【作者】 齐建；

【导师】 李杰； 杨卫；

【作者基本信息】 中北大学 ， 测试计量技术及仪器， 2011， 硕士

【摘要】 可移动自主攻击微系统是一种融合信息采集、分析、传递以及攻击执行的无线传感器网络系统。在这个系统中,布置不少于5个的具有行走、感知、攻击功能的智能小车,系统职守期间,小车出动次数频繁,能否顺利导引小车返回成为关键。本文正是对复合导引小车行进轨迹规划的研究。本文概述了课题的国内外研究现状与发展趋势,提出了课题的系统总体设计方案,结合课题背景较高的导引精度要求(小于50mm),提出了声导引与电磁导引的复合导引方法。在声导引系统中,提出了一种全新的定位方法,不同于主动定位,也不同于被动定位,即采用标准声源发射信号、基站传感器阵列接收处理信号、网络节点通讯定位来完成。电磁导引系统采用埋地导线导引方法,其中对通电导线布局、小车跨越导线前后的行进方向判别作了详细研究。最终在电路设计的基础上,完成了对小车行进路线的复合导引。文章中通过实验说明了导引的可行性,在声导引电路设计、电磁导引电路设计方面进行了大量工作研究,测试结果表明复合导引方式的实用性、可靠性与优越性。更多还原

【Abstract】 Mobile autonomous attack micro-system is an integration of micro-attack information gathering, analysis, transfer and attack wireless sensor network system. In the system, dispenser with less than 5 walking, perception, attacks enabled smart car. during duties, as the number of frequent car out, the key is whether successfully guided the car to return. This article is for research on the car travel path plans based on compound guiding.The actual research status and developing current of the study at home and abroad are summarized in the paper. The system design program is put forward, and issue guidance with high precision background (less than 50mm), raises the compound guiding the car approach, that the sound guidance and the electromagnetic guidance. In the sound Guidance system, a new positioning method is proposed, it is different from the active location and the passive position, the method is completed according to the sound source emission signal, the base station sensor array receiving and processing signals, the communication network nodes targeting.The electromagnetic guidance system uses buried wire guidance method, in which the layout for the power wires and the direction discrimination of the car travel across the wire were studied in detail. Finally, the car travel path plans based on compound guiding is completed according to the design of guidance circuit.The feasibility of guidance is outlined in the paper by experiments, and a lot of research work is completed in circuit design of the sound guidance and the electromagnetic guidance. The practicality, reliability, superiority of the compound guiding method is confirmed by the results of experiment.更多还原