To solve the resource problem of anti - missile radar omnidirectional and high data rate tracking targets , missile self - position technology to improve missile position precision based on the scheme of passive bd is put forward 摘要为了解决近程防空导弹制导雷达实现全方位、高数据率跟踪多自标、截获跟踪多导弹遇到的资源紧张问题，提出了利用bd无源定位方案实现导弹自定位，提高导弹自定位精度的方法。
The robot can gain the accurate localization value consisting of position and orientation in the world coordinate system using the robot ’ s self - localization method based on the information of mark lines and the monte carlo localization method the thesis designs 使用本文设计的基于标志线信息的机器人自定位方法和montecarlo定位方法,机器人能够得到其在场地世界坐标系中的较为精确的位置、朝向等定位结果。
The main work of the thesis is as follows : we design a novel omni - mirror more applicable in robocup , which is made up of an isomeric horizontal mirror and an isomeric vertical mirror and can make the resolution of the imaging of the objects near the robot on the field constant and make the distortion of the imaging of the objects far from the robot small in vertical direction ; we select a 1394 digital color camera and complete the development of its software program for data acquisition ; we design a image processing algorithm for the panoramic image , which can segment the image by color , extract the features of image fast and effectively and complete the recognization of target ; according the character of the imaging , we design a new fast hough transform algorithm for line detection , which can detect the white mark lines of the field realtimely , and then design a robot ’ s self - localization method based the mark lines , which only uses the information of omni - vision system ; finally we design a monte carlo localization method based on the information of omni - vision system and odometry , and present the localization results of two localization methods and analyze the experiment results and get the conclusions 本论文的主要工作如下:设计了一种新的更适用于机器人足球赛的全向反射镜面,该镜面由水平等比镜面和垂直等比镜面组合而成,能够使机器人近处一定范围内水平场地上的物体成像分辨率不变,远处物体成像高度上变形较小;选择了一款基于1394接口的数字摄像机,并完成其数据采集程序开发;针对全景图像设计了图像处理算法,能够快速有效的实现图像颜色分割和图像特征提取,完成目标识别;根据全景图像的成像特性,设计了一种新的用于直线检测的快速hough变换算法,能够实时的提取出场地的白色标志线,并在此基础上设计了完全利用全向视觉信息的基于标志线的机器人自定位方法;最后设计了一种基于全向视觉信息和里程计信息的montecarlo定位方法,给出两种方法的定位结果,并分析实验结果,给出结论。
The algorithm can not only eliminate the influence of the cumulative errors of the photoelectric code recorder , but also it can satisfy the requirement of the real - time control . a direct inverse model controller of fuzzy neural network with changeable structure based on takagi - sugeno inference is presented and it is used to the motion control of mobile robot . in order to avoid the obstacles successfully , detection results from ccd and ultrasonic sensors are fused by a fuzzy neural network , which acts as an avoidance controller 包括移动机器人的融合自定位问题：移动机器人利用光电编码器进行自定位，同时用扩展卡尔曼滤波器融合多个超声波传感器的测量值，采用回朔算法将融合值用于复位光电编码器，消除了光电编码器累积误差的影响，并能满足实时控制的要求：并提出一种基于takagi - sugeno模型的变结构模糊神经网络直接逆模型控制器，并应用于移动机器人的运动控制；利用模糊神经网络避障控制器融合ccd摄象机与超声波传感器探测到的环境信息，以实现机器人的安全避障。
Locating with cell _ id based on ms : this kind of system can be called ms - autonomous - locating system or forward - link locating system in gsm network . the locating process is the ms working out it ' s geometry location comparing with several base stations ( their location is fixed ) based on received signal from them , then calculating the location by some kind of algorithms . therefore the user of the ms could master himself ' s location information 基于移动台的cell _ id定位：这类系统也称为移动台自定位系统，在蜂窝网络中也叫做前向链路定位系统。其定位过程是由移动台根据接收到的多个已知位置发射机发射信号携带的某种与移动台位置有关的特征信息来确定其与各发射机之间的几何位置关系，再根据有关算法对其自身位置进行定位估计，由移动台用户掌握其自身的位置信息。
