摘要
针对当前不同环境和不同型号智能手机的航向角估计性能缺乏全面分析的问题,提出一种不同环境下手机测速与航向角估计性能评估方法:基于多普勒测速和时间差分载波相位(TDCP)测速方法,利用高楼城区、高速公路、山区和低矮城区环境下的实验数据对比分析11种不同手机的测速与航向角估计精度。结果表明:TDCP测速法在高楼城区环境下可实现分米级精度(水平速度误差68%分位数0.11 m/s),在高速公路、山区和低矮城区环境下性能相当,可实现厘米级精度(0.05 m/s);显著优于多普勒测速法(0.17 m/s和0.12 m/s),且2种方法的测速成功率均可达到99%。在航向角估计方面,航向角估计精度同时受智能手机水平速度大小和全球导航卫星系统(GNSS)信号接收环境的影响,且估计误差随智能手机水平速度的减小而增大。在高速公路、山区和低矮城区等较开阔的场景中时,水平速度大于0.5 m/s时的多普勒和TDCP航向角估计误差68%分位数分别约为0.13°和0.09°、0.27°和0.09°、0.46°和0.20°;而在高楼城区低速场景中,二者分别为2.35°和1.45°。
Aiming at the problem of the lack of comprehensive evaluation of smartphone-based heading angle estimation across diverse environments and device models,the paper proposed a performance evaluation method of smartphone velocity and heading angle estimation under different environments:based on Doppler and time-differenced carrier phase(TDCP)methods,the velocity and heading angle estimation accuracy was assessed across 11 smartphone models,with experimental datasets collected in four distinct environments,including high-rise urban areas,highways,mountainous regions and low-rise urban settings.Results showed that the TDCP method could demonstrate decimeter-level velocity accuracy(68th percentile:0.11 m/s)in high-rise urban areas,while achieving consistent centimeter-level precision(0.05 m/s)in highway,mountainous and low-rise urban environm ents,outperforming the Dopp ler method(0.17 m/s and 0.12 m/s,respectively),with both methods maintaining 99%velocity success rates;for heading angle estimation,the accuracy would be jointly determined by the smartphone's horizontal velocity magnitude and global navigation satellite system(GNSS)signal reception conditions,with estimation errors increasing as velocity decreases;in relatively open scenarios(highway,mountainous,and low-rise urban areas)at velocities exceeding 0.5 m/s,the 68th percentile heading angle errors using Doppler and TDCP method would be 0.13°and 0.09°,0.27°and 0.09°,0.46°and 0.20°,respectively;in contrast,high-rise urban environments under low-speed conditions would show significantly larger errors of 2.35°and 1.45°.
作者
韩昆
彭亚权
刘李文乐
龚晓鹏
HAN Kun;PENG Yaquan;LIU Liwenle;GONG Xiaopeng(Institute of Qinghai Provincial Natural Resources Survey and Monitoring,Xining 810000,China;China Railway Siyuan Survey and Design Group Co.,Ltd.,Wuhan 430063,China;GNSS Research Center,Wuhan University,Wuhan 430079,China)
出处
《导航定位学报》
北大核心
2025年第4期168-178,共11页
Journal of Navigation and Positioning
基金
湖北省自然科学基金项目(2024AFD418)
中国铁建股份有限公司科研计划项目(2024-B19)
中国科协青年人才托举工程支持项目(YESS20210184)
武汉市曙光计划项目(2023010201020275)。
关键词
智能手机
城市峡谷环境
多普勒测速
时间差分载波相位(TDCP)
航向角估计
smartphone
urban canyon environment
Doppler-based velocity estimation
time-differenced carrier phase(TDCP)
heading angle estimation
