婀栧崡鐭╅樀鐢靛瓙绉戞妧鏈夐檺鍏徃-k8凯发平台

鎽樿锛氱患鍚堝畾浣嶅鑸巿鏃舵槸鍚嶨nss锛堝叏鐞冨崼鏄熷鑸郴缁燂級鍙戝睍鐨勫繀鐒惰秼鍔裤€傛湰鏂囦晶閲嶆⒊鐞嗗井pnt鍙戝睍闇€姹傚拰鍙戝睍鐜扮姸锛屽垎鏋愪笌涔嬪叧鑱旂殑鏍稿績鍏抽敭鎶€鏈紝璁鸿堪缁煎悎pnt涓庡井pnt鐨勫叧绯汇€傚己璋冪患鍚圥nt闇€瑕佸ぇ閲忓熀纭€璁炬柦鎶曞叆涓庡缓璁撅紝鑰屽井pnt渚ч噸楂樻妧鏈紶鎰熷櫒鐨勯泦鎴愬簲鐢ㄣ€備笌鐜版湁鏂囩尞鎬濊矾涓嶅悓鐨勬槸锛屾垜浠涓猴紝涓轰簡瀹炵幇鍚勭被浼犳劅鍣≒nt杈撳嚭缁撴灉鐨勫潗鏍囧熀鍑嗙粺涓€鍜屾椂闂村昂搴︿竴鑷达紝寰甈nt搴斿寘鍚妯nss鍜岃姱鐗囩骇鎯€у鑸拰鑺墖绾у師瀛愰挓绛夊畾浣嶅畾鏃剁粍浠讹紝寰甈nt寮鸿皟灏忓瀷鍖栥€佷釜鎬у寲銆佺粍鍚堝寲鏈嶅姟缁堢锛涘井pnt闄ゅ悇pnt缁勪欢鐨勫皬鍨嬪寲澶栵紝杩樺寘鎷悇缁勪欢鐨勬繁搴﹂泦鎴愶紝鍚勭被鏁版嵁鐨勮嚜閫傚簲铻嶅悎鍜屽悇缁勪欢鐨勮嚜涓绘爣鏍★紱褰撶劧锛屽井pnt涔熷己璋冨悇浼犳劅鍣ㄤ俊鎭殑鏃剁┖鍩哄噯鐨勭粺涓€銆?/span>

鍏抽敭璇嶏細瀹氫綅瀵艰埅鎺堟椂锛屽井鍨嬫儻瀵肩粍浠讹紝鑺墖绾у師瀛愰挓锛屼紶鎰熷櫒闆嗘垚锛屾暟鎹瀺鍚堬紝缁煎悎pnt

abstract: comprehensive or integrated positioning, navigation and timing is an obvious developing trend following the global navigation satellite system.this paper summarizes the current status of micro-pnt and its developing requirements. the related key technologies are described and the relationship between comprehensive pnt and micro-pnt is analyzed. it is stressed that the comprehensive pnt needs massive infrastructure construction and investment, however, the micro-pnt aims at the integrated applications of high-tech micro sensors. it is different from the current opinions appeared in the literatures, micro-pnt should include multi gnss integration and micro components of navigation and timing in order to make the pnt outputs refer to a unified coordinate datum and time scale. micro-pnt focuses on the personalized micro terminal applications. except for the miniaturization of each pnt component, micro-pnt aims at the deep integration of the micro sensors, adaptive data fusion and self calibration of each component.

key words: positioning, navigation and timing (pnt), micro inertial navigation sensor, chip scale atomic clock, sensor integration, data fusion, comprehensive pnt

瀹氫綅瀵艰埅鎺堟椂(positioning navigation and timing, pnt)鐢ㄦ埛姣?骞寸炕涓€鐣紝鐢变簬鏈哄櫒浜烘妧鏈拰鍏朵粬绉诲姩杞戒綋鐨勫畾浣嶅鑸巿鏃堕渶姹傦紝浠婂悗5~10骞村唴pnt鐢ㄦ埛鍙兘姣?骞寸炕涓€鐣猍1]銆傚挨鍏舵槸鏃犱汉鏈恒€佺墿鑱旂綉銆佺щ鍔ㄩ€氫俊銆佽嚜鍔ㄩ┚椹剁瓑鍔犻€熶簡pnt搴旂敤棰嗗煙鐨勬嫇灞曘€傜劧鑰岋紝鏃惰嚦浠婃棩锛屽ぇ澶氭暟pnt鐢ㄦ埛閫氬父渚濊禆鍏ㄧ悆鍗槦瀵艰埅瀹氫綅绯荤粺(global navigation satellite system, gnss)锛屽寘鎷腑鍥界殑鍖楁枟(bds)銆佺編鍥界殑gps銆佷縿缃楁柉鐨凣lonass銆佹鐩熺殑浼藉埄鐣?galileo)绯荤粺绛夈€?/span>

娴锋咕鎴樹簤浠ユ潵锛岀編鍥藉啗鏂瑰紑濮嬭璇嗗埌gps鐨勮剢寮辨€э紝灏ゅ叾鏄湪鐢靛瓙鐜鏃ョ泭澶嶆潅銆侀璋卞鎶楁棩鐩婃縺鐑堢殑鏈潵鎴樺満鐜涓紝娆茬‘淇濇垬鍦篜nt鐨勪富瀵兼潈锛岀‘淇濆悇绫诲钩鍙般€佽浇浣撲娇鐢≒nt鐨勫畨鍏紝蹇呴』闄嶄綆瀵笹ps鐨勪緷璧朳2]銆?/span>

2010骞磋捣锛岀編鍥戒氦閫氶儴鍜屽浗闃查儴灏卞紑鍚簡缁煎悎pnt鏋舵瀯鐨勮皨鍒掍笌鐮旂┒[3]锛岀洰鏍囨槸2015骞村墠寤烘垚缇庡浗鍥藉pnt鏂颁綋绯籟4]銆?/span>

鍏跺疄锛?/span>gnss涓嶄粎淇″彿寰急锛岃€屼笖鏄撹骞叉壈锛岀敋鑷宠娆洪獥锛屼簬鏄彇浠nss鏈嶅姟鐨勫懠澹颁笉缁濅簬鑰炽€傛槸鍙栦唬杩樻槸闆嗘垚鍏朵粬绯荤粺锛熶竴搴﹀嚭鐜颁簤璁恒€備絾涓绘祦鎬濇兂鏄紝浠庝綋绯讳笂寤烘垚绋冲仴鐨凱nt鏋舵瀯銆備簬鏄疨arkinson鏁欐巿鎻愬嚭pta姒傚康[5]锛屽嵆棰勯槻骞叉壈(protect)銆佸潥闊?toughen)鍜屽寮?augment), 鏍稿績鏄疓ps鐨凱nt鏈嶅姟鍏锋湁鍧氶煣鎬с€傜瑪鑰呬篃鎻愬嚭浜嗙患鍚圥nt鐨勬灦鏋勶紝鍩烘湰鍑哄彂鐐瑰湪浜庨噰鐢ㄥgnss铻嶅悎鏈嶅姟锛屼互渚胯瘖鏂拰鎺掓枼鍗曚竴绯荤粺鐨勯拡瀵规€у共鎵板拰娆洪獥锛屽苟閲囩敤鍩轰簬涓嶅悓鐗╃悊鍘熺悊鐨凱nt淇℃伅铻嶅悎鏈嶅姟锛屽墛寮卞gnss鐨勪緷璧朳4]銆?/span>

缁煎悎pnt鐞嗚涓婄殑浼樿秺鎬т笉寰椾笉闈复瀹炶返涓婄殑澶嶆潅鎬э紝灏ゅ叾鏄殢鐫€淇℃伅婧愮殑澧炲姞锛岀敤鎴风粓绔紶鎰熷櫒鐨勭粨鏋勪細瓒婃潵瓒婂鏉傦紝浣撶н浼氳秺鏉ヨ秺澶э紝鍔熻€椾篃浼氶殢涔嬪澶э紝鏄剧劧锛岃繖涓嶇鍚堝ぇ澶氭暟鐢ㄦ埛鐨勮姹傘€傚ぇ澶氭暟绉诲姩鐢ㄦ埛甯屾湜pnt鏈嶅姟缁堢鍏锋湁渚挎惡銆佸彲宓屽叆銆佷綆鑳借€椼€佸緟鏈烘椂闂撮暱绛夌壒鐐广€備簬鏄紝杩芥眰灏忓瀷鍖栫殑pnt闆嗘垚缁堢鎴愪负缁煎悎pnt鐨勬牳蹇冮棶棰樹箣涓€銆?/span>

鍚屾牱鍦?/span>2010骞达紝缇庡浗鍥介槻楂樼骇鐮旂┒璁″垝灞€(defense advanced research projects agency, darpa)鍚姩浜嗗井pnt(micro-pnt)璁″垝锛屽嵆缁煎悎鍒╃敤瀹氫綅銆佸鑸拰鎺堟椂鐨勫井鏈烘璁惧寮€鍙戝井pnt缁勪欢[6]銆傚叾瀹烇紝micro-pnt涓嶄粎搴斿寘鎷井鏈烘鎶€鏈紝杩樺簲鍖呮嫭寰數瀛愭妧鏈紱涓嶄粎浣撶н鈥滃井鈥濓紝鍔熻€椾篃搴斺€滃井鈥濓紱鑰屼笖蹇呴』鍏峰绋冲仴鎬х瓑鎬ц兘鎸囨爣銆?/span>

涓浗铏界劧宸插缓鎴愪簡鍖楁枟涓€浠ｅ拰鍖楁枟浜屼唬鍗槦瀵艰埅绯荤粺锛屼絾鏄腑鍥藉寳鏂楀崼鏄熷鑸郴缁熶笌鍏朵粬gnss淇″彿涓€鏍峰叿鏈夎剢寮辨€7-10]銆傛湰鏂囧湪缁煎悎pnt浣撶郴鏋舵瀯涓嬶紝姊崇悊寰甈nt鐨勪綋绯荤粨鏋勶紝鍙戝睍鐜扮姸涓庤秼鍔匡紝骞惰瘯鍥炬帰璁ㄨ嫢骞插叧閿牳蹇冩妧鏈紝鎺㈣鍏跺彲鑳界殑鎶€鏈€斿緞銆?/span>

1 寰甈nt鍙戝睍鐜扮姸

鍦ㄥ井pnt浣撶郴鍙戝睍鏂归潰锛岀編鍥藉厛鍚庡惎鍔ㄤ簡9涓ぇ鍨嬮泦鏅烘敾鍏崇爺绌惰鍒掋€傚湪鏃堕挓鏂归潰锛屽惎鍔ㄤ簡鑺墖绾у師瀛愰挓(chip-scale atomic clock, csac)鍜岄泦鎴愬井鍨嬩富鍘熷瓙閽熸妧鏈?integrated micro primary atomic clock technology锛孖mpact)锛涘湪瀹氫綅鏂归潰锛屽惎鍔ㄤ簡瀵艰埅绾ч泦鎴愬井闄€铻?navigation grade integrated micro gyroscope, ngimg)銆佸井鎯鎶€鏈?micro inertial navigation technology锛孧int)銆佷俊鎭摼寰嚜鍔ㄦ棆寮忓钩鍙?information tethered micro automated rotary stages锛孖t-mars)銆佸井灏哄害閫熺巼闆嗘垚闄€铻?micro scale rate integrating gyroscopes, mrig)銆佽姱鐗囧寲寰椂閽熷拰寰儻瀵肩粍浠?chip-scale timing and inertial measurement unit, timu)銆佷富鍔ㄥ拰鑷姩鏍囨牎鎶€鏈?primary and secondary calibration on active layer, pascal)銆佹儻瀵煎拰瀹堟椂鏁版嵁閲囬泦銆佽褰曞拰鍒嗘瀽骞冲彴(platform for acquisition, logging, and analysis of devices for inertial navigation & timing, paladin & t)绛夈€傝繖浜涚爺绌惰鍒掑皢褰㈡垚缇庡啗寰甈nt浣撶郴鎶€鏈鏋躲€?/span>

2011骞淬€奊ps world銆嬪垔杞芥枃绔犺涓衡€滃井鎶€鏈椂浠ｅ凡缁忓埌鏉モ€漑11]銆?/span>

1.1 寰椂閽熸妧鏈?/span>

鏃╁湪2002骞碊arpa灏卞彂鍔?0澶氫釜绉戠爺鍥㈤槦瀵硅姱鐗囩骇鍘熷瓙閽?csac)杩涜鏀诲叧锛岃捣鍒濈殑鐩爣鏄紝鏂扮爺寰師瀛愰挓搴旇姣斿綋鏃剁殑鍘熷瓙閽熷皬200鍊嶄互涓婏紝鍔熻€楀噺300鍊嶏紝鍗充綋绉粠褰撴椂鐨?30 cm3鍑忓皬鍒? cm3锛屽姛鑰椾粠10 w鍑忓皬浜?0 mw锛岀簿搴﹀埗琛ㄤ綅10-11锛岀ǔ瀹氬害鎸囨爣涓? 渭s/d銆傜洿鍒?012骞寸編鍥芥墠鍦ㄥお绌虹珯娴嬭瘯浜嗚姱鐗囩骇鍘熷瓙閽熸妧鏈紝褰撴椂鐨凜sac鐨勪綋绉负15 cm3銆傚敖绠℃湁澶氬鍏徃鐮斿彂鐨凜sac鍘熷瀷鏍锋満宸插疄鐜颁綋绉负1 cm3鐨勭洰鏍囷紝骞跺叿鏈変氦浠樻祴璇曠殑鑳藉姏锛屼絾绂诲疄闄呭簲鐢ㄨ繕瀛樺湪鐩稿綋澶х殑宸窛銆?/span>

鍦ㄥ井鍨嬪師瀛愰挓鎶€鏈柟闈紝蹇呴』鏀诲厠鍥烘€佺數瀛愬拰鍘熷瓙鎸崱绛夊叧閿妧鏈?/span>[16]銆傚井鏃堕挓绯荤粺鐨勮川閲忓彇鍐充簬鍚勭粍浠剁殑鏃堕棿鍚屾銆佹椂閽熶笌鍏朵粬娴嬮噺瑁呯疆鐨勬椂闂村悓姝ワ紝浠ュ強鍐呴儴鏃堕棿浼犻€掔簿搴︺€備竴鑸浜庝腑浣庡姩鎬佽浇浣撳鑸紝鍐呴儴鏃堕棿绮惧害搴旇揪鍒?0-12锛屽浜庝互鏃堕棿涓哄弬鑰冪殑娴嬮噺锛屽垯瑕佹眰杈惧埌10-13鐨勭簿搴︼紝骞惰姹備綆鍔熺巼鐨勬椂閽熷拰鎸崱鍣ㄧ殑闀挎湡绋冲畾搴﹁濂戒簬10-11姣忔湀锛屽姛鑰? w[16]銆?/span>

鍦ㄩ泦鎴愬瀷涓诲師瀛愰挓鎶€鏈?/span>(impact)鏂归潰锛屽凡瀹炵幇浜嗗姛鐜囦綆浜?50 mw锛屾椂闂磋宸皬浜?60 ns/d鐨勬€ц兘鎸囨爣銆傜敱浜庝富鍘熷瓙閽熶竴鑸敤浜庢彁渚涚粷瀵规椂鏍囷紝浜庢槸锛岀簿搴﹀拰鍙潬鎬ф湁鏈涙瘮鑺墖绾у師瀛愰挓楂樹袱涓暟閲忕骇銆傛湭鏉ワ紝鍙湜瀹炵幇灏哄5 cm3銆佸姛鑰?0 mw銆侀鐜囩簿搴?脳10-13/h(allen鏂瑰樊)銆佺ǔ瀹氬害浼樹簬5 ns/d鐨勮姱鐗囩骇鍘熷瓙閽熴€?/span>

瓒呭皬鍨嬩綆鍔熻€楃殑缁濆鏃舵爣涓昏鐢ㄤ簬寰撼鍗槦鍜屽井灏忓崼鏄熺郴缁燂紝涔熷彲搴旂敤浜庢棤浜烘按涓嬫綔鍣ㄧ瓑銆傚鏋滆秴灏忓瀷浣庡姛鑰楃殑缁濆鏃舵爣瑁呯疆宓屽叆gnss鎺ユ敹鏈猴紝鍒欏彲鎻愰珮gnss鎺ユ敹鏈虹殑鎶楀共鎵般€侀槻娆洪獥鑳藉姏锛屽洜涓哄共鎵板拰娆洪獥淇″彿涓昏鍦ㄦ椂閽熸柟闈㈡柦鍔犻殢鏈鸿宸紝瀵艰嚧鏃犵嚎鐢垫祴璺濊宸澶э紝寮曡捣瀵艰埅瀹氫綅鐨勭郴缁熷亸宸€傛澶栵紝寰皬鏃堕挓鍦ㄩ珮閫熶俊鍙锋崟鑾枫€侀€氫俊銆佺洃瑙嗐€佸鑸€佸寮瑰紩瀵笺€佹晫鎴戣瘑鍒強鐢靛瓙鎴樹腑閮芥湁閲嶈鐢ㄦ涔嬪湴銆?/span>

1.2 寰檧铻烘妧鏈?/span>

寰檧铻烘妧鏈槸寰?/span>pnt鐨勪富鏀绘柟鍚戜箣涓€銆傛棭鍦?970骞村氨鏈夊叧浜庡師瀛愰檧铻虹殑婕旂ず锛屽彧鏄偅鏃剁殑鍘熷瓙闄€铻洪潪甯哥閲嶄笖鏄傝吹銆傜敱浜嶮ems鎶€鏈殑鎴愮啛鍜屾壒閲忕敓浜э紝鍘熷瓙闄€铻虹殑灏忓瀷鍖栨垚涓轰富鏀绘柟鍚戙€備絾鏄紝鑷充粖涓烘锛屽熀浜嶮ems鐨勫師瀛愰檧铻轰骇鍝佽繕涓嶆垚鐔燂紝鑰屼笖杩涘睍缂撴參[12]銆?/span>

澶у鏁板厜瀛﹂檧铻洪兘鏄熀浜庤惃灏间簹鍏?/span>(sagnac)鏁堝簲鐮斿埗鐨勶紝濡傚厜绾ら檧铻哄拰鐜姸婵€鍏夐檧铻恒€?/span>

鏈€鍒濇湁浜鸿璁′簡纭呭井鐢靛瓙鏈烘绯荤粺(simems)锛岃绯荤粺鍏锋湁浣撶н灏忋€佹垚鏈綆绛変紭鐐筟12]銆備絾鏄繖绫昏缃笉鑳芥祴瀹氬皬鐨勬棆杞€熺巼锛岃€屾儻鎬ф搴︽祴閲忛渶瑕佹祴瀹?.001掳/h鐨勫井灏忛€熺巼銆傚垢杩愮殑鏄紝鍘熷瓙闄€铻哄叿鏈夊皬鍨嬪寲鐨勬綔鍔涖€傚師瀛愰檧铻哄彲姒傛嫭鍒嗕负鍘熷瓙骞叉秹闄€铻?atomic interference gyroscope, aig)鍜屽師瀛愯嚜鏃嬮檧铻篬13](atomic spin gyroscope, asg)銆?/span>

2011骞村氨鏈変簡鍒╃敤寰師瀛愭牳纾佸叡鎸繘琛岄檧铻轰华鐨勭爺绌舵姤閬揫14]銆傚叾瀹烇紝鑷粠1938骞碔sidor rai鍙戠幇鏍哥鍏辨尟(nuclear magnetic resonance, nmr)鍚庯紝涓嶅皯绉戝瀹跺嵆寮€濮嬪皾璇曞埄鐢∟mr鎶€鏈爺鍒堕檧铻轰华銆備粠鏍奸瞾鏇煎叕鍙稿凡缁忓皝瑁呯殑寰牳纾佸叡鎸檧铻轰华鐨勬祴璇曠粨鏋滅湅锛岃鍨嬪井闄€铻轰綋绉皬銆佺ǔ瀹氭€уソ锛屾€ц兘鍑犱箮濂戒簬甯傚満涓婃墍鏈夊井鏈烘闄€铻?mems)銆?/span>

鍗婂浣撳厜婧愮殑鍒╃敤淇冭繘浜嗘牳纾佸叡鎸檧铻轰华(nmrg)鐨勫皬鍨嬪寲銆傜敱浜庢牳纾佸叡鎸檧铻轰华鏃犻渶鏈烘杩愬姩閮ㄤ欢锛屼簬鏄紝瀵规尟鍔ㄦ垨鎸崱涓嶆晱鎰燂紝鍏锋湁楂樺垎杈ㄧ巼鍜岄珮绋冲畾鎬х瓑鐗圭偣銆傚彲浠ュ埄鐢ㄥ涓叿鏈変笉鍚岀壒鎬х殑鏍哥鍏辨尟缁勪欢杩涜闆嗘垚锛屽彧鏄湪鐩墠鐨勬妧鏈姸鎬佷笅锛屽緢闅惧疄鐜板皬鍨嬪寲銆?/span>

2013骞寸編鍥借鏂綏鏅锋牸椴佹浖(northrop grumman)鍏徃婕旂ず浜嗕竴娆炬柊鍨嬬殑寰師瀛愭牳纾佸叡鎸灪鏃嬩华(micro-nmrg)鐨勫師鐞嗘牱鏈猴紝鍒╃敤鍘熷瓙鏍歌嚜鏃嬪姛鑳芥帰娴嬪拰娴嬮噺杞戒綋鏃嬭浆銆傚敖绠¤瑁呯疆浣撶н寰堝皬锛屼絾鏄嚑涔庡叿鏈夌幇鏈夊厜绾ら檧铻轰华鐨勫畾鍚戞€ц兘锛岃€屼笖璇ラ檧铻轰华琚皝瑁呭湪10 cm3鐨勭洅瀛愰噷[15]銆傝铻烘棆浠殑鍙︿竴涓壒鐐规槸, 閰嶅鏈夋椿鍔ㄩ儴浠讹紝瀵硅浇浣撶殑鎸姩鍜屽姞閫熷害涓嶆晱鎰熴€?/span>

1.3 寰儻瀵煎畾浣嶆妧鏈?/span>

鍦ㄦ儻鎬у鑸畾浣嶆妧鏈爺绌舵柟闈紝dapar寮€鍚簡7涓爺绌惰鍒掋€?/span>

2005骞村惎鍔ㄤ簡瀵艰埅绾ч泦鎴愬井闄€铻?ngimg)鐮旂┒锛岀洰鏍囨槸灏哄浠呬负1 cm3銆佸姛鑰楀皬浜? mw銆佸畾鍚戦殢鏈烘父璧板皬浜?/span>銆佸亸宸紓绉诲皬浜?/span>0.01掳/h銆佸昂搴﹀洜瀛愮ǔ瀹氬害浼樹簬50 ppm銆佹祴绋嬪ぇ浜?00掳/s銆?00 hz甯﹀[11]銆傚鑸骇闆嗘垚寰瀷闄€铻轰富瑕佺敤浜庡皬鍨嬩綔鎴樺钩鍙般€?/span>

2008骞寸編鍥藉惎鍔ㄥ井鎯鎶€鏈?mint)鐮旂┒锛屾棬鍦ㄥ紑鍙戝井鍨嬨€佷綆鍔熻€楀鑸紶鎰熷櫒锛屽叿澶囨暟灏忔椂鍒版暟澶╃殑鑷富瀵艰埅鑳藉姏銆侻int鐨勭洰鏍囨槸浣撶н杈惧埌1 cm3(鑳界敤浜庢琛屽鑸紝濡傚祵鍏ラ瀷浣?锛屽姛鑰椾笉楂樹簬5 mw锛岃姹傛琛?6 h鍚庣簿搴︿粛鑳戒繚鎸? m锛屾瘡姝ラ€熷害鍋忓樊涓?0 渭m/s銆傚井鎯缁勪欢閲囩敤鐩存帴娴嬮噺涓棿鎯€у彉閲?閫熷害鍜岃窛绂?锛屽姝ゅ彲浠ュ噺灏忓姞閫熷害璁″拰闄€铻轰华闆嗘垚鍚庤绠楅€熷害鍜屼綅缃甫鏉ョ殑绱н璇樊[16]銆?/span>

2009骞寸編鍥藉惎鍔ㄤ俊鎭摼寰嚜鍔ㄦ棆寮忓钩鍙?it-mars)锛岃璁″垝鐨勭洰鐨勬槸瀹炴柦鍜岄獙璇佸mem缁勫悎鐨勬棆杞钩鍙版€ц兘锛屼负mem缁勫悎浼犳劅鍣ㄦ彁渚涗竴涓棆杞嚜鐢卞害(寰粨鏋勩€佸井浼犳劅鍣ㄦ湰韬棤鏃嬭浆)銆傜洰鏍囨槸鐮斿埗鍑轰綋绉? cm3銆佸姛鑰?0 mw銆佽搴︾粷瀵圭簿搴﹀ソ浜?.001掳銆佹弧瓒虫渶澶ф憜鍔?0 渭rad銆佹棆杞€熺巼360掳/s娴嬬▼鑼冨洿鐨処t-mars銆?/span>

2010骞村悓鏃跺惎鍔ㄥ井灏哄害閫熺巼闆嗘垚闄€铻?mrig)銆佽姱鐗囩骇寰椂閽熷拰寰儻瀵肩粍浠?timu)銆佷富娆℃爣鏍℃妧鏈?pascal)鍜屾儻瀵煎畧鏃舵暟鎹噰闆嗐€佽褰曚笌鍒嗘瀽骞冲彴(paladin & t)[11]銆?/span>

mrig鐨勪富瑕佺洰鏍囨槸鎻愬崌鎯€т紶鎰熷櫒鐨勫姩鎬佹祴绋嬶紝浠ヤ究閫傚簲鍔ㄦ€佽浇浣撶殑澶ц寖鍥存満鍔紝鍔ㄦ€佹祴绋嬫墿澶у埌15 000掳/s锛岃搴︾浉鍏崇殑鍙噸澶嶆€т负0.1掳/h锛屼笌鍋忓樊鐩稿叧鐨勬紓绉诲彲閲嶅搴﹁揪锛屽伐浣滄俯搴︽嫇灞曡嚦-55鈩儈85鈩冿紝瀹氬悜闅忔満娓歌蛋銆?/span>

timu涓昏鐩爣鏄彂灞曡秴灏忓瀷瀹氫綅鍜屽畧鏃剁患鍚堣缃紝璁捐瑕佹眰璇ヨ缃綋绉?0 mm3銆佸姛鑰?00 mw銆佸渾姒傜巼璇樊(cep)杈? nmi/h锛屽苟涓旀湁鑷富瀵艰埅鑳藉姏銆?/span>

pascal鐨勪富瑕佺洰鏍囨槸鍑忓皬鏃堕挓鍜屾儻鎬т紶鎰熷櫒鐨勯暱鏈熸紓绉伙紝浠ヤ究鍦ㄦ棤gnss鏀寔鐨勬儏鍐典笅锛屽疄鐜伴暱鏃堕棿鑷富瀵艰埅銆備簬鏄瑁呯疆鐨勮嚜妫€鏍″姛鑳芥槸鐮旂┒閲嶇偣銆傚洜涓哄彧鏈夊綋寰甈nt浼犳劅鍣ㄥ叿鏈夎嚜妫€鏍″姛鑳芥椂锛屾墠鑳藉急鍖栨儻瀵煎拰鏃堕挓鐨勯暱鏈熼」鍋忓樊鍜岀郴缁熸紓绉荤瓑绱н璇樊銆侾ascal鐨勫亸宸ǔ瀹氬害瑕佹眰鎻愬崌鑷?脳10-6锛屾瘮鐜版湁寰儻瀵?200脳10-6)楂樹袱涓暟閲忕骇銆?/span>

paladin & t灏嗗彂灞曞叿鏈夋櫘閫傛€х殑鏌旀€ф祴璇曞钩鍙般€傚厛鍙戝睍鍘熺悊鍨嬪钩鍙帮紝鐒跺悗鍙戝睍椋炶渚挎惡鐨勭畝鍖栫殑缁熶竴璇勪及鏂规硶锛屽苟鎻愪緵鏃╂湡鐨勯噹澶栨妧鏈獙璇併€?/span>

2012骞达紝darpa鍚姩鑺墖绾х粍鍚堝師瀛愬鑸?chip-scale combinatorial atomic navigation)锛岀畝绉癈-scan璁″垝锛屽嵆瀵绘眰灏嗕笉鍚岀墿鐞嗙壒鎬х殑鎯€т紶鎰熷櫒闆嗘垚鍒板崟涓€鐨勫井灏哄害鎯€ф祴閲忓崟鍏?imu)锛岃繖涔熸槸darpa寮€灞曠殑寰甈nt璁″垝鐨勯噸瑕佺粍鎴愰儴鍒嗭紝鍏剁洰鐨勬槸鏋勫缓鑷富鐨勩€佷笉渚濊禆gps鐨勮姱鐗囩骇寰甈nt绯荤粺锛岃兘閫傜敤浜庝笉鍚屽啗鐢ㄥ钩鍙般€佷笉鍚屼綔鎴樼幆澧冪殑杞戒綋绮惧瘑寮曞锛屽苟鑳介€傜敤浜庝腑杩滅▼瀵煎脊鐨勫紩瀵糩16]銆?/span>

c-scan璁″垝鐨勬牳蹇冩槸灏嗗叿鏈変笉鍚岀墿鐞嗙壒鎬х殑pnt缁勪欢闆嗘垚鍒板崟涓€鐨勫井绯荤粺(microsystem)锛屼笉鍚岀粍浠跺叿鏈変簰琛ユ€с€備富瑕佺洰鏍囧彲浠ユ鍐典负锛氣憼 灏嗕笉鍚岄珮鎬ц兘鍥烘€佹儻鎬т紶鎰熷櫒杩涜缁煎悎锛屽彂灞曠患鍚堥泦鎴愭妧鏈紝灏嗕笉鍚岀墿鐞嗗師鐞嗙殑鍚勭粍浠堕泦鎴愪负涓€涓暣浣擄紝骞跺疄鐜板皬鍨嬪寲锛涒憽 鍙戝睍鐩稿簲鐨勬暟鎹瀺鍚堝鐞嗘柟娉曘€?/span>

c-scan鐨勯瑕佷换鍔℃槸闆嗘垚涓€涓闄€铻哄拰澶氬姞閫熷害璁＄殑鍗曚竴鐨勬儻鎬ф祴閲忕粍浠?imu)銆傜簿搴︽寚鏍囪揪鍒?0-4 deg/h锛屽亸宸ǔ瀹氭€ц揪鍒?0-6 g锛岃搴﹂殢鏈烘父璧拌揪鍒帮紝閫熷害闅忔満娓歌蛋(vrw)杈惧埌銆傚昂搴﹀亸宸?脳10-6锛屽姩鎬佹祴绋嬭揪鍒?000 g銆?/span>

c-scan缁勪欢鍏锋湁3涓棆杞酱鍜?涓姞閫熷害浼犳劅鍣紝鍦ㄦ伓鍔ｇ幆澧冧笅鍙负鍐涚敤杞戒綋鎻愪緵瀹氫綅瀵艰埅鏈嶅姟銆?/span>

2 寰甈nt鍙戝睍鐨勮嫢骞插叧閿妧鏈?/span>

寰?/span>pnt鍏抽敭鎶€鏈富瑕佷綋鐜板湪鈥滃井灏忊€濄€佲€滅患鍚堚€濆強鈥滆瀺鍚堚€濓紝鏇村己璋冪患鍚圥nt鏈嶅姟銆備竴鑸枃鐚墍寮鸿皟鐨勫井pnt缁勪欢鏄敱寰瀷鏃堕挓銆佸井鍨嬫儻瀵肩瓑鍗曞厓缁勬垚[1, 11, 16-17]銆傜瑪鑰呰涓猴紝寰甈nt涓嶅簲璇ユ帓鏂nss缁勪欢锛屽洜涓篏nss鑺墖涓嶄絾鍙互瀹炵幇寰皬鍖栵紝鑰屼笖鍙互鎻愪緵澶栭儴鍩哄噯(灏界鍙兘鍥犱负淇″彿閬尅鑰屼笉杩炵画)锛屼簬鏄姱鐗囧寲鐨凣nss缁勪欢鍙互涓庡井鏃堕挓銆佸井闄€铻哄拰寰儻瀵肩粍浠舵繁搴﹂泦鎴愩€備俊鎭簮鐨勪赴瀵屾槸瀹炵幇pnt杈撳嚭淇℃伅绋冲仴鎬х殑鍓嶆彁銆?/span>

寰?/span>pnt缁勪欢涓嶄粎瑕佹眰浣撶н灏忥紝鑰屼笖瑕佹眰鍔熻€椾綆锛岃繕瑕佹眰鍏锋湁鐢熸垚鍙潬pnt淇℃伅鐨勮兘鍔涳紝浜庢槸寰甈nt娑夊強椤跺眰璁捐鍜屾満鐢靛姞宸ュ伐鑹烘妧鏈€?/span>

(1) 鈥滃井鈥濊浣撶幇浼樺寲鐨勮璁″師鐞嗐€備紭鍖栧悎鐞嗙殑璁捐锛屾墠鏈夊彲鑳芥湁绮剧粏鐨勫埗閫狅紱浼樺寲鍚堢悊鐨勮璁★紝杩樻秹鍙婂悗缁殑浣撶郴鏋舵瀯锛涢《灞傝璁＄殑浼樺寲鏄井灏哄害鍒堕€犮€佸井灏哄害闆嗘垚鐨勫熀纭€銆?/span>寰?/span>pnt涓嶄粎浣撶幇鍦ㄢ€滃井鈥濓紝鍗冲皬鍨嬪寲鐨凱nt锛屽悓鏃朵篃闇€瑕佲€滅簿鈥濓紝闇€瑕佲€滅ǔ鈥濓紝闇€瑕佲€滃彲闈犫€濄€傚洜姝わ紝绮剧粏鐨勫井灏哄害鍒堕€犳妧鏈彧鏄井pnt鐨勬牳蹇冩妧鏈箣涓€锛岃€屼笌涔嬮厤鍚堢殑绮剧粏浼樺寲鐨勬暣浣撻泦鎴愭妧鏈拰鏅鸿兘鐨勬暟鎹鐞嗘妧鏈紝鎵嶈兘鏋勬垚瀹屾暣鐨勫井pnt鎶€鏈綋绯伙紝鍏朵腑鑺墖绾ч檧铻轰华鍜岃姱鐗囩骇鍘熷瓙閽熸槸鍏舵牳蹇冧腑鐨勬牳蹇冦€?/span>

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(1)

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(2)

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(3)

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