Pseudolite Fingerprint Positioning Method under GNSS Rejection Environment

HUANG Lu; YU Bao-guo; LI Hong-sheng; LI Jun; JIA Hao-nan; CHENG Jian-qiang; LI Ya-ning

doi:10.12263/DZXB.20211167

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Pseudolite Fingerprint Positioning Method under GNSS Rejection Environment

INTELLIGENT TIME-SPATIAL INFORMATION SERVICE TECHNOLOGY | 更新时间：2025-12-08

- Pseudolite Fingerprint Positioning Method under GNSS Rejection Environment
- ACTA ELECTRONICA SINICA Vol. 50, Issue 4, Pages: 811-822(2022)
- 作者机构：
  
  1.东南大学仪器科学与工程学院微惯性仪表与先进导航技术教育部重点实验室，江苏南京 210096
  2.卫星导航系统与装备技术国家重点实验室，河北石家庄 050081
- 作者简介：
- 基金信息：
- DOI：10.12263/DZXB.20211167
  CLC： TN967.1;P228.1
- Received：28 August 2021，
  
  Revised：2022-01-17，
  
  Published：25 April 2022
- 稿件说明：
移动端阅览
黄璐,蔚保国,李宏生等.GNSS拒止环境下的伪卫星指纹定位方法[J].电子学报,2022,50(04):811-822.

HUANG Lu,YU Bao-guo,LI Hong-sheng,et al.Pseudolite Fingerprint Positioning Method under GNSS Rejection Environment[J].ACTA ELECTRONICA SINICA,2022,50(04):811-822.
黄璐,蔚保国,李宏生等.GNSS拒止环境下的伪卫星指纹定位方法[J].电子学报,2022,50(04):811-822. DOI： 10.12263/DZXB.20211167.

HUANG Lu,YU Bao-guo,LI Hong-sheng,et al.Pseudolite Fingerprint Positioning Method under GNSS Rejection Environment[J].ACTA ELECTRONICA SINICA,2022,50(04):811-822. DOI： 10.12263/DZXB.20211167.

摘要

伪卫星具有发射与天上卫星相同信号的能力，可以作为GNSS（Global Navigation Satellite System）信号遮挡环境下稳定可靠的定位信号源，使得基于现有终端硬件条件实现室外内连续高精度定位成为可能，因此逐渐成为室内定位领域的研究热点.本文提出了一种基于同源多通道伪卫星的指纹库匹配定位方法，利用顾及位置信息的变分自编码网络（Variational Auto-Encoder，VAE）学习伪卫星载波相位信息在隐含空间下的概率分布特征，建立伪卫星观测数据隐含特征与室内位置间的映射关系，进而实现GNSS拒止环境下的指纹匹配定位.针对指纹定位结果波动大的问题，本文提出一种粒子滤波融合处理方法，提高了定位系统的稳定性和定位精度.本文在试验环境以及机场环境下，通过大量试验验证了该定位算法在动态和静态下的定位性能，并与常用的基于指纹库匹配的定位方法进行了比较.结果表明，在室内试验环境下，动态平均定位精度为0.39 m，95%的定位误差小于0.85 m，在真实机场环境下，动态平均定位精度为0.75 m，最大定位误差为1.69 m，92%的定位误差小于1 m，验证了算法的有效性.

Abstract

Pseudolites have the ability to transmit the same signals as GNSS(Global Navigation Satellite System) satellites

and can provide stable and reliable positioning signals for the navigation signal obstructed environment

making it possible to achieve continuous high-precision positioning outdoors based on the existing terminal hardware conditions. Therefore

it has gradually become a research hotspot in the field of indoor positioning. In this paper

a fingerprint database matching and positioning method based on homologous multi-channel pseudolites is proposed. The variational autoencoder network that takes into account the position information is designed to learn the probability distribution characteristics of the pseudolite carrier phase information in the hidden space. Then

the mapping relationship between the hidden features of the pseudolite observation data and the indoor location is established. After this

aiming at the problem of large fluctuation of fingerprint location results

a particle filter fusion processing method is proposed to improve the stability and accuracy of the location system. In the experimental environment and airport environment

a large number of experiments verify the positioning performance of the positioning algorithm under dynamic and static conditions

and compare it with the common positioning methods based on fingerprint database matching. The results show that the dynamic average positioning accuracy is 0.39 m in the indoor test environment

and 95% of the positioning error is better than 0.85 m. In the real airport environment

the dynamic average positioning accuracy is 0.75 m

the maximum positioning error is 1.69 m

and 92% of the positioning error is better than 1m. The effectiveness of the algorithm is verified.

关键词

Keywords

references

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