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基于超宽带紧密耦合集成的多全球导航卫星系统精密单点定位

Multi-GNSS Precise Point Positioning with UWB Tightly Coupled Integration.

作者信息

Huang Zhenchuan, Jin Shuanggen, Su Ke, Tang Xu

机构信息

School of Communication and Information Engineering, Shanghai University, Shanghai 200444, China.

Shanghai Astronomical Observatory, Chinese Academy of Sciences, Shanghai 200030, China.

出版信息

Sensors (Basel). 2022 Mar 14;22(6):2232. doi: 10.3390/s22062232.

DOI:10.3390/s22062232
PMID:35336403
原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC8950949/
Abstract

Global Navigation Satellite Systems (GNSSs) can provide high-precision positioning services, which can be applied to fields including navigation and positioning, autonomous driving, unmanned aerial vehicles and so on. However, GNSS signals are easily disrupted in complex environments, which results in a positioning performance with a significantly inferior accuracy and lengthier convergence time, particularly for the single GNSS system. In this paper, multi-GNSS precise point positioning (PPP) with tightly integrating ultra-wide band (UWB) technology is presented to implement fast and precise navigation and positioning. The validity of the algorithm is evaluated by a set of GNSS and UWB data. The statistics indicate that multi-GNSS/UWB integration can significantly improve positioning performance in terms of the positioning accuracy and convergence time. The improvement of the positioning performance for the GNSS/UWB tightly coupled integration mainly concerns the north and east directions, and to a lesser extent, the vertical direction. Furthermore, the convergence performance of GNSS/UWB solution is analyzed by simulating GNSS signal interruption. The reliability and robustness of GNSS/UWB solution during GNSS signal interruption is verified. The results show that multi-GNSS/UWB solution can significantly improve the accuracy and convergence speed of PPP.

摘要

全球导航卫星系统（GNSS）能够提供高精度定位服务，可应用于包括导航与定位、自动驾驶、无人机等在内的诸多领域。然而，GNSS信号在复杂环境中容易受到干扰，这导致定位性能的精度显著下降且收敛时间变长，尤其是对于单GNSS系统而言。本文提出了一种紧密集成超宽带（UWB）技术的多GNSS精密单点定位（PPP）方法，以实现快速、精确的导航与定位。通过一组GNSS和UWB数据对该算法的有效性进行了评估。统计结果表明，多GNSS/UWB集成在定位精度和收敛时间方面能够显著提高定位性能。GNSS/UWB紧密耦合集成的定位性能提升主要体现在北向和东向，而在垂直方向上的提升程度较小。此外，通过模拟GNSS信号中断来分析GNSS/UWB解算的收敛性能。验证了GNSS信号中断期间GNSS/UWB解算的可靠性和鲁棒性。结果表明，多GNSS/UWB解算能够显著提高PPP的精度和收敛速度。

https://cdn.ncbi.nlm.nih.gov/pmc/blobs/36ba/8950949/f6bbeba04b85/sensors-22-02232-g011.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/36ba/8950949/3bbee4628a36/sensors-22-02232-g001.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/36ba/8950949/b89c0fb52354/sensors-22-02232-g002.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/36ba/8950949/ba59952588a8/sensors-22-02232-g003.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/36ba/8950949/266c581f993c/sensors-22-02232-g004.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/36ba/8950949/265c0dadd103/sensors-22-02232-g005.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/36ba/8950949/c00c3b5180f3/sensors-22-02232-g006.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/36ba/8950949/7139dca14dd3/sensors-22-02232-g007.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/36ba/8950949/d0fbe1d5b892/sensors-22-02232-g008.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/36ba/8950949/dc22241b8dac/sensors-22-02232-g009.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/36ba/8950949/aca870f06bd2/sensors-22-02232-g010.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/36ba/8950949/f6bbeba04b85/sensors-22-02232-g011.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/36ba/8950949/3bbee4628a36/sensors-22-02232-g001.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/36ba/8950949/b89c0fb52354/sensors-22-02232-g002.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/36ba/8950949/ba59952588a8/sensors-22-02232-g003.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/36ba/8950949/266c581f993c/sensors-22-02232-g004.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/36ba/8950949/265c0dadd103/sensors-22-02232-g005.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/36ba/8950949/c00c3b5180f3/sensors-22-02232-g006.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/36ba/8950949/7139dca14dd3/sensors-22-02232-g007.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/36ba/8950949/d0fbe1d5b892/sensors-22-02232-g008.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/36ba/8950949/dc22241b8dac/sensors-22-02232-g009.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/36ba/8950949/aca870f06bd2/sensors-22-02232-g010.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/36ba/8950949/f6bbeba04b85/sensors-22-02232-g011.jpg

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Ultra Wideband Indoor Positioning Technologies: Analysis and Recent Advances.
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