电子工程类_其他电脑书_计算机类_最新资料_得益网

新编MCS-51单片机应用设计

2008-11-19 10:01:47

《MCS-51单片机应用设计》一书的基础上，从应用的角
度，详细地介绍了MCS-51单片机的硬件结构、指令系统、各种硬件接口设计
、各种常用的数据运算和处理程序、接口驱动程序以及MCS-51单片机应用系
统的设计，并对MCS-51单片机应用系统设计中的抗干扰技术以及各种新器件
也作了详细的介绍。本书突出了选取内容的实用性、典型性。书中的应用实
例，大多来自科研工作及教学实践，且经过检验。内容丰富、详实。
本书可作为工科院校的本科生、研究生、专科生单片机课程的教材以及
毕业设计的参考资料，也可供从事自动控制、智能、仪器、仪表、电力、电
子、机电一体化以及各类MCS-5l单片机应用的工程技术人员参考。

西安电子科技大学 Simulink建模与仿真

2008-10-27 09:46:46

很经典的Simulink参考书，详细讲述了系统仿真原理、Simulink的使用原理、模型建立、DSP模块库使用等内容。
目录
1 绪论
2 simulink使用基础
3 动态系统模型及其simulink表示
4 创建simulink模型
5 动态系统的simulink
6 simulink系统仿真原理
7 simulink子系统技术
8 simulink命令行仿真技术
9 S函数
10 控制系统分析
11 DSP blockset

计算机体系结构量化研究方法 (英文版.第四版)

2008-09-27 12:26:56

网站上有这本书的第二版和第三版，这里是最新的第四版，英文的；老外写书正的是与时俱进(估计是学了三个代表)，想比于前几版改变很大，涉及多核结构体系。

简介 · · · · · ·
　　本书堪称计算机系统结构学科的“圣经”，是计算机体系结构方向的学生的必读教材。全书系统地介绍了计算机系统的设计基础、指令集系统结构、流水线与指令级并行技术、层次化存储系统与存储设备、互连网络以及多处理器系统等重要内容。在这一最新版本中，作者更新了从单核处理器到多核处理器的历史发展过程的相关内容，同时使用了广受好评的“量化研究方法”进行计算设计，并阐述了多种可以实现并行的技术，这些技术恰恰是展现多处理器系统结构威力的关键。在介绍多处理器时，作者不仅讲述了处理器的性能，而且还介绍了处理器性能之外的其他设计要素，包括功耗、可靠性、可用性和可信性等。
　　　　本书可作为计算机专业计算机系统结构方向的高年级本科生及研究生的教材，也可以作为相关技术人员的参考书。

目录

--------------------------------------------------------------------------------
foreword
preface
acknowledgments
chapter1 fundamental sof computer design
chapter2 instruction-level parallelismand its exploitation
chapter3 limitson instruction-level parallelism
chapter4 multi processor sand thread-level parallelism
chapter5 memory hierarchy design
chapter6 storage systems
appendix a pipelining:basicand intermediate concepts
appendix b instructionset prindplesand examples
appendix c reviewof memory hierarchy
appendix d embedded systems
appendix e inter connection networks
appendix f vector processors
appendix g hardwareand software for vl!wandepic
appendix h large-scale multi processorsand scientific applications
appendix i computer arithmetic
appendix j surveyof instruction set architectures
appendix k historical perspectivesand references
appendix l solutionsto case study exercises
references
index

工程矩阵理论13-15

2008-09-22 14:48:22

工程矩阵理论10-12

2008-09-11 16:39:09

工程矩阵理论04-06

2008-09-11 16:07:17

工程矩阵理论01-03

2008-09-11 16:07:17

测控电路视频教程第三章信号调制解调电路(上)

2008-08-14 10:48:32

2D.Object.Detection.and.Recognition

2008-08-01 17:01:54

目录
Acknowledgments xv
1 Introduction 1
1.1 Low-Level Image Analysis and Bottom-up Segmentation 1
1.2 Object Detection with Deformable-Template Models 3
1.3 Detection of Rigid Objects 5
1.4 Object Recognition 8
1.5 Scene Analysis: Merging Detection and Recognition 10
1.6 Neural Network Architectures 12
2 Detection and Recognition: Overview of Models 13
2.1 A Bayesian Approach to Detection 13
2.2 Overview of Object-Detection Models 18
2.3 Object Recognition 25
2.4 Scene Analysis: Combining Detection and Recognition 27
2.5 Network Implementations 28
3 1D Models: Deformable Contours 31
3.1 Inside-Outside Model 31
3.2 An Edge-Based Data Model 40
3.3 Computation 41
vii
viii Contents
3.4 Joint Estimation of the Curve and the Parameters 48
3.5 Bibliographical Notes and Discussion 51
4 1D Models: Deformable Curves 57
4.1 Statistical Model 58
4.2 Computation: Dynamic Programming 63
4.3 Global Optimization on a Tree-Structured Prior 67
4.4 Bibliographical Notes and Discussion 78
5 2D Models: Deformable Images 81
5.1 Statistical Model 83
5.2 Connection to the Deformable-Contour Model 88
5.3 Computation 88
5.4 Bernoulli Data Model 93
5.5 Linearization 97
5.6 Applications to Brain Matching 101
5.7 Bibliographical Notes and Discussion 104
6 Sparse Models: Formulation, Training, and Statistical Properties 109
6.1 From Deformable Models to Sparse Models 111
6.2 Statistical Model 113
6.3 Local Features: Comparison Arrays 118
6.4 Local Features: Edge Arrangements 121
6.5 Local Feature Statistics 128
7 Detection of Sparse Models: Dynamic Programming 139
7.1 The Prior Model 139
7.2 Computation: Dynamic Programming 142
7.3 Detecting Pose 147
7.4 Bibliographical Notes and Discussion 148
8 Detection of Sparse Models: Counting 151
8.1 Detecting Candidate Centers 153
8.2 Computing Pose and Instantiation Parameters 156
ix Contents
8.3 Density of Candidate Centers and False Positives 159
8.4 Further Analysis of a Detection 160
8.5 Examples 163
8.6 Bibliographical Notes and Discussion 176
9 Object Recognition 181
9.1 Classification Trees 185
9.2 Object Recognition with Trees 192
9.3 Relational Arrangements 197
9.4 Experiments 201
9.5 Why Multiple Trees Work 209
9.6 Bibliographical Notes and Discussion 212
10 Scene Analysis: Merging Detection and Recognition 215
10.1 Classification of Chess Pieces in Gray-Level Images 216
10.2 Detecting and Classifying Characters 224
10.3 Object Clustering 228
10.4 Bibliographical Notes and Discussion 231
11 Neural Network Implementations 233
11.1 Basic Network Architecture 234
11.2 Hebbian Learning 237
11.3 Learning an Object Model 238
11.4 Learning Classifiers 241
11.5 Detection 248
11.6 Gating and Off-Center Recognition 250
11.7 Biological Analogies 252
11.8 Bibliographical Notes and Discussion 255
12 Software 259
12.1 Setting Things Up 259
12.2 Important Data Structures 262
12.3 Local Features 265
12.4 Deformable Models 267
x Contents
12.5 Sparse Models 274
12.6 Sparse Model—Counting Detector: Training 276
12.7 Example—LATEX 278
12.8 Other Objects with Synthesized Training Sets 280
12.9 Shape Recognition 281
12.10 Combining Detection and Recognition 284
Bibliography 287
Index 299

cadence 高速电路板设计与仿真

2008-07-28 16:42:20

目录
第1章软件安装及License设置
第2章 Capture原理图设计工作平台
第3章制作元件及创建元件库
第4章创建新设计
第5章 PCB设计预处理
第6章 Allegro的属性设置
第7章建立焊盘
第8章建立元件封装
第9章电路板的建立
第10章设置设计规划
第11章布局
第12章高级布局
第13章铺铜
第14章布线
第15章后处理
第16章加入测试点
第17章电路板加工前的准备工作
第18章 ALllegro其他高级功能
第19章高速PCB设计知识
第20章仿真前的准备工作
第21章约束驱动布局
第22章约束驱动布线
第23章后布线DRC分析
第24章差分对设计
附录A User Preferences设置
附录B DRC错误代码
参考文献
非常经典的书籍，几乎包括了所有做的东西。只能说是太经典了。
此书籍是参考spb15.5版本，其实其他版本基本大同小异，比如说spb15.2吧，只是里面少了些speedsheet，这是我所了解的，说的不对不要见怪。

Aided Navigation GPS with High Rate Sensors

2008-07-25 08:28:18

I Theory 1
Part I Overview 3
1 Introduction 5
1.1 Method Overview. . . . . . . . . . . . . . . . . . . . . . . . 7
1.1.1 Methodology Example . . . . . . . . . . . . . . . . . 8
1.1.2 Methodology Summary . . . . . . . . . . . . . . . . 10
1.2 Overview of Part I: Theory . . . . . . . . . . . . . . . . . . 12
1.2.1 Reference Frames . . . . . . . . . . . . . . . . . . . . 12
1.2.2 Deterministic Systems . . . . . . . . . . . . . . . . . 13
1.2.3 Stochastic Processes . . . . . . . . . . . . . . . . . . 13
1.2.4 Optimal State Estimation . . . . . . . . . . . . . . . 14
1.2.5 Performance Analysis . . . . . . . . . . . . . . . . . 15
1.2.6 Aided Navigation System Design and Analysis . . . 15
1.3 Overview of Part II: Applications . . . . . . . . . . . . . . . 16
1.3.1 GPS . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
1.3.2 Aided Navigation Systems . . . . . . . . . . . . . . . 16
1.4 Overview of Appendices . . . . . . . . . . . . . . . . . . . . 17
2 Reference Frames 19
2.1 Reference Frame Properties . . . . . . . . . . . . . . . . . . 21
2.2 Reference Frame Definitions . . . . . . . . . . . . . . . . . . 23
2.2.1 Inertial Frame . . . . . . . . . . . . . . . . . . . . . 23
2.2.2 Earth Centered Earth Fixed (ECEF) Frames . . . . 24
2.2.3 Geographic Frame . . . . . . . . . . . . . . . . . . . 24
2.2.4 Geocentric Frame . . . . . . . . . . . . . . . . . . . . 24
2.2.5 Local Geodetic or Tangent Plane . . . . . . . . . . . 25
2.2.6 Body Frame . . . . . . . . . . . . . . . . . . . . . . . 26
2.2.7 PlatformFrame . . . . . . . . . . . . . . . . . . . . . 27
2.2.8 Instrument Frames . . . . . . . . . . . . . . . . . . . 27
2.2.9 Summary . . . . . . . . . . . . . . . . . . . . . . . . 27
2.3 ECEF Coordinate Systems . . . . . . . . . . . . . . . . . . 28
vii
For more information about this title, click here
viii CONTENTS
2.3.1 ECEF Rectangular Coordinates . . . . . . . . . . . . 29
2.3.2 The Earth Geoid and GravityModel . . . . . . . . . 29
2.3.3 ECEF Transformations . . . . . . . . . . . . . . . . 33
2.4 Reference Frame Transformations . . . . . . . . . . . . . . . 35
2.4.1 The Direction CosineMatrix . . . . . . . . . . . . . 35
2.4.2 Point Transformation . . . . . . . . . . . . . . . . . 39
2.4.3 Vector Transformation . . . . . . . . . . . . . . . . . 39
2.4.4 Matrix Transformation . . . . . . . . . . . . . . . . . 40
2.5 Specific Vector Transformations . . . . . . . . . . . . . . . . 41
2.5.1 Plane Rotations . . . . . . . . . . . . . . . . . . . . 41
2.5.2 Transformation: ECEF to Tangent Plane . . . . . . 42
2.5.3 Transformation: ECEF to Geographic . . . . . . . . 44
2.5.4 Transformation: Vehicle to Navigation Frame . . . . 46
2.5.5 Transformation: Orthogonal Small Angle . . . . . . 50
2.6 Rotating Reference Frames . . . . . . . . . . . . . . . . . . 51
2.6.1 Direction Cosine Kinematics . . . . . . . . . . . . . 51
2.6.2 Derivative Calculations in Rotation Frames . . . . . 53
2.7 Calculation of the Direction Cosine . . . . . . . . . . . . . . 54
2.7.1 Direction Cosine Derivatives . . . . . . . . . . . . . 55
2.7.2 Euler Angle Derivatives . . . . . . . . . . . . . . . . 56
2.8 References and Further Reading . . . . . . . . . . . . . . . . 58
2.9 Exercises . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
3 Deterministic Systems 63
3.1 Continuous-Time SystemsModels . . . . . . . . . . . . . . 63
3.1.1 Ordinary Differential Equations . . . . . . . . . . . . 64
3.1.2 Transfer Functions . . . . . . . . . . . . . . . . . . . 65
3.1.3 State Space . . . . . . . . . . . . . . . . . . . . . . . 66
3.2 State Augmentation . . . . . . . . . . . . . . . . . . . . . . 69
3.3 State Space Linearization . . . . . . . . . . . . . . . . . . . 72
3.4 Discrete-Time State Space Notation . . . . . . . . . . . . . 74
3.5 State Space Analysis . . . . . . . . . . . . . . . . . . . . . . 74
3.5.1 Similarity Transformation . . . . . . . . . . . . . . . 75
3.5.2 State Space to Transfer Function . . . . . . . . . . . 76
3.5.3 State TransitionMatrix Properties . . . . . . . . . . 79
3.5.4 Linear Time-Invariant Systems . . . . . . . . . . . . 80
3.5.5 Discrete-Time EquivalentModels . . . . . . . . . . . 81
3.6 State Estimation . . . . . . . . . . . . . . . . . . . . . . . . 82
3.6.1 Observability . . . . . . . . . . . . . . . . . . . . . . 85
3.6.2 Estimator Design by Pole Placement . . . . . . . . . 87
3.6.3 Observable Subspace . . . . . . . . . . . . . . . . . . 92
3.7 References and Further Reading . . . . . . . . . . . . . . . . 95
3.8 Exercises . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
CONTENTS ix
4 Stochastic Processes 105
4.1 Basic Stochastic Process Concepts . . . . . . . . . . . . . . 105
4.1.1 Examples . . . . . . . . . . . . . . . . . . . . . . . . 106
4.1.2 Plan of Study . . . . . . . . . . . . . . . . . . . . . . 110
4.2 Scalar RandomVariables . . . . . . . . . . . . . . . . . . . 110
4.2.1 Basic Properties . . . . . . . . . . . . . . . . . . . . 110
4.2.2 Gaussian Distributions . . . . . . . . . . . . . . . . . 112
4.2.3 Transformations of Scalar RandomVariables . . . . 113
4.3 Multiple RandomVariables . . . . . . . . . . . . . . . . . . 115
4.3.1 Basic Properties . . . . . . . . . . . . . . . . . . . . 115
4.3.2 Statistics and Statistical Properties . . . . . . . . . . 117
4.3.3 Vector Gaussian RandomVariables . . . . . . . . . . 120
4.3.4 Transformations of Vector RandomVariables . . . . 120
4.4 Stochastic Processes . . . . . . . . . . . . . . . . . . . . . . 121
4.4.1 Statistics and Statistical Properties . . . . . . . . . . 121
4.4.2 White and Colored Noise . . . . . . . . . . . . . . . 123
4.5 Linear Systems with Random Inputs . . . . . . . . . . . . . 125
4.6 State Models for Stochastic Processes . . . . . . . . . . . . 130
4.6.1 StandardModel . . . . . . . . . . . . . . . . . . . . 131
4.6.2 Stochastic Systems and State Augmentation. . . . . 132
4.6.3 Gauss-Markov Processes . . . . . . . . . . . . . . . . 133
4.6.4 Time-propagation of the Mean . . . . . . . . . . . . 139
4.6.5 Time-propagation of the Variance . . . . . . . . . . 139
4.7 Discrete-time EquivalentModels . . . . . . . . . . . . . . . 140
4.7.1 Calculation of Φk from F(t) . . . . . . . . . . . . . . 140
4.7.2 Calculation of Qdk from Q(t) . . . . . . . . . . . . . 141
4.8 Linear State Estimation . . . . . . . . . . . . . . . . . . . . 144
4.9 Detailed Examples . . . . . . . . . . . . . . . . . . . . . . . 146
4.9.1 SystemPerformanceMetrics . . . . . . . . . . . . . 146
4.9.2 Instrument Specifications . . . . . . . . . . . . . . . 154
4.9.3 One Dimensional INS . . . . . . . . . . . . . . . . . 157
4.9.4 One Dimensional Position Aided INS . . . . . . . . . 159
4.10 Complementary Filtering . . . . . . . . . . . . . . . . . . . 161
4.11 References and Further Reading . . . . . . . . . . . . . . . . 162
4.12 Exercises . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163
5 Optimal State Estimation 169
5.1 State Estimation: Review . . . . . . . . . . . . . . . . . . . 170
5.2 MinimumVariance Gain Derivation . . . . . . . . . . . . . 172
5.2.1 Kalman Gain Derivation . . . . . . . . . . . . . . . . 172
5.2.2 Kalman Gain: Posterior Covariance . . . . . . . . . 173
5.2.3 Summary . . . . . . . . . . . . . . . . . . . . . . . . 173
5.3 From WLS to the Kalman Filter . . . . . . . . . . . . . . . 174
5.3.1 Weighted Least Squares (WLS) . . . . . . . . . . . . 174
x CONTENTS
5.3.2 Weighted Least Squares Solution . . . . . . . . . . . 175
5.3.3 Recursive Least Squares (RLS) . . . . . . . . . . . . 179
5.3.4 Kalman Filtering . . . . . . . . . . . . . . . . . . . . 183
5.4 Kalman Filter Derivation Summary . . . . . . . . . . . . . 184
5.4.1 EquivalentMeasurement Updates . . . . . . . . . . 186
5.4.2 Equivalent CovarianceMeasurement Updates . . . . 187
5.4.3 Kalman Filter Examples . . . . . . . . . . . . . . . . 187
5.5 Kalman Filter Properties . . . . . . . . . . . . . . . . . . . 189
5.6 Implementation Issues . . . . . . . . . . . . . . . . . . . . . 191
5.6.1 Scalar Measurement Processing . . . . . . . . . . . . 191
5.6.2 CorrelatedMeasurements . . . . . . . . . . . . . . . 193
5.6.3 Bad orMissing Data . . . . . . . . . . . . . . . . . . 194
5.7 Implementation Sequence . . . . . . . . . . . . . . . . . . . 195
5.8 AsynchronousMeasurements . . . . . . . . . . . . . . . . . 195
5.9 Numeric Issues . . . . . . . . . . . . . . . . . . . . . . . . . 196
5.9.1 CovarianceMatrix Symmetry . . . . . . . . . . . . . 196
5.9.2 CovarianceMatrix Positive Definiteness . . . . . . . 197
5.10 Suboptimal Filtering . . . . . . . . . . . . . . . . . . . . . . 197
5.10.1 Deleting States . . . . . . . . . . . . . . . . . . . . . 198
5.10.2 Schmidt-Kalman Filtering . . . . . . . . . . . . . . . 199
5.10.3 Decoupling . . . . . . . . . . . . . . . . . . . . . . . 202
5.10.4 Off-line Gain Calculation . . . . . . . . . . . . . . . 202
5.10.5 Nonlinear Filtering . . . . . . . . . . . . . . . . . . . 203
5.11 References and Further Reading . . . . . . . . . . . . . . . . 211
5.12 Exercises . . . . . . . . . . . . . . . . . . . . . . . . . . . . 211
6 Performance Analysis 217
6.1 Covariance Analysis . . . . . . . . . . . . . . . . . . . . . . 217
6.2 Monte Carlo Analysis . . . . . . . . . . . . . . . . . . . . . 224
6.3 Error Budgeting . . . . . . . . . . . . . . . . . . . . . . . . 224
6.4 Covariance Divergence . . . . . . . . . . . . . . . . . . . . . 230
6.5 References and Further Reading . . . . . . . . . . . . . . . . 232
6.6 Exercise . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 233
7 Navigation System Design 235
7.1 Methodology Summary . . . . . . . . . . . . . . . . . . . . 235
7.2 Methodology: Detailed Example . . . . . . . . . . . . . . . 237
7.2.1 Augmented KinematicModel . . . . . . . . . . . . . 238
7.2.2 NavigationMechanization Equations . . . . . . . . . 238
7.2.3 SensorModels . . . . . . . . . . . . . . . . . . . . . 239
7.2.4 ErrorModels . . . . . . . . . . . . . . . . . . . . . . 240
7.2.5 State Estimator Design . . . . . . . . . . . . . . . . 240
7.2.6 Covariance Analysis . . . . . . . . . . . . . . . . . . 244
7.3 Complementary Filtering . . . . . . . . . . . . . . . . . . . 247
CONTENTS xi
7.3.1 Frequency Domain Approach . . . . . . . . . . . . . 248
7.3.2 Kalman Filter Approach . . . . . . . . . . . . . . . . 250
7.4 An Alternative Approach . . . . . . . . . . . . . . . . . . . 251
7.4.1 Total State: KinematicModel . . . . . . . . . . . . . 252
7.4.2 Total State: Time Update . . . . . . . . . . . . . . . 252
7.4.3 Total State: Measurement Update . . . . . . . . . . 253
7.5 Approach Comparison . . . . . . . . . . . . . . . . . . . . . 254
7.6 A Caution . . . . . . . . . . . . . . . . . . . . . . . . . . . . 255
7.7 References and Further Reading . . . . . . . . . . . . . . . . 256
7.8 Exercises . . . . . . . . . . . . . . . . . . . . . . . . . . . . 256
II Application 259
Part II Overview 261
8 Global Positioning System 263
8.1 GPS Overview . . . . . . . . . . . . . . . . . . . . . . . . . 264
8.1.1 GPS System . . . . . . . . . . . . . . . . . . . . . . 264
8.1.2 Original GPS Signal . . . . . . . . . . . . . . . . . . 265
8.2 GPS Pseudorange . . . . . . . . . . . . . . . . . . . . . . . 266
8.2.1 GPS Pseudorange Notation . . . . . . . . . . . . . . 267
8.2.2 GPS Pseudorange Solution . . . . . . . . . . . . . . 269
8.2.3 Satellite Azimuth and Elevation . . . . . . . . . . . 273
8.3 GPS Receiver Overview . . . . . . . . . . . . . . . . . . . . 276
8.3.1 Carrier Phase Observables . . . . . . . . . . . . . . . 277
8.3.2 Delta Pseudorange Observable . . . . . . . . . . . . 278
8.4 GPS URE Characteristics . . . . . . . . . . . . . . . . . . . 280
8.4.1 Clocks . . . . . . . . . . . . . . . . . . . . . . . . . . 281
8.4.2 Satellite Clock Bias, cδts . . . . . . . . . . . . . . . 282
8.4.3 Receiver Clock Error, Δτr . . . . . . . . . . . . . . . 283
8.4.4 Atmospheric Delay, cδts
a . . . . . . . . . . . . . . . . 287
8.4.5 Ephemeris Errors, Es . . . . . . . . . . . . . . . . . 292
8.4.6 Selective Availability, SAs . . . . . . . . . . . . . . . 293
8.4.7 Multipath, Ms
ρ , Ms
φ . . . . . . . . . . . . . . . . . . 294
8.4.8 Receiver Noise, ηiρ
, ηiφ
. . . . . . . . . . . . . . . . . 295
8.4.9 Carrier Tracking and Integer Ambiguity, Ni . . . . . 295
8.4.10 Summary . . . . . . . . . . . . . . . . . . . . . . . . 301
8.5 Geometric Dilution of Precision . . . . . . . . . . . . . . . . 302
8.6 Two Frequency Receivers . . . . . . . . . . . . . . . . . . . 306
8.6.1 Wide and Narrow Lane Observables . . . . . . . . . 309
8.7 Carrier-Smoothed Code . . . . . . . . . . . . . . . . . . . . 310
8.8 Differential GPS . . . . . . . . . . . . . . . . . . . . . . . . 312
8.8.1 Relative DGPS . . . . . . . . . . . . . . . . . . . . . 313
xii CONTENTS
8.8.2 Differential GPS . . . . . . . . . . . . . . . . . . . . 317
8.8.3 Double Differences . . . . . . . . . . . . . . . . . . . 323
8.9 Integer Ambiguity Resolution . . . . . . . . . . . . . . . . . 325
8.9.1 Decreasing the Search Space . . . . . . . . . . . . . 328
8.9.2 Selection of Optimal Integers . . . . . . . . . . . . . 329
8.9.3 Modernized GPS Signal . . . . . . . . . . . . . . . . 331
8.10 GPS Summary . . . . . . . . . . . . . . . . . . . . . . . . . 332
8.11 References and Further Reading . . . . . . . . . . . . . . . . 333
9 GPS Aided Encoder-Based Dead-Reckoning 335
9.1 EncoderModel . . . . . . . . . . . . . . . . . . . . . . . . . 336
9.2 KinematicModel . . . . . . . . . . . . . . . . . . . . . . . . 338
9.3 Encoder Navigation Equations . . . . . . . . . . . . . . . . 340
9.3.1 Continuous-Time: Theory . . . . . . . . . . . . . . . 340
9.3.2 Discrete-Time: Implementation . . . . . . . . . . . . 341
9.4 Error State DynamicModel . . . . . . . . . . . . . . . . . . 341
9.5 GPS Aiding . . . . . . . . . . . . . . . . . . . . . . . . . . . 342
9.5.1 Receiver Clock Modeling . . . . . . . . . . . . . . . . 343
9.5.2 Measurement Differencing . . . . . . . . . . . . . . . 344
9.5.3 Comparison . . . . . . . . . . . . . . . . . . . . . . . 345
9.6 Performance Analysis . . . . . . . . . . . . . . . . . . . . . 346
9.6.1 Observability . . . . . . . . . . . . . . . . . . . . . . 346
9.6.2 Covariance Analysis . . . . . . . . . . . . . . . . . . 348
9.7 General 3-d Problem . . . . . . . . . . . . . . . . . . . . . . 351
10 AHRS 353
10.1 KinematicModel . . . . . . . . . . . . . . . . . . . . . . . . 354
10.2 SensorModels . . . . . . . . . . . . . . . . . . . . . . . . . . 355
10.3 Initialization . . . . . . . . . . . . . . . . . . . . . . . . . . 356
10.3.1 State Initialization: Approach 1 . . . . . . . . . . . . 356
10.3.2 State Initialization: Approach 2 . . . . . . . . . . . . 358
10.4 AHRSMechanization Equations . . . . . . . . . . . . . . . 358
10.5 ErrorModels . . . . . . . . . . . . . . . . . . . . . . . . . . 359
10.5.1 Measurement ErrorModel . . . . . . . . . . . . . . . 360
10.5.2 Attitude Error Dynamics . . . . . . . . . . . . . . . 363
10.5.3 AHRS State Space ErrorModel . . . . . . . . . . . . 365
10.5.4 Measurement Noise Covariance . . . . . . . . . . . . 366
10.5.5 Initial Error CovarianceMatrix . . . . . . . . . . . . 367
10.6 AHRS Approach Summary . . . . . . . . . . . . . . . . . . 368
10.7 Observability and Performance Analysis . . . . . . . . . . . 369
10.8 Pitch and Roll Application . . . . . . . . . . . . . . . . . . 370
10.9 References and Further Reading . . . . . . . . . . . . . . . . 377
CONTENTS xiii
11 Aided Inertial Navigation 379
11.1 Gravitation and Specific Force . . . . . . . . . . . . . . . . 379
11.1.1 Gravitation . . . . . . . . . . . . . . . . . . . . . . . 379
11.1.2 Specific Force . . . . . . . . . . . . . . . . . . . . . . 380
11.1.3 Accelerometers . . . . . . . . . . . . . . . . . . . . . 381
11.1.4 Gravity Error . . . . . . . . . . . . . . . . . . . . . . 384
11.2 INS Kinematic Equations . . . . . . . . . . . . . . . . . . . 386
11.2.1 Inertial Frame . . . . . . . . . . . . . . . . . . . . . 388
11.2.2 ECEF Frame . . . . . . . . . . . . . . . . . . . . . . 388
11.2.3 Tangent Frame . . . . . . . . . . . . . . . . . . . . . 389
11.2.4 Geographic Frame . . . . . . . . . . . . . . . . . . . 389
11.3 INSMechanization Equations . . . . . . . . . . . . . . . . . 390
11.4 INS Error State Dynamic Equations . . . . . . . . . . . . . 392
11.4.1 Position Error Linearization . . . . . . . . . . . . . . 393
11.4.2 Attitude Error Linearization . . . . . . . . . . . . . 393
11.4.3 Velocity Error Linearization . . . . . . . . . . . . . . 395
11.5 INS Error Characteristics . . . . . . . . . . . . . . . . . . . 396
11.5.1 Simplified ErrorModels . . . . . . . . . . . . . . . . 397
11.5.2 Full ErrorModel . . . . . . . . . . . . . . . . . . . . 399
11.6 Augmented State Equations . . . . . . . . . . . . . . . . . . 406
11.6.1 Instrument Error Overview . . . . . . . . . . . . . . 407
11.6.2 Accelerometer Error Modeling . . . . . . . . . . . . 408
11.6.3 Gyro ErrorModeling . . . . . . . . . . . . . . . . . . 411
11.6.4 Error Characteristics . . . . . . . . . . . . . . . . . . 414
11.7 Initialization . . . . . . . . . . . . . . . . . . . . . . . . . . 414
11.7.1 Self-Alignment Techniques . . . . . . . . . . . . . . . 416
11.8 AidingMeasurements . . . . . . . . . . . . . . . . . . . . . 421
11.8.1 Position Aiding . . . . . . . . . . . . . . . . . . . . . 421
11.8.2 GPS Pseudorange Aiding . . . . . . . . . . . . . . . 422
11.9 Observability Analysis . . . . . . . . . . . . . . . . . . . . . 427
11.9.1 Stationary, Level, Known Biases . . . . . . . . . . . 428
11.9.2 Stationary, Level, Unknown Biases . . . . . . . . . . 429
11.10References and Further Reading . . . . . . . . . . . . . . . . 430
12 LBL and Doppler Aided INS 431
12.1 Kinematics . . . . . . . . . . . . . . . . . . . . . . . . . . . 432
12.1.1 Notation . . . . . . . . . . . . . . . . . . . . . . . . . 432
12.1.2 SystemKinematics . . . . . . . . . . . . . . . . . . . 433
12.2 Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 433
12.2.1 InertialMeasurement Unit . . . . . . . . . . . . . . 434
12.2.2 Attitude and Yaw Sensor . . . . . . . . . . . . . . . 435
12.2.3 Doppler Velocity Log . . . . . . . . . . . . . . . . . . 436
12.2.4 Pressure Sensor . . . . . . . . . . . . . . . . . . . . . 436
12.2.5 Long Baseline Transceiver . . . . . . . . . . . . . . . 436
xiv CONTENTS
12.3 Mechanization and IMU Processing . . . . . . . . . . . . . . 438
12.3.1 Mechanization Equations . . . . . . . . . . . . . . . 438
12.3.2 IMU Processing . . . . . . . . . . . . . . . . . . . . . 438
12.4 Error State DynamicModel . . . . . . . . . . . . . . . . . . 439
12.4.1 Position ErrorModel . . . . . . . . . . . . . . . . . . 439
12.4.2 Velocity ErrorModel . . . . . . . . . . . . . . . . . . 440
12.4.3 Attitude ErrorModel . . . . . . . . . . . . . . . . . 441
12.4.4 Calibration Parameter ErrorModels . . . . . . . . . 442
12.4.5 ErrorModel Summary . . . . . . . . . . . . . . . . . 442
12.5 AidingMeasurementModels . . . . . . . . . . . . . . . . . 443
12.5.1 Attitude and Yaw Prediction . . . . . . . . . . . . . 443
12.5.2 Doppler Prediction . . . . . . . . . . . . . . . . . . . 444
12.5.3 Depth Prediction . . . . . . . . . . . . . . . . . . . . 445
12.5.4 LBL Prediction . . . . . . . . . . . . . . . . . . . . . 445
12.6 EKF Sensor Integration . . . . . . . . . . . . . . . . . . . . 446
12.6.1 Measurement Updates for t ∈ [t0, t4] . . . . . . . . . 447
12.6.2 Measurement Updates for t ∈ [t0, t4] . . . . . . . . . 448
12.6.3 Covariance Propagation . . . . . . . . . . . . . . . . 449
12.7 Observability . . . . . . . . . . . . . . . . . . . . . . . . . . 449
12.8 Simulation Performance . . . . . . . . . . . . . . . . . . . . 452
A Notation 455
A.1 Notation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 455
A.2 Useful Constants . . . . . . . . . . . . . . . . . . . . . . . . 457
A.3 Acronyms . . . . . . . . . . . . . . . . . . . . . . . . . . . . 457
A.4 Other Notation . . . . . . . . . . . . . . . . . . . . . . . . . 458
B Linear Algebra Review 459
B.1 Definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . 459
B.2 Matrix and Vector Operations . . . . . . . . . . . . . . . . . 461
B.3 Independence and Determinants . . . . . . . . . . . . . . . 464
B.4 Matrix Inversion . . . . . . . . . . . . . . . . . . . . . . . . 465
B.5 Matrix Inversion Lemma . . . . . . . . . . . . . . . . . . . . 466
B.6 Eigenvalues and Eigenvectors . . . . . . . . . . . . . . . . . 467
B.7 Positive DefiniteMatrices . . . . . . . . . . . . . . . . . . . 468
B.8 Singular Value Decomposition . . . . . . . . . . . . . . . . . 469
B.9 Orthogonalization . . . . . . . . . . . . . . . . . . . . . . . 469
B.10 LU Decomposition . . . . . . . . . . . . . . . . . . . . . . . 470
B.11 UD Decomposition . . . . . . . . . . . . . . . . . . . . . . . 472
B.12Matrix Exponential . . . . . . . . . . . . . . . . . . . . . . 472
B.12.1 Power Series . . . . . . . . . . . . . . . . . . . . . . 472
B.12.2 Laplace Transform . . . . . . . . . . . . . . . . . . . 473
B.13Matrix Calculus . . . . . . . . . . . . . . . . . . . . . . . . . 474
B.13.1 Derivatives with Respect to Scalars . . . . . . . . . . 474
CONTENTS xv
B.13.2 Derivatives with Respect to Vectors . . . . . . . . . 474
B.13.3 Derivatives with Respect toMatrices . . . . . . . . . 475
B.14 Numeric Zero Finding & Optimization . . . . . . . . . . . . 475
B.14.1 Numerical Zero Finding . . . . . . . . . . . . . . . . 475
B.14.2 Numeric Optimization . . . . . . . . . . . . . . . . . 477
B.15 References and Further Reading . . . . . . . . . . . . . . . . 480
B.16 Exercises . . . . . . . . . . . . . . . . . . . . . . . . . . . . 480
C Calculation of GPS Satellite Position & Velocity 485
C.1 Satellite Clock Corrections . . . . . . . . . . . . . . . . . . . 487
C.2 Satellite Position Calculations . . . . . . . . . . . . . . . . . 488
C.3 Reference Frame Consistency . . . . . . . . . . . . . . . . . 494
C.4 Satellite Velocity . . . . . . . . . . . . . . . . . . . . . . . . 495
C.4.1 Equations from Ephemeris . . . . . . . . . . . . . . . 495
C.4.2 Practical Issues . . . . . . . . . . . . . . . . . . . . . 496
C.5 IonosphericModel . . . . . . . . . . . . . . . . . . . . . . . 497
C.6 References and Further Reading . . . . . . . . . . . . . . . . 500
D Quaternions 501
D.1 Quaternions Basics . . . . . . . . . . . . . . . . . . . . . . . 501
D.2 Rotations . . . . . . . . . . . . . . . . . . . . . . . . . . . . 503
D.2.1 Direction Cosine to Quaternion . . . . . . . . . . . . 504
D.2.2 Quaternions to Euler Angles . . . . . . . . . . . . . 505
D.3 Quaternion Derivative . . . . . . . . . . . . . . . . . . . . . 505
D.3.1 General Derivation . . . . . . . . . . . . . . . . . . . 505
D.3.2 Body to Navigation Frame Result . . . . . . . . . . 506
D.4 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . 507
D.5 Quaternion Integration . . . . . . . . . . . . . . . . . . . . . 508
D.6 Attitude Representation Comparison . . . . . . . . . . . . . 510
D.7 References and Further Reading . . . . . . . . . . . . . . . . 511
D.8 Exercises . . . . . . . . . . . . . . . . . . . . . . . . . . . . 511
Bibliography 515
Index 527

Signals and Systems with MATLAB Computing and Simulink Modeling 4e

2008-07-18 09:44:36

Table of Contents
1 Elementary Signals 1?1
1.1 Signals Described in Math Form .............................................................................1?1
1.2 The Unit Step Function ..........................................................................................1?2
1.3 The Unit Ramp Function ......................................................................................1?10
1.4 The Delta Function ...............................................................................................1?11
1.4.1 The Sampling Property of the Delta Function ............................................1?12
1.4.2 The Sifting Property of the Delta Function ................................................1?13
1.5 Higher Order Delta Functions...............................................................................1?14
1.6 Summary ................................................................................................................1?22
1.7 Exercises.................................................................................................................1?23
1.8 Solutions to End?of?Chapter Exercises ................................................................1?24
MATLAB Computing
Pages 1?20, 1?21
Simulink Modeling
Page 1?18
2 The Laplace Transformation 2?1
2.1 Definition of the Laplace Transformation...............................................................2?1
2.2 Properties and Theorems of the Laplace Transform ...............................................2?2
2.2.1 Linearity Property ........................................................................................2?3
2.2.2 Time Shifting Property .................................................................................2?3
2.2.3 Frequency Shifting Property ........................................................................2?4
2.2.4 Scaling Property ...........................................................................................2?4
2.2.5 Differentiation in Time Domain Property ...................................................2?4
2.2.6 Differentiation in Complex Frequency Domain Property ...........................2?6
2.2.7 Integration in Time Domain Property .........................................................2?6
2.2.8 Integration in Complex Frequency Domain Property .................................2?8
2.2.9 Time Periodicity Property ............................................................................2?8
2.2.10 Initial Value Theorem..................................................................................2?9
2.2.11 Final Value Theorem .................................................................................2?10
2.2.12 Convolution in Time Domain Property.....................................................2?11
2.2.13 Convolution in Complex Frequency Domain Property.............................2?12
2.3 The Laplace Transform of Common Functions of Time.......................................2?14
2.3.1 The Laplace Transform of the Unit Step Function ..........................2?14
2.3.2 The Laplace Transform of the Ramp Function ................................2?14
2.3.3 The Laplace Transform of ..............................................................2?15
2.3.4 The Laplace Transform of the Delta Function ................................. 2?18
2.3.5 The Laplace Transform of the Delayed Delta Function .............. 2?18
2.3.6 The Laplace Transform of .......................................................... 2?19
2.3.7 The Laplace Transform of ....................................................... 2?19
2.3.8 The Laplace Transform of ......................................................... 2?20
2.3.9 The Laplace Transform of ......................................................... 2?20
2.3.10 The Laplace Transform of ................................................. 2?21
2.3.11 The Laplace Transform of ................................................. 2?22
2.4 The Laplace Transform of Common Waveforms .................................................. 2?23
2.4.1 The Laplace Transform of a Pulse............................................................... 2?23
2.4.2 The Laplace Transform of a Linear Segment .............................................. 2?23
2.4.3 The Laplace Transform of a Triangular Waveform .................................... 2?24
2.4.4 The Laplace Transform of a Rectangular Periodic Waveform.................... 2?25
2.4.5 The Laplace Transform of a Half?Rectified Sine Waveform ..................... 2?26
2.5 Using MATLAB for Finding the Laplace Transforms of Time Functions ............ 2?27
2.6 Summary ................................................................................................................ 2?28
2.7 Exercises................................................................................................................. 2?31
The Laplace Transform of a Sawtooth Periodic Waveform ............................... 2?32
The Laplace Transform of a Full?Rectified Sine Waveform.............................. 2?32
2.8 Solutions to End?of?Chapter Exercises................................................................. 2?33
3 The Inverse Laplace Transform 3?1
3.1 The Inverse Laplace Transform Integral ..................................................................3?1
3.2 Partial Fraction Expansion........................................................................................3?1
3.2.1 Distinct Poles..................................................................................................3?2
3.2.2 Complex Poles ................................................................................................3?5
3.2.3 Multiple (Repeated) Poles..............................................................................3?8
3.3 Case where F(s) is Improper Rational Function.....................................................3?13
3.4 Alternate Method of Partial Fraction Expansion...................................................3?15
3.5 Summary .................................................................................................................3?19
3.6 Exercises..................................................................................................................3?21
3.7 Solutions to End?of?Chapter Exercises .................................................................3?22
MATLAB Computing
Pages 3?3, 3?4, 3?5, 3?6, 3?8, 3?10, 3?12, 3?13, 3?14, 3?22
4 Circuit Analysis with Laplace Transforms 4?1
4.1 Circuit Transformation from Time to Complex Frequency.................................... 4?1
4.1.1 Resistive Network Transformation ............................................................... 4?1
4.1.2 Inductive Network Transformation .............................................................. 4?1
4.1.3 Capacitive Network Transformation ............................................................ 4?1
4.2 Complex Impedance Z(s).........................................................................................4?8
4.3 Complex Admittance Y(s) .....................................................................................4?11
4.4 Transfer Functions .................................................................................................4?13
4.5 Using the Simulink Transfer Fcn Block.................................................................4?17
4.6 Summary.................................................................................................................4?20
4.7 Exercises .................................................................................................................4?21
4.8 Solutions to End?of?Chapter Exercises.................................................................4?24
MATLAB Computing
Pages 4?6, 4?8, 4?12, 4?16, 4?17, 4?18, 4?26, 4?27, 4?28, 4?29, 4?34
Simulink Modeling
Page 4?17
5 State Variables and State Equations 5?1
5.1 Expressing Differential Equations in State Equation Form................................... 5?1
5.2 Solution of Single State Equations ........................................................................ 5?6
5.3 The State Transition Matrix ................................................................................. 5?9
5.4 Computation of the State Transition Matrix ...................................................... 5?11
5.4.1 Distinct Eigenvalues ................................................................................. 5?11
5.4.2 Multiple (Repeated) Eigenvalues ............................................................. 5?15
5.5 Eigenvectors......................................................................................................... 5?18
5.6 Circuit Analysis with State Variables.................................................................. 5?22
5.7 Relationship between State Equations and Laplace Transform.......................... 5?30
5.8 Summary.............................................................................................................. 5?38
5.9 Exercises .............................................................................................................. 5?41
5.10 Solutions to End?of?Chapter Exercises .............................................................. 5?43
MATLAB Computing
Pages 5?14, 5?15, 5?18, 5?26, 5?36, 5?48, 5?51
Simulink Modeling
Pages 5?27, 5?37, 5?45
6 The Impulse Response and Convolution 6?1
6.1 The Impulse Response in Time Domain ................................................................ 6?1
6.2 Even and Odd Functions of Time .......................................................................... 6?4
6.3 Convolution ............................................................................................................ 6?7
6.4 Graphical Evaluation of the Convolution Integral................................................. 6?8
6.5 Circuit Analysis with the Convolution Integral ................................................... 6?18
6.6 Summary ............................................................................................................... 6?21
6.7 Exercises................................................................................................................ 6?23
6.8 Solutions to End?of?Chapter Exercises................................................................ 6?25
MATLAB Applications
Pages 6?12, 6?15, 6?30
7 Fourier Series 7?1
7.1 Wave Analysis......................................................................................................... 7?1
7.2 Evaluation of the Coefficients................................................................................. 7?2
7.3 Symmetry in Trigonometric Fourier Series............................................................. 7?6
7.3.1 Symmetry in Square Waveform..................................................................... 7?8
7.3.2 Symmetry in Square Waveform with Ordinate Axis Shifted........................ 7?8
7.3.3 Symmetry in Sawtooth Waveform................................................................. 7?9
7.3.4 Symmetry in Triangular Waveform............................................................... 7?9
7.3.5 Symmetry in Fundamental, Second, and Third Harmonics........................ 7?10
7.4 Trigonometric Form of Fourier Series for Common Waveforms.......................... 7?10
7.4.1 Trigonometric Fourier Series for Square Waveform................................... 7?11
7.4.2 Trigonometric Fourier Series for Sawtooth Waveform............................... 7?14
7.4.3 Trigonometric Fourier Series for Triangular Waveform ............................. 7?16
7.4.4 Trigonometric Fourier Series for Half?Wave Rectifier Waveform............. 7?17
7.4.5 Trigonometric Fourier Series for Full?Wave Rectifier Waveform.............. 7?20
7.5 Gibbs Phenomenon ............................................................................................... 7?24
7.6 Alternate Forms of the Trigonometric Fourier Series .......................................... 7?24
7.7 Circuit Analysis with Trigonometric Fourier Series............................................. 7?28
7.8 The Exponential Form of the Fourier Series........................................................ 7?31
7.9 Symmetry in Exponential Fourier Series .............................................................. 7?33
7.9.1 Even Functions ........................................................................................... 7?33
7.9.2 Odd Functions ............................................................................................ 7?34
7.9.3 Half-Wave Symmetry ................................................................................. 7?34
7.9.4 No Symmetry .............................................................................................. 7?34
7.9.5 Relation of to ................................................................................ 7?34
7.10 Line Spectra.......................................................................................................... 7?36
7.11 Computation of RMS Values from Fourier Series................................................ 7?41
7.12 Computation of Average Power from Fourier Series ........................................... 7?44
7.13 Evaluation of Fourier Coefficients Using Excel? ................................................ 7?46
7.14 Evaluation of Fourier Coefficients Using MATLAB? ........................................ 7?47
7.15 Summary............................................................................................................... 7?50
7.16 Exercises ............................................................................................................... 7?53
7.17 Solutions to End?of?Chapter Exercises ............................................................... 7?55
MATLAB Computing
Pages 7?38, 7?47
Simulink Modeling
Page 7?31
8 The Fourier Transform 8?1
8.1 Definition and Special Forms ................................................................................ 8?1
8.2 Special Forms of the Fourier Transform................................................................ 8?2
8.2.1 Real Time Functions.................................................................................. 8?3
8.2.2 Imaginary Time Functions ......................................................................... 8?6
8.3 Properties and Theorems of the Fourier Transform.............................................. 8?9
8.3.1 Linearity...................................................................................................... 8?9
8.3.2 Symmetry.................................................................................................... 8?9
8.3.3 Time Scaling............................................................................................. 8?10
8.3.4 Time Shifting............................................................................................ 8?11
8.3.5 Frequency Shifting ................................................................................... 8?11
8.3.6 Time Differentiation ................................................................................ 8?12
8.3.7 Frequency Differentiation ........................................................................ 8?13
8.3.8 Time Integration ...................................................................................... 8?13
8.3.9 Conjugate Time and Frequency Functions.............................................. 8?13
8.3.10 Time Convolution .................................................................................... 8?14
8.3.11 Frequency Convolution............................................................................ 8?15
8.3.12 Area Under ........................................................................................ 8?15
8.3.13 Area Under ...................................................................................... 8?15
8.3.14 Parseval’s Theorem................................................................................... 8?16
8.4 Fourier Transform Pairs of Common Functions.................................................. 8?18
8.4.1 The Delta Function Pair .......................................................................... 8?18
8.4.2 The Constant Function Pair .................................................................... 8?18
8.4.3 The Cosine Function Pair ........................................................................ 8?19
8.4.4 The Sine Function Pair............................................................................. 8?20
8.4.5 The Signum Function Pair........................................................................ 8?20
8.4.6 The Unit Step Function Pair .................................................................... 8?22
8.4.7 The Function Pair .................................................................... 8?24
8.4.8 The Function Pair ............................................................... 8?24
8.4.9 The Function Pair ............................................................... 8?25
8.5 Derivation of the Fourier Transform from the Laplace Transform .................... 8?25
8.6 Fourier Transforms of Common Waveforms ...................................................... 8?27
8.6.1 The Transform of ....................................... 8?27
8.6.2 The Transform of ........................................... 8?28
8.6.3 The Transform of ........... 8?29
8.6.4 The Transform of .............................. 8?30
8.6.5 The Transform of a Periodic Time Function with Period T..................... 8?31
8.6.6 The Transform of the Periodic Time Function .... 8?32
8.7 Using MATLAB for Finding the Fourier Transform of Time Functions............ 8?33
8.8 The System Function and Applications to Circuit Analysis............................... 8?34
8.9 Summary .............................................................................................................. 8?42
8.10 Exercises............................................................................................................... 8?47
8.11 Solutions to End?of?Chapter Exercises .............................................................. 8?49
MATLAB Computing
Pages 8?33, 8?34, 8?50, 8?54, 8?55, 8?56, 8?59, 8?60
9 Discrete?Time Systems and the Z Transform 9?1
9.1 Definition and Special Forms of the Z Transform............................................... 9?1
9.2 Properties and Theorems of the Z Transform...................................................... 9?3
9.2.1 Linearity ..................................................................................................... 9?3
9.2.2 Shift of in the Discrete?Time Domain ..................................... 9?3
9.2.3 Right Shift in the Discrete?Time Domain ................................................ 9?4
9.2.4 Left Shift in the Discrete?Time Domain................................................... 9?5
9.2.5 Multiplication by in the Discrete?Time Domain................................. 9?6
9.2.6 Multiplication by in the Discrete?Time Domain ........................... 9?6
9.2.7 Multiplication by and in the Discrete?Time Domain ..................... 9?6
9.2.8 Summation in the Discrete?Time Domain ............................................... 9?7
9.2.9 Convolution in the Discrete?Time Domain ............................................. 9?8
9.2.10 Convolution in the Discrete?Frequency Domain ..................................... 9?9
9.2.11 Initial Value Theorem ............................................................................... 9?9
9.2.12 Final Value Theorem............................................................................... 9?10
9.3 The Z Transform of Common Discrete?Time Functions.................................. 9?11
9.3.1 The Transform of the Geometric Sequence.............................................9?11
9.3.2 The Transform of the Discrete?Time Unit Step Function ......................9?14
9.3.3 The Transform of the Discrete?Time Exponential Sequence .................9?16
9.3.4 The Transform of the Discrete?Time Cosine and Sine Functions ..........9?16
9.3.5 The Transform of the Discrete?Time Unit Ramp Function....................9?18
9.4 Computation of the Z Transform with Contour Integration .............................9?20
9.5 Transformation Between s? and z?Domains .......................................................9?22
9.6 The Inverse Z Transform ...................................................................................9?25
9.6.1 Partial Fraction Expansion .....................................................................9?25
9.6.2 The Inversion Integral............................................................................9?32
9.6.3 Long Division of Polynomials ................................................................9?36
9.7 The Transfer Function of Discrete?Time Systems ............................................9?38
9.8 State Equations for Discrete?Time Systems ......................................................9?45
9.9 Summary.............................................................................................................9?48
9.10 Exercises .............................................................................................................9?53
9.11 Solutions to End?of?Chapter Exercises.............................................................9?55
MATLAB Computing
Pages 9?35, 9?37, 9?38, 9?41, 9?42, 9?59, 9?61
Simulink Modeling
Page 9?44
Excel Plots
Pages 9?35, 9?44
10 The DFT and the FFT Algorithm 10?1
10.1 The Discrete Fourier Transform (DFT) ............................................................10?1
10.2 Even and Odd Properties of the DFT................................................................10?9
10.3 Common Properties and Theorems of the DFT ..............................................10?10
10.3.1 Linearity ...............................................................................................10?10
10.3.2 Time Shift ............................................................................................10?11
10.3.3 Frequency Shift....................................................................................10?12
10.3.4 Time Convolution ...............................................................................10?12
10.3.5 Frequency Convolution .......................................................................10?13
10.4 The Sampling Theorem ...................................................................................10?13
10.5 Number of Operations Required to Compute the DFT ..................................10?16
10.6 The Fast Fourier Transform (FFT)..................................................................10?17
10.7 Summary...........................................................................................................10?28
10.8 Exercises ...........................................................................................................10?31
10.9 Solutions to End?of?Chapter Exercises...........................................................10?33
MATLAB Computing
Pages 10?5, 10?7, 10?34
Excel Analysis ToolPak
Pages 10?6, 10?8
11 Analog and Digital Filters
11.1 Filter Types and Classifications......................................................................... 11?1
11.2 Basic Analog Filters........................................................................................... 11?2
11.2.1 RC Low?Pass Filter ............................................................................... 11?2
11.2.2 RC High?Pass Filter .............................................................................. 11?4
11.2.3 RLC Band?Pass Filter.............................................................................11?7
11.2.4 RLC Band?Elimination Filter ................................................................11?8
11.3 Low?Pass Analog Filter Prototypes ..................................................................11?10
11.3.1 Butterworth Analog Low?Pass Filter Design .......................................11?14
11.3.2 Chebyshev Type I Analog Low?Pass Filter Design..............................11?25
11.3.3 Chebyshev Type II Analog Low?Pass Filter Design ............................11?38
11.3.4 Elliptic Analog Low?Pass Filter Design ...............................................11?39
11.4 High?Pass, Band?Pass, and Band?Elimination Filter Design..........................11?41
11.5 Digital Filters ....................................................................................................11?51
11.6 Digital Filter Design with Simulink..................................................................11?70
11.6.1 The Direct Form I Realization of a Digital Filter.................................11?70
11.6.2 The Direct Form II Realization of a Digital Filter................................11?71
11.6.3 The Series Form Realization of a Digital Filter ....................................11?73
11.6.4 The Parallel Form Realization of a Digital Filter .................................11?75
11.6.5 The Digital Filter Design Block............................................................11?78
11.7 Summary...........................................................................................................11?87
11.8 Exercises ...........................................................................................................11?91
11.9 Solutions to End?of?Chapter Exercises ...........................................................11?97
MATLAB Computing
Pages 11?3, 11?4, 11?6, 11?7, 11?9, 11?15, 11?19, 11?23, 11?24, 11?31,
11?35, 11?36, 11?37, 11?38, 11?40, 11?41, 11?42, 11?43, 11?45, 11?46,
11?48, 11?50, 11?55, 11?56, 11?57, 11?60, 11?62, 11?64, 11?67, 11?68,
and 11?97 through 11?106
Simulink Modeling
Pages 11?71, 11?74, 11?77, 11?78, 11?80, 11?82, 11?83, 11?84
A Introduction to MATLAB A?1
A.1 MATLAB? and Simulink?........................................................................... A?1
A.2 Command Window ......................................................................................... A?1
A.3 Roots of Polynomials ....................................................................................... A?3
A.4 Polynomial Construction from Known Roots ................................................. A?4
A.5 Evaluation of a Polynomial at Specified Values .............................................. A?6
A.6 Rational Polynomials ....................................................................................... A?8
A.7 Using MATLAB to Make Plots..................................................................... A?10
A.8 Subplots ......................................................................................................... A?18
A.9 Multiplication, Division, and Exponentiation .............................................. A?18
A.10 Script and Function Files .............................................................................. A?26
A.11 Display Formats ............................................................................................. A?31
MATLAB Computing
Pages A?3 through A?8, A?10, A?13, A?14, A?16, A?17,
A?21, A?22, A?24, A?27
B Introduction to Simulink B?1
B.1 Simulink and its Relation to MATLAB............................................................. B?1
B.2 Simulink Demos ............................................................................................... B?20
MATLAB Computing
Page B?4
Simulink Modeling
Pages B?7, B?12, B?14, B?18
C A Review of Complex Numbers C?1
C.1 Definition of a Complex Number.......................................................................C?1
C.2 Addition and Subtraction of Complex Numbers ...............................................C?2
C.3 Multiplication of Complex Numbers..................................................................C?3
C.4 Division of Complex Numbers ...........................................................................C?4
C.5 Exponential and Polar Forms of Complex Numbers..........................................C?4
MATLAB Computing
Pages C?6, C?7, C?8
Simulink Modeling
Page C?7
D Matrices and Determinants D?1
D.1 Matrix Definition.............................................................................................D?1
D.2 Matrix Operations ...........................................................................................D?2
D.3 Special Forms of Matrices................................................................................D?6
D.4 Determinants .................................................................................................D?10
D.5 Minors and Cofactors ....................................................................................D?12
D.6 Cramer’s Rule ................................................................................................D?17
D.7 Gaussian Elimination Method.......................................................................D?19
D.8 The Adjoint of a Matrix ................................................................................D?21
D.9 Singular and Non?Singular Matrices ............................................................D?21
D.10 The Inverse of a Matrix .................................................................................D?22
D.11 Solution of Simultaneous Equations with Matrices ......................................D?24
D.12 Exercises.........................................................................................................D?31
MATLAB Computing
Pages D?3, D?4, D?5, D?7, D?8, D?9, D?10,
D?12, D?19, D?23, D?27, D?29
Simulink Modeling
Page D?3
Excel Spreadsheet
Page D?28
E Window Functions E?1
E.1 Window Function Defined .................................................................................. E?1
E.2 Common Window Functions............................................................................... E?1
E.2.1 Rectangular Window Function ................................................................. E?2
E.2.2 Triangular Window Function.................................................................... E?5
E.2.3 Hanning Window Function....................................................................... E?7
E.2.4 Hamming Window Function..................................................................... E?9
E.2.5 Blackman Window Function................................................................... E?12
E.2.6 Kaiser Family of Window Functions ....................................................... E?14
E.3 Other Window Functions .................................................................................. E?15
E.4 Fourier Series Method for Approximating an FIR Amplitude Response .......... E?17
References R?1
Index IN?1

信号与系统（中文第二版）

2008-06-16 17:52:46

第1章　信号与系统
1.0　引言
1.2　自变量的变换
1.3　指数信号与正弦信号
1.4　单位冲激与单位阶跃函数
1.5　连续时间和离散时间系统
1.6　基本系统性质
1.7　小结
习题
第2章　线性时不变系统
2.0　引言
2.1　离散时间LTI系统：卷积和
2.2　连续时间LTI系统：卷积积分
2.3　线性时不变系统的性质
2.4　用微分和差分方程描述的因果LTI系统
2.5　奇异函数
2.6　小结
习题
第3章　周期信号的傅里叶级数表示
3.0 引言
3.1　历史回顾
3.2　LTI系统对复指数信号的响应
3.3　连续时间周期信号的傅里叶级数表示
3.4　傅里叶级数的收敛
3.5　连续时间傅里叶级数性质
3.6　离散时间周期信号的傅里叶级数表示
3.7　离散时间博里叶级数性质
3.8　傅里叶级数与LTI系统
3.9　滤波
3.10　用微分方程描述的连续时间滤波器举例
3.11　用差分方程描述的离散时间滤波器举例
3.12　小结
习题
第4章　连续时间傅里叶变换
4.0 引言
4.1　非周期信号的表示：连续时间傅里叶变换
4.2　周期信号的傅里叶变换
4.3　连续时间傅里叶变换性质
4.4　卷积性质
4.5　相乘性质
4.6　傅里叶变换性质和基本傅里叶变换对列表
4.7　由线性常系数微分方程表征的系统
4.8　小结
习题
第5章　离散时间傅里叶变换
5.0　引言
5.1　非周期信号的表示：离散时间傅里叶变换
5.2　周期信号的傅里叶交换
5.3　离散时间傅里叶交换性质
5.4　卷积性质
5.5　相乘性质
5.6　傅里叶变换性质和基本傅里叶变换对列表
5.7　对偶性
5.8　由线性常系数差分方程表征的系统
5.9　小结
习题
第6章　信号与系统的时域和频域特性
6.0 引言
6.1　傅里叶变换的模和相位表示
6.2　LTI系统频率响应的模和相位表示
6.3　理想频率选择性滤波器的时域特性
6.4　非理想滤波器的时域和频域特性讨论
6.5　一阶与二阶连续时间系统
6.6　一阶与二阶离散时间系统
6.7　系统的时域分析与频域分析举例
6.8　小结
习题
第7章　采样
7.0　引言
7.1　用信号样本表示连续时间信号：采样定理
7.2　利用内括由样本重建信号
7.3　欠采样的效果：混叠现象
7.4　连续时间信号的离散时间处理
7.5　离散时间信号采样
7.6　小结
习题
第8章　通信系统
8.0　引言
8.1　复指数与正弦幅度调制
8.2　正弦AM的解调
8.3　频分多路复用
8.4　单边带正弦幅度调制
8.5　用脉冲串作载波的幅度调制
8.6　脉冲幅度调制
8.7　正弦频率调制
8.8　离散时间调制
8.9　小结
习题
第9章　拉普拉斯变换
9.0　引言
9.1　拉普拉斯变换
9.2 拉普拉斯变换收敛域
9.3　拉普拉斯及变换
9.4　由零极点图对傅里叶变换进行几何求值
9.5　拉普拉斯变换的性质
9.6　常用拉普拉斯变换对
9.7　用拉普拉斯变换分析和表征LTI系统
9.8　系统函数的代数属性与方框图表示
9.9　单边拉普拉斯变换
9.10　小结
习题
第10章　Z变换
10.0　引言
10.1　Z变换
10.2 Z变换的收敛域
10.3 Z反变换
10.4　由零极点图对傅里叶变换进行几何求值
10.5　Z变换的性质
10.6 几个常用Z变换对
10.7 利用Z变换分析与表征LTI系统
10.8　系统函数的代数属性与方框图表示
10.9　单边Z变换
10.10　小结
习题
第11章　线性反馈系统
11.0　引言
11.1　线性反馈系统
11.2　反馈的某些应用及结果
11.3　线性反馈系统的根轨迹分析法
11.4　奈奎斯特稳定性判据
11.5　增益和相位裕度
11.6??小结

FPGA Prototyping by VHDL Examples(2008)

2008-05-29 15:11:10

Editorial Reviews
Review
"It's recommended to anyone looking to get started with FGPA prototyping using VHDL." (Electronic Design Online, February 4, 2008)

Product Description

A hands-on introduction to VHDL synthesis and FPGA prototyping

Hardware Descriptive Language (HDL) and Field Programmable Gate Array (FPGA) devices

allow designers to quickly develop and simulate a sophisticated digital circuit, realize it on a prototyping device, and verify the operation of its physical implementation. As these technologies have matured, they have become accepted mainstream practice so that it is possible to use a PC and an inexpensive FPGA prototyping board to construct a complex digital system.

This book uses a "learn by doing" approach to introduce the concepts and techniques of VHDL and FPGA to designers through a series of hands-on experiments. FPGA Prototyping by VHDL Examples provides:

*

A collection of clear, easy-to-follow templates for quick code development
*

A large number of practical examples to illustrate and reinforce the concepts and design techniques
*

Realistic projects that can be implemented and tested on a Xilinx prototyping board
*

A thorough exploration of the Xilinx PicoBlaze soft-core microcontroller

Although the book is an introductory text, the examples are developed in a rigorous manner and the derivations follow strict design guidelines and coding practices used for large, complex systems. It lays a solid foundation for students and new engineers and prepares them for future development tasks. FPGA Prototyping by VHDL Examples is an indispensable companion text for introductory digital design courses and also serves as a valuable self-teaching guide for practicing engineers who wish to learn more about this emerging area of interest.

Most Helpful Customer Reviews

2 of 2 people found the following review helpful:
5.0 out of 5 stars Finally, a hands on introduction to fpga development, April 13, 2008
By R. J. Zigon (Indianapolis, IN) - See all my reviews
(REAL NAME)
I have been looking for a book like this for 2 years now. It is the first book I know of that is actually written about a current development board. The author does a great job of teaching you many of the basic concepts you need to get going. I hope that people at Xilinx stand up and take notice of what the author has done. If you ask me, Xilinx's marketing or technical support department should have written this book. If you want to get involved with fpga development, then buy this book and the development board. I'm recommending this book to several other software engineers as well as some of my students. Well done Prof Chu!
Comment Comment | Permalink | Was this review helpful to you? YesNo (Report this)

5.0 out of 5 stars The best way to learn VHDL, March 22, 2008
By El Hombre (Canada) - See all my reviews
This is one of the best introductory VHDL books out there. Even though it does not focus on the VHDL Language itself it does demonstrate the use of VHDL and the hardware design methodology via practical design examples. All explanantions are clear and easy to follow. The design examples provided in the book are very practical (UART, PS2, VGA controller). The examples themselves are designed using the hardware design methodologies presented (FSM-based and FSMD-based). Finally the Picoblaze section in the textbook is the best treatize of the picoblaze micro that I've seen this far.

For those interested in a more rigourous treatment of the VHDL language, design methodology and synthesis issues (but not practical examples) I also highly recoommend "RTL Hardware Design Using VHDL: Coding for Efficiency, Portability, and Scalability" by the same author.

Printed Circuit Board Designers Reference Basics

2008-05-20 12:52:56

? Table of Contents
? Examples
Printed Circuit Board Designer's Reference: Basics
By Christopher T. Robertson

Publisher : Prentice Hall PTR
Pub Date : October 13, 2003
ISBN : 0-13-067481-8
Pages : 304

Copyright
Prentice Hall Modern Semiconductor Design Series
About Prentice Hall Professional Technical Reference
Preface
Scope
What a Designer Should Know
How This Book Is Organized
Conventions Used
Software Provided
Web Site
Acknowledgments

Designer's Checklist
Circuit Designer Requirements
Printed Circuit Board Design Checklist
Printed Circuit Board Assembly Checklist

Chapter 1. Introduction to a Printed Circuit Board
What Is a PCB?
What a PCB Is Made Of
A Thumbnail Sketch of the Design Process
Summary

Chapter 2. Design for Manufacturing
About Fabrication Notes
Technologies
Defining Fabrication Limits
The Fabrication Drawing
The Fabrication Process and Fabrication Notes
Summary

Chapter 3. Design for Assembly
Soldering a Thru-Hole Component
Quality Solder Joints
Determining the Annular Ring for Assembly
Component Spacing
Component Placement
Manual Assembly versus Auto Assembly
Single-Sided Assembly versus Double-Sided Assembly
Manual Assembly
Auto Assembly
Summary

Chapter 4. Schematics and the Netlist
Schematic Entry
Understanding Electricity
Software Terminology
Understanding Components
Schematic Standards
Schematic Design Checklist
Schematic Styles
Sheets and Strategies
Connectors and Sheet Connectors
Summary

Chapter 5. Designing a PCB
Initial Design Determination
Getting Started Using Tools of the Trade
Utilities and Accessories
Documenting Standards and Materials
Gathering and Defining Preliminary Information
Defining Constraints and Requirements
Determining the Material Type to Use
Designing the Board
Specifying the Manufacturing Do's and Don'ts
Templates
Summary

Chapter 6. Libraries, Components, and Data Sheets
Understanding Components
Component Consistency
Component Symbol Types
Library Naming Convention
Manufacturer-Generic vs. Manufacturer-Specific Components
Deciphering a Data Sheet and Manufacturer's Standards—SMD
Drawing the Components
Multiple Aspects of the Same Component
Summary

Chapter 7. Board Completion and Inspection
Why Inspect?
Summary

Chapter 8. Drawing an Assembly
Creating an Assembly Drawing
Determining the Type of Assembly Drawing Required
Assembly Views
Assembly Drawing Final Note
Summary

Appendix Examples
Schematics
PCBs

Glossary
PCB Manufacturing Terms
PCB Manufacturing Acronyms
Electronic Terms
Electronic Acronyms
PCB Design Acronyms

About the Author
License Agreement and Limited Warranty
About the CD-ROM
License Agreement
Technical Support