5f02\u6784\u901f\u5ea6\u52a0\u6743\u7684 Voronoi），\u6807\u6ce8\u8986\u76d6\u7387\u5b9a\u4e49\u3002<\/p>\n

        7.3.1.2\u3000\u641c\u7d22\u6548\u7387\u7684\u8bc4\u4f30\u6307\u6807\u4e0e\u4f18\u5316<\/h5>\n

        \u641c\u7d22\u6548\u7387\u5fc5\u987b\u88ab\u91cf\u5316，\u5426\u5219\u65e0\u6cd5\u4f18\u5316\u3002\u6807\u51c6\u7684\u53cc\u6307\u6807\u4f53\u7cfb\u4e3a：<\/p>\n

          \n
        • \u8986\u76d6\u7387（\u7a7a\u95f4\u7ef4\u5ea6）：C(t)=\u2223Acovered(t)\u2223\/\u2223A\u2223C(t) = \\\\left| \\\\mathcal{A}_{\\\\mathrm{covered}}(t) \\\\right| \/ \\\\left| \\\\mathcal{A} \\\\right|<\/span><\/span>C<\/span>(<\/span>t<\/span>)<\/span><\/span>=<\/span><\/span><\/span><\/span>\u2223<\/span>A<\/span><\/span>covered<\/span><\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>(<\/span>t<\/span>)<\/span>\u2223<\/span><\/span><\/span>\/<\/span><\/span>\u2223<\/span>A<\/span>\u2223<\/span><\/span><\/span><\/span><\/span><\/span>\u2014\u2014\u5df2\u8986\u76d6\u9762\u79ef\u5360\u603b\u9762\u79ef\u6bd4\u4f8b，\u8986\u76d6\u5224\u5b9a\u7528"\u6700\u540e\u8bbf\u95ee\u65f6\u95f4"\u4e0e"\u6700\u5927\u91cd\u8bbf\u95f4\u9694"\u53cc\u91cd\u6807\u51c6（\u76d1\u6d4b\u578b\u4efb\u52a1\u91cd\u8bbf\u95f4\u9694\u6bd4\u8986\u76d6\u7387\u66f4\u91cd\u8981：\u67d0\u683c 10 \u5206\u949f\u524d\u626b\u8fc7\u4f46\u76ee\u6807\u6b64\u65f6\u51fa\u73b0，\u7b49\u4e8e\u6ca1\u8986\u76d6）；<\/li>\n
        • \u53d1\u73b0\u6982\u7387（\u76ee\u6807\u7ef4\u5ea6）：\u5bf9\u76ee\u6807\u6982\u7387\u56fe，\u641c\u7d22\u6548\u7387\u5b9a\u4e49\u4e3a\u53d1\u73b0\u6982\u7387\u7684\u671f\u671b\u589e\u957f E[\u0394Pdet]\\\\mathbb{E}[\\\\Delta P_{\\\\mathrm{det}}]<\/span><\/span>E<\/span>[<\/span>\u0394<\/span>P<\/span><\/span>det<\/span><\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>]<\/span><\/span><\/span><\/span><\/span>\u2014\u2014\u6982\u7387\u578b\u641c\u7d22\u4e2d\u6bcf\u6b21\u626b\u63cf\u628a\u683c\u5185\u76ee\u6807\u5b58\u5728\u6982\u7387\u6309"\u68c0\u6d4b\u6982\u7387 \u00d7 \u76ee\u6807\u5b58\u6d3b\u6298\u6263"\u66f4\u65b0（\u8d1d\u53f6\u65af\/\u6307\u6570\u8870\u51cf\u66f4\u65b0，\u5bf9\u5e94 7.2.1.2 \u9884\u6d4b\u4e0d\u786e\u5b9a\u5ea6\u4e0e\u641c\u7d22\u6a21\u578b\u7684\u7ed3\u5408）\u3002<\/li>\n<\/ul>\n

          \u4f18\u5316\u624b\u6bb5\u6309\u56de\u62a5\u6392\u5e8f：\u8def\u5f84\u5c42（\u626b\u63cf\u8def\u5f84\u7684\u8f6c\u89d2\u6700\u5c0f\u5316\u2014\u2014\u8f6c\u89d2\u635f\u5931\u901f\u5ea6\u4e0e\u7535\u6c60，\u952f\u9f7f\u626b\u63cf\u7684\u8f6c\u5f2f\u8854\u63a5\u662f\u6700\u5927\u7684\u9690\u6027\u6d6a\u8d39）\u3001\u5212\u5206\u5c42（\u6309\u6982\u7387\u56fe\u52a0\u6743\u5212\u5206\u2014\u2014\u9ad8\u6982\u7387\u533a\u5148\u641c\u3001\u591a\u673a\u91cd\u53e0\u641c，\u5bf9\u5e94\u5f0f(7.5)\u52a0\u6743\u7248）\u3001\u52a8\u6001\u5c42（\u641c\u7d22\u4e2d\u76ee\u6807\u6982\u7387\u56fe\u66f4\u65b0\u540e\u91cd\u5212\u533a\u57df\u8fb9\u754c\u2014\u2014\u6982\u7387\u56fe\u66f4\u65b0\u9891\u7387\u4e0e\u5212\u5206\u91cd\u7b97\u9891\u7387\u8981\u89e3\u8026，\u91cd\u5212\u5468\u671f\u53d6\u5206\u949f\u7ea7\u907f\u514d\u9707\u8361）\u3002\u641c\u7d22\u6548\u7387\u7684\u9a8c\u6536\u5bf9\u6807"\u7406\u8bba\u57fa\u7ebf"：\u540c\u533a\u57df\u5185"\u5355\u673a\u77e9\u5f62\u626b\u63cf"\u7684\u65f6\u95f4\u662f\u5929\u7136\u57fa\u7ebf，\u591a\u673a\u534f\u540c\u7684\u52a0\u901f\u6bd4\u3001\u8986\u76d6\u7387\u66f2\u7ebf\u4e0e\u6982\u7387\u56fe\u4e0b\u964d\u901f\u7387\u90fd\u5e94\u76f8\u5bf9\u57fa\u7ebf\u62a5\u544a\u2014\u2014\u4efb\u4f55"\u534f\u540c\u641c\u7d22"\u5982\u679c\u52a0\u901f\u6bd4\u4f4e\u4e8e 1.5 \u4e14\u8986\u76d6\u7387\u66f2\u7ebf\u65e0\u4f18\u52bf，\u5e94\u5148\u6000\u7591\u5212\u5206\u4e0e\u8def\u5f84\u5b9e\u73b0\u800c\u975e\u7b97\u6cd5\u672c\u8eab\u3002<\/p>\n

          7.3.2\u3000\u534f\u540c\u76ee\u6807\u8ddf\u8e2a<\/h4>\n

          7.3.2.1\u3000\u591a\u673a\u89c2\u6d4b\u6570\u636e\u7684\u878d\u5408\u7b97\u6cd5<\/h5>\n

          \u534f\u540c\u8ddf\u8e2a\u4e2d，\u591a\u67b6\u65e0\u4eba\u673a\u4ece\u4e0d\u540c\u89c6\u89d2\u89c2\u6d4b\u540c\u4e00\u76ee\u6807，\u5176\u91cf\u6d4b\u5fc5\u987b\u5728\u673a\u95f4\u878d\u5408\u4ee5\u83b7\u5f97\u6bd4\u5355\u673a\u66f4\u7a33\u7684\u76ee\u6807\u72b6\u6001\u3002\u878d\u5408\u7684\u6b63\u786e\u5de5\u7a0b\u505a\u6cd5\u662f\u5148\u672c\u5730\u6ee4\u6ce2\u3001\u518d\u5206\u5e03\u5f0f\u878d\u5408\u4f30\u8ba1：\u6bcf\u673a\u672c\u5730\u5361\u5c14\u66fc\u6ee4\u6ce2\u7ef4\u62a4\u76ee\u6807\u72b6\u6001\u4f30\u8ba1 (x^i,Pi)(\\\\hat{\\\\mathbf{x}}_i, \\\\mathbf{P}_i)<\/span><\/span>(<\/span><\/span>x<\/span><\/span><\/span>^<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>i<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>,<\/span><\/span>P<\/span><\/span>i<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>)<\/span><\/span><\/span><\/span><\/span>，\u5468\u671f\u6027\u5730\u4e0e\u90bb\u5c45\u4ea4\u6362\u4f30\u8ba1\u5e76\u878d\u5408\u3002\u76f4\u63a5\u5bf9\u76f8\u5173\u4f30\u8ba1\u505a\u7b80\u5355\u52a0\u6743\u5e73\u5747\u4f1a"\u53cc\u8ba1"\u5171\u540c\u4fe1\u606f（\u4e24\u673a\u5171\u4eab\u4e86\u540c\u4e00\u6b21\u91cf\u6d4b，\u878d\u5408\u540e\u534f\u65b9\u5dee\u865a\u5047\u504f\u5c0f，\u5373\u4e00\u81f4\u6027\u7f3a\u5931），\u5de5\u7a0b\u4e0a\u91c7\u7528\u4fdd\u5b88\u878d\u5408：\u52a0\u6743\u6307\u6570\u5f62\u5f0f\u7684\u878d\u5408<\/p>\n

          P\u22121=\u2211i\u03c9iPi\u22121,x^=P\u2211i\u03c9iPi\u22121x^i,\u2211i\u03c9i\u22641(7.6)\\\\mathbf{P}^{-1} = \\\\sum_{i} \\\\omega_i \\\\mathbf{P}_i^{-1}, \\\\qquad \\\\hat{\\\\mathbf{x}} = \\\\mathbf{P} \\\\sum_{i} \\\\omega_i \\\\mathbf{P}_i^{-1} \\\\hat{\\\\mathbf{x}}_i, \\\\qquad \\\\sum_i \\\\omega_i \\\\leq 1 \\\\tag{7.6}<\/span><\/span>P<\/span><\/span>\u2212<\/span>1<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>=<\/span><\/span><\/span><\/span><\/span>i<\/span><\/span><\/span><\/span><\/span>\u2211<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u03c9<\/span><\/span>i<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>P<\/span><\/span>i<\/span><\/span><\/span><\/span>\u2212<\/span>1<\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>,<\/span><\/span><\/span><\/span>x<\/span><\/span><\/span>^<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>=<\/span><\/span><\/span><\/span>P<\/span><\/span><\/span>i<\/span><\/span><\/span><\/span><\/span>\u2211<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u03c9<\/span><\/span>i<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>P<\/span><\/span>i<\/span><\/span><\/span><\/span>\u2212<\/span>1<\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>x<\/span><\/span><\/span>^<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>i<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>,<\/span><\/span><\/span><\/span>i<\/span><\/span><\/span><\/span>\u2211<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u03c9<\/span><\/span>i<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u2264<\/span><\/span><\/span><\/span>1<\/span><\/span><\/span>(<\/span>7.6<\/span><\/span>)<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/p>\n

          \u5f0f(7.6)\u5728\u901a\u4fe1\u56fe\u4e0a\u7684\u8fed\u4ee3\u5b9e\u73b0\u5373\u5206\u5e03\u5f0f\u4e00\u81f4\u6027\u4f30\u8ba1（\u5bf9\u4f30\u8ba1\/\u534f\u65b9\u5dee\u505a\u4e00\u81f4\u5e73\u5747），\u5176"\u53bb\u76f8\u5173"\u7531 \u03c9i\\\\omega_i<\/span><\/span>\u03c9<\/span><\/span>i<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span> \u7684\u603b\u548c\u7ea6\u675f\u4fdd\u8bc1\u2014\u2014\u6743\u91cd\u7684\u9009\u53d6\u4e0e\u7f51\u7edc\u62d3\u6251\u76f8\u5173，\u7406\u8bba\u4e0a\u66f4\u4e25\u683c\u7684\u5206\u5e03\u4f30\u8ba1\u6846\u67b6（\u542b\u7a33\u5b9a\u6027\u4fdd\u8bc1\u4e0e\u901a\u4fe1\u7b56\u7565）\u89c1\u6587\u732e[6]\u3002\u5de5\u7a0b\u5b9e\u73b0\u8981\u70b9：\u5176\u4e00，\u878d\u5408\u6d88\u606f\u4e0e\u672c\u5730\u4f30\u8ba1\u89e3\u8026\u2014\u2014\u672c\u5730\u6ee4\u6ce2\u4ee5\u4f20\u611f\u5668\u5e27\u7387\u8fd0\u884c，\u878d\u5408\u6d88\u606f\u4ee5\u4f4e\u5f97\u591a\u7684\u9891\u7387\u5e7f\u64ad（10 Hz \u91cf\u7ea7），\u907f\u514d"\u878d\u5408\u9891\u7387 = \u6ee4\u6ce2\u9891\u7387"\u9020\u6210\u7684\u901a\u4fe1\u8d1f\u62c5；\u5176\u4e8c，\u822a\u8ff9\u6807\u8bc6\u7ba1\u7406\u2014\u2014\u591a\u673a\u5173\u8054\u540c\u4e00\u76ee\u6807\u9760\u5168\u5c40\u552f\u4e00\u7684\u822a\u8ff9 ID（\u89c6\u89c9\u7279\u5f81\u3001\u4f4d\u7f6e\u95e8\u9650），ID \u5206\u88c2\/\u5408\u5e76\u4e8b\u4ef6\u8981\u6709\u88c1\u51b3\u673a\u5236（\u5bf9\u5e94 7.3.2.2 \u7684\u8ddf\u8e2a\u4e22\u5931\u68c0\u6d4b）；\u5176\u4e09，\u878d\u5408\u4f30\u8ba1\u53c2\u4e0e\u7f16\u961f\u63a7\u5236\u8981\u52a0\u5e73\u6ed1\u2014\u2014\u878d\u5408\u4f30\u8ba1\u566a\u58f0\u7279\u6027\u4e0e\u672c\u5730\u4f30\u8ba1\u4e0d\u540c，\u76f4\u63a5\u63a5\u5165 7.1 \u8282\u7684\u4f4d\u7f6e\u63a7\u5236\u4f1a\u5f15\u8d77\u6307\u4ee4\u6296\u52a8，\u9700\u5728\u878d\u5408\u4f30\u8ba1\u4e0e\u63a7\u5236\u6307\u4ee4\u95f4\u52a0\u4f4e\u901a\u3002<\/p>\n

          7.3.2.2\u3000\u8ddf\u8e2a\u4e22\u5931\u540e\u7684\u91cd\u5b9a\u4f4d\u7b56\u7565<\/h5>\n

          \u76ee\u6807\u8ddf\u8e2a\u5fc5\u7136\u9762\u4e34\u4e22\u5931：\u76ee\u6807\u88ab\u906e\u6321（\u8fdb\u5165\u6811\u51a0\/\u5efa\u7b51\u540e）\u3001\u76ee\u6807\u8d85\u51fa\u89c6\u573a\u3001\u76ee\u6807\u68c0\u6d4b\u5668\u5931\u6548\u3002\u91cd\u5b9a\u4f4d\u7b56\u7565\u7684\u4ef7\u503c\u5728\u4e8e\u628a"\u4e22\u5931\u2192\u91cd\u641c"\u7684\u65f6\u95f4\u635f\u5931\u538b\u5230\u6700\u5c0f，\u5176\u5de5\u7a0b\u6d41\u7a0b\u4e3a：<\/p>\n

        • \u4e22\u5931\u786e\u8ba4（\u53bb\u6296\u52a8）：\u5355\u5e27\u672a\u68c0\u51fa \u2260 \u4e22\u5931\u2014\u2014\u8fde\u7eed KfK_f<\/span><\/span>K<\/span><\/span>f<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span> \u5e27（\u6216 \u0394Tf\\\\Delta T_f<\/span><\/span>\u0394<\/span>T<\/span><\/span>f<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span> \u79d2）\u672a\u68c0\u51fa\u624d\u786e\u8ba4\u4e22\u5931，\u9632\u906e\u6321\u77ac\u65f6\u4e22\u5931\u89e6\u53d1\u65e0\u8c13\u91cd\u641c；<\/li>\n
        • \u4f4d\u7f6e\u4e0d\u786e\u5b9a\u6027\u7ba1\u7406：\u786e\u8ba4\u4e22\u5931\u540e，\u539f\u76ee\u6807\u72b6\u6001\u4f30\u8ba1\u6309\u8fd0\u52a8\u6a21\u578b\u5916\u63a8\u4e14\u534f\u65b9\u5dee\u968f\u65f6\u95f4\u589e\u957f（7.2.1.2 \u8282\u5f0f(7.3)\u7684 P(t)=P0+Qt\\\\mathbf{P}(t) = \\\\mathbf{P}_0 + \\\\mathbf{Q}t<\/span><\/span>P<\/span>(<\/span>t<\/span>)<\/span><\/span>=<\/span><\/span><\/span><\/span>P<\/span><\/span>0<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>+<\/span><\/span><\/span><\/span>Q<\/span>t<\/span><\/span><\/span><\/span><\/span>），\u8be5"\u4e0d\u786e\u5b9a\u692d\u5706"\u5e7f\u64ad\u7ed9\u90bb\u673a\u4f5c\u4e3a\u91cd\u641c\u7ebf\u7d22；<\/li>\n
        • \u91cd\u641c\u4efb\u52a1\u751f\u6210：\u4e0d\u786e\u5b9a\u692d\u5706\u8d85\u51fa\u672c\u673a\u89c6\u573a\u540e，\u6309\u7b2c 5.1 \u8282\u7684\u4efb\u52a1\u5206\u914d\u628a"\u91cd\u641c\u5b50\u4efb\u52a1"（\u692d\u5706\u533a\u57df\u5185\u7684\u6269\u5c55\u641c\u7d22）\u53d1\u7ed9\u6700\u5408\u9002\u7684\u90bb\u673a（\u89c6\u573a\u8986\u76d6\u692d\u5706\u8005\u4f18\u5148），\u539f\u673a\u4fdd\u6301\u5bf9\u692d\u5706\u7684\u76d1\u89c6；<\/li>\n
        • \u627e\u56de\u786e\u8ba4：\u4efb\u4e00\u673a\u5728\u692d\u5706\u5185\u91cd\u65b0\u68c0\u51fa\u76ee\u6807\u5e76\u7ecf\u822a\u8ff9 ID \u5173\u8054\u786e\u8ba4\u540e，\u5e7f\u64ad"\u8ddf\u8e2a\u6062\u590d"\u5e76\u64a4\u9500\u91cd\u641c\u4efb\u52a1\u2014\u2014\u64a4\u9500\u6d88\u606f\u7684\u4f20\u64ad\u6ede\u540e\u4f1a\u9020\u6210\u77ed\u6682\u53cc\u641c（\u53cc\u673a\u91cd\u53e0\u76d1\u89c6\u540c\u4e00\u533a\u57df），\u53ef\u63a5\u53d7\u4f46\u5e94\u8bb0\u5f55（\u641c\u7d22\u6548\u7387\u6307\u6807\u4e2d\u53bb\u91cd\u7edf\u8ba1）\u3002<\/li>\n

          \u91cd\u5b9a\u4f4d\u7684\u9a8c\u6536\u6307\u6807\u662f\u4e22\u5931-\u6062\u590d\u65f6\u95f4\u5206\u5e03\u4e0e\u91cd\u641c\u8bef\u62a5\u7387：\u6062\u590d\u65f6\u95f4\u5e94\u8fdc\u5c0f\u4e8e\u4efb\u52a1\u5bf9\u8fde\u7eed\u8ddf\u8e2a\u7684\u65f6\u95f4\u8981\u6c42（\u5982\u76ee\u6807\u8bc6\u522b\u4efb\u52a1\u7684\u5bb9\u9519\u4e22\u5931\u65f6\u95f4\u7a97）；\u91cd\u641c\u8bef\u62a5（\u627e\u56de\u9519\u8bef\u76ee\u6807）\u6bd4\u4e22\u5931\u66f4\u5371\u9669，\u627e\u56de\u5fc5\u987b\u7ecf\u8fc7"\u4f4d\u7f6e\u8fde\u7eed\u6027 + \u5916\u89c2\u7279\u5f81"\u53cc\u91cd\u786e\u8ba4（\u5bf9\u5e94 7.2.1.1 \u7684\u5173\u8054\u4e0e\u6682\u5b58\u673a\u5236）\u3002<\/p>\n

          \u672c\u7ae0\u5c0f\u7ed3<\/h3>\n

          \u672c\u7ae0\u628a\u524d\u4e24\u5377\u7b97\u6cd5\u843d\u5230\u65e0\u4eba\u673a\u8702\u7fa4\u7684\u4e09\u5927\u529f\u80fd：\u7f16\u961f\u98de\u884c（\u865a\u62df\u9886\u822a\u521d\u59cb\u5316\u5f0f(7.1)\u3001PID \u6574\u5b9a\u5f0f(7.2)\u3001\u9632\u78b0\u649e\u961f\u5f62\u53d8\u6362）\u3001\u534f\u540c\u907f\u969c（\u4f20\u611f\u5668\u878d\u5408\u3001\u8f68\u8ff9\u9884\u6d4b\u5f0f(7.3)\u3001\u65b9\u5411\u534f\u5546\u5f0f(7.4)\u3001\u7a84\u901a\u9053\u4f18\u5148\u7ea7\u8c03\u5ea6）\u4e0e\u4efb\u52a1\u6267\u884c（\u533a\u57df\u5212\u5206\u5f0f(7.5)\u3001\u4fdd\u5b88\u878d\u5408\u5f0f(7.6)\u3001\u641c\u7d22\/\u8ddf\u8e2a\u6307\u6807\u5316\u9a8c\u6536）\u3002\u8d2f\u7a7f\u5168\u7ae0\u7684\u65b9\u6cd5\u8bba\u662f\u6307\u6807\u5316\u9a8c\u6536\u4e0e\u5b89\u5168\u515c\u5e95：\u6bcf\u4e2a\u529f\u80fd\u90fd\u4ee5\u53ef\u6d4b\u91cf\u7684\u6307\u6807（\u8bef\u5dee\u5305\u7edc\u3001\u6700\u5c0f\u95f4\u8ddd\u5206\u5e03\u3001\u8986\u76d6\u7387\u3001\u6062\u590d\u65f6\u95f4）\u9a8c\u6536，\u6bcf\u4e2a\u5371\u9669\u8fc7\u7a0b（\u961f\u5f62\u53d8\u6362\u3001\u901a\u9053\u901a\u8fc7\u3001\u8ddf\u8e2a\u4e22\u5931）\u90fd\u6709"\u5148\u9a8c\u8bc1\u3001\u518d\u6267\u884c\u3001\u6700\u540e\u515c\u5e95"\u7684\u4e09\u9053\u9632\u7ebf\u3002\u7b2c 8 \u7ae0\u5c06\u7ed9\u51fa\u9a8c\u8bc1\u8fd9\u4e9b\u529f\u80fd\u7684\u5b8c\u6574\u6d4b\u8bd5\u4e0e\u90e8\u7f72\u6d41\u7a0b\u3002<\/p>\n

          \u601d\u8003\u4e0e\u7ec3\u4e60<\/h3>\n
        • \u8bbe\u8ba1 6 \u673a"\u4e00\u5b57\u7eb5\u961f \u2192 \u6954\u5f62"\u961f\u5f62\u53d8\u6362：\u6309 7.1.2 \u8282\u6d41\u7a0b\u505a\u79bb\u7ebf\u9a8c\u8bc1，\u6307\u51fa\u53d8\u6362\u4e2d\u5fc5\u7ecf\u7684\u6700\u5c0f\u95f4\u8ddd\u70b9，\u7ed9\u51fa\u4e24\u79cd\u89c4\u907f\u8be5\u70b9\u7684\u53c2\u6570\u5316\u8def\u5f84\u65b9\u6848\u3002<\/li>\n
        • \u5355\u673a\u9636\u8dc3\u6807\u5b9a\u5b9e\u9a8c：\u7ed9\u4f4d\u7f6e\u73af kpk_p<\/span><\/span>k<\/span><\/span>p<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span> \u4ece 0.5 \u5230 3.0 \u626b\u63cf（kdk_d<\/span><\/span>k<\/span><\/span>d<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span> \u6309\u5f0f(7.2)\u540c\u6b65），\u8bb0\u5f55\u8d85\u8c03\u4e0e\u8c03\u8282\u65f6\u95f4，\u6807\u51fa\u4e34\u754c\u5931\u7a33\u589e\u76ca，\u8bf4\u660e\u4e3a\u4f55 kpk_p<\/span><\/span>k<\/span><\/span>p<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span> \u589e\u5230\u67d0\u503c\u540e\u7f16\u961f\u53cd\u800c"\u6563"\u3002<\/li>\n
        • \u7528\u6052\u901f\u6a21\u578b(7.3)\u8ddf\u8e2a\u4e00\u4e2a"\u7a81\u7136\u8f6c\u5f2f"\u7684\u6a21\u62df\u76ee\u6807：\u6bd4\u8f83\u8fc7\u7a0b\u566a\u58f0 Q\\\\mathbf{Q}<\/span><\/span>Q<\/span><\/span><\/span><\/span><\/span> \u53d6\u4e09\u79cd\u91cf\u7ea7\u65f6\u7684\u9884\u6d4b\u8bef\u5dee\u4e0e\u8ddf\u8e2a\u4e22\u5931\u7387，\u753b\u51fa\u9884\u6d4b\u8bef\u5dee vs Q\\\\mathbf{Q}<\/span><\/span>Q<\/span><\/span><\/span><\/span><\/span> \u66f2\u7ebf\u3002<\/li>\n
        • \u4eff\u771f\u4e24\u673a\u8fce\u9762\u901a\u8fc7 2 m \u5bbd\u901a\u9053（\u5b89\u5168\u5305\u7edc 1.2 m）：\u5b9e\u73b0\u5f0f(7.4)\u7684\u65b9\u5411\u534f\u5546\u4e0e 7.2.2.2 \u7684\u7a97\u53e3\u4f18\u5148\u7ea7\u673a\u5236，\u7edf\u8ba1\u4e24\u79cd\u65b9\u6848\u7684\u6700\u77ed\u901a\u8fc7\u65f6\u95f4\u4e0e\u78b0\u649e\u88d5\u5ea6\u3002<\/li>\n
        • 6 \u673a\u534f\u540c\u641c\u7d22 1 km\u00b2 \u533a\u57df（\u5355\u673a\u626b\u63cf\u5bbd 100 m）：\u5206\u522b\u7528\u7b49\u5bbd\u6761\u5e26\u4e0e\u52a0\u6743 Voronoi \u5212\u5206（\u5f0f(7.5)）\u4eff\u771f，\u62a5\u544a\u8986\u76d6\u7387\u66f2\u7ebf\u3001\u603b\u626b\u63cf\u65f6\u95f4\u4e0e\u76ee\u6807\u53d1\u73b0\u6982\u7387，\u8bc4\u4f30 7.3.1.2 \u8282\u7684\u4f18\u5316\u624b\u6bb5\u6536\u76ca\u3002<\/li>\n

          \u53c2\u8003\u6587\u732e<\/h3>\n

          [1] V\u00e1s\u00e1rhelyi G, Vir\u00e1gh C, Somorjai G, et al. Optimized flocking of autonomous drones in confined environments[J]. Science Robotics, 2018, 3(20): eaat3536.
          \n[2] Ren W. Consensus strategies for cooperative control of vehicle formations[J]. IET Control Theory & Applications, 2007, 1(2): 505\u2013512.
          \n[3] Khaleghi B, Khamis A, Karray F O, et al. Multisensor data fusion: a review of the state of the art[J]. Information Fusion, 2013, 14(1): 28\u201344.
          \n[4] Bar-Shalom Y, Li X R, Kirubarajan T. Estimation with Applications to Tracking and Navigation: Theory, Algorithms and Software[M]. New York: Wiley, 2001.
          \n[5] Cort\u00e9s J, Mart\u00ednez S, Karata\u015f T, et al. Coverage control for mobile sensing networks[J]. IEEE Transactions on Automatic Control, 2004, 49(9): 1342\u20131353.
          \n[6] Battistelli G, Chisci L. Kullback-Leibler average, consensus on probability densities, and distributed state estimation with guaranteed stability[J]. Automatica, 2014, 50(3): 707\u2013718.<\/p>\n","protected":false},"excerpt":{"rendered":"

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