摘要
异步伪卫星室内定位系统的钟漂会引起较大的伪距观测值误差,同时多径和室内信号传播效应会加剧时钟同步误差。针对此问题,提出了一种利用伪距双差测量值和伪卫星信号载噪比的室内融合定位方法。载噪比观测量不受时钟同步误差的影响,将伪距和载噪比在观测值域进行组合,以增加观测方程的稳定性。使用无迹卡尔曼滤波对坐标参数进行解算,进一步削弱线性化误差。利用自主研制的伪卫星系统实测数据对算法性能进行了评估,并与传统伪距双差和加权质心定位方法进行了对比,实验结果表明:融合算法的定位精度优于传统两种方法,在伪卫星几何分布较好的情况下,东方向、北方向的定位精度分别达到0.131m、0.036m,在伪卫星几何分布较差的情况下,东方向、北方向的定位精度分别为0.764m、0.362m。所提出的算法对接收机采样时间不同步和多径误差具有较好的抑制作用,且表现出良好的鲁棒性,适用于深度室内场景。
The clock drift of asynchronous pseudolite indoor positioning system will cause large pseudorange observation error,and the multipath and indoor signal propagation effect will aggravate the time synchronization error.Aiming at this problem,an indoor fusion positioning method using double differenced pseudorange and pseudolite C/N0 measurement is proposed.Since C/N0 measurement is not affected by time synchronization error,the pseudorange and C/N0 measurements are combined in the observation domain to increase the stability of observation equation.The coordinate parameters are solved by unscented Kalman filter to further mitigate the linearization error.Finally,the performance of the proposed algorithm is evaluated by the measured data of a self-developed pseudolite system,and then it is compared with the traditional pseudorange double difference and weighted centroid localization methods.Experimental results show that the fusion algorithm has better positioning accuracy than the above two methods.In the case with good pseudolite geometry,the positioning accuracy reaches 0.131 m and 0.036 m in east and north directions respectively,and in the case with poor pseudolite geometry,the corresponding accuracy is 0.764 m and 0.362 m.The proposed algorithm has good suppression effect on receiver’s sampling asynchronization and multipath,and shows good robustness,which is suitable for deep indoor scenarios.
作者
夏炎
潘树国
蔚保国
高旺
甘兴利
王欣怡
XIA Yan;PAN Shuguo;YU Baoguo;GAO Wang;GAN Xingli;WANG Xinyi(School of Instrument Science and Engineering,Southeast University,Nanjing 210096,China;State Key Laboratory of Satellite Navigation System and Equipment Technology,Shijiazhuang 050081,China;The 54th Research Institute of China Electronics Technology Group Corporation,Shijiazhuang 050081,China)
出处
《中国惯性技术学报》
EI
CSCD
北大核心
2019年第2期154-159,共6页
Journal of Chinese Inertial Technology
基金
“十三五”国家重点研发计划资助项目(2016YFB0502101)
国家自然科学基金项目(41574026,41774027)
关键词
异步伪卫星
室内定位
载噪比
无迹卡尔曼滤波
asynchronous pseudolite
indoor positioning
carrier-to-noise ratio
unscented Kalman filter
