Sensor data fusion for an indoor and outdoor localization

Geolocation systems are constantly evolving to enhance the integrity, accuracy and availability. Today, the applications are emerging and multiplying which are parts of an overall context of mobility. In outdoor environments, GNSS systems used, such as GPS and Galileo, provide a good accuracy, but in the indoor environments, GNSS signal is deteriorated due to the signal degradation by different obstacles. Many techniques are used to locate users in the indoor environments such as Infrared, Ultrasound or Radiofrequency techniques. The use of these techniques facilitates the exchange and dissemination of information. This paper presents a new design of Indoor-Outdoor positioning system based on the combination of data from UWB and GPS sources.     

一种针对用户GNSS时钟的转发式欺骗方法

全球卫星导航系统(Global Navigation Satellite System,GNSS)转发式欺骗干扰具有系统搭建容易、干扰实施方便、成本低等优点,目前已成为一种重要的GNSS欺骗方式。针对多峰值抗转发欺骗干扰检测算法,提出一种针对目标接收机GNSS时钟的转发式欺骗干扰方法。相比于传统转发式欺骗的各通道卫星信号时延一致的特点,该方法根据待欺骗接收机和转发式欺骗源的位置计算各卫星通道转发时延,使待欺骗目标接收到的GNSS欺骗信号的时延为伪码周期整数倍,并随时间自适应动态调整转发时延,使得欺骗检测失效,进一步欺骗静态目标接收机的GNSS时钟。模拟实验和仿真实验验证了该转发式欺骗方法的有效性。     

GNSS/INS组合导航在飞行校验系统中的应用

目前的飞行校验系统以 GPS 作为空间基准,这种定位方式在精度、性能、可靠性方面都存在着固有缺陷。本文介绍的同步定位-姿态-导航(SPAN,Synchronous Position,Attitude and Navigation)技术集合了两种不同但互补的技术：全球导航卫星系统(GNSS,Global Navigation Satellite System)定位技术和惯性导航技术。通过二者的结合,SPAN 技术可以达到取长补短的目的,组合后的导航系统无论在精度、性能、可靠性方面都优于单独的子系统。将这项技术应用于飞行校验系统,利用 GNSS 定位的绝对精度加上惯性测量单元(IMU)陀螺和加速计测量的稳定性,就可以在卫星信号丢失或者高动态应用环境下仍然提供持续、稳定、可靠的位置及姿态数据。     

基于双OD修正的GNSS/MIMU导航算法研究

为提高车载组合导航系统的导航精度和可靠性,在全球导航卫星系统(GNSS)信号正常工作的情况下,该文建立了一种双天线GNSS/微惯性测量单元(MIMU)/轮速里程计(OD)组合导航模型,实现了对MIMU和OD传感器误差特性的在线估计。在GNSS信号短期失锁的情况下,基于双OD轮速比例修正(WRC)算法建立了MIMU/双OD组合导航模型。车载实验结果表明,与无WRC组合模型相比,该文设计的组合导航模型在120 s的GNSS信号失锁路段,最大定位误差减小了63.9%,定位误差标准差减小了80.1%;在200 s时GNSS信号频繁中断路段,最大位置误差为0.55 m。验证了所建立的导航模型和算法在复杂路况下工作的有效性。     

机载干涉SAR 运动补偿中地物目标定位误差的影响分析

在基于IMU/GPS 测量数据的运动补偿方法中,IMU 测量误差和地物目标定位误差导致不准确的相位补偿量,从而引入残余运动误差。该文针对机载干涉SAR 运动补偿中地物目标定位误差的影响,建立了在斜视条件下由地物目标定位误差引入的残余运动误差的数学模型,分析了导致地物目标定位误差的系统采样延时误差、多普勒中心频率误差和参考DEM 误差对残余运动误差的影响,重点讨论了参考DEM 误差对干涉SAR 图像质量、干涉相位和相干系数的影响。该文的讨论结果为机载高精度SAR 和重轨干涉SAR 数据处理中运动补偿精度提供了理论基础。      

基于Fang算法的TDOA室内定位技术

传统基于全球定位系统(GPS)的定位技术应用,已在室外环境下为人们提供了许多便利。随着近年来人们生活水平的不断提高,大众对定位的诉求已不仅限于室外,在智慧商场、企业人员智能管理、校园智能管理等场景,要求对室内用户进行定位监测,而传统的GPS定位精确度有限,在室内已无法应用。目前室内定位常用的技术有红外线、蓝牙、Wi-Fi以及基于室内移动网路的无线定位等,无线定位则是其中的热点。本文介绍了一种基于室内分布式基站,运用Fang算法实现到达时间差(TDOA)定位的技术研究,并对其定位精确度进行了探索。     

基于CFR虚拟阵列天线的AOA室内定位

准确地估计信号的到达角（Angle Of Arrival,AOA）为实现在室内高精度定位提供了可能,为了能够准确地估计室内多径信号的AOA,并提取出直射路径的AOA信息进行定位,本文提出一种利用信道频率响应信息（Channel Frequency Response,CFR）扩展阵列天线的亚米级室内定位系统.首先,采集CFR信息进行AOA和信号到达时间（Time Of Arrival,TOA）的联合估计;其次,提出了一种基于AOA和TOA二维聚类信息的直射路径识别算法;另外,还提出了可视环境（Line Of Sight,LOS）以及非可视环境（Non Line Of Sight,NLOS）的识别算法,可以准确的判断出当前接收机相对发射机是处于LOS还是NLOS环境;最后,利用现有的三天线Wi-Fi设备在室内进行了测角以及定位测试,实验结果表明本文提出的定位系统在室内LOS和NLOS环境下分别可以达到中值误差为0.8m,1.3m的定位精度,可用于室内高精度定位.     

基于GNSS的无源雷达定位能力分析

基于全球导航定位系统(GNSS)的无源雷达是当前研究的热点。在基于距离和的定位方法中,GNSS自身的时间同步误差和定位误差会降低定位精确度,考虑这些误差并结合全球四大GNSS的信号特性和参数测量能力,推导了三维空间多发多收距离和定位精确度表达式以及克拉美罗下界(CRLB)。选取不同卫星和接收站数量进行了仿真分析,揭示了卫星数量、接收站数量与定位精度之间的关系。当忽略卫星位置误差时,接收站数量增长带来的定位精确度增长百分比对于任意辐射源数量为定值;若卫星位置误差增大,增加接收站数量对于定位精确度的改善程度会降低。所得结论可以为基于GNSS的无源雷达辐射源选取与接收站布站提供理论参考。     

一种基于改进的Rake模型的GNSS接收机抗多径新技术

传统的GNSS接收机只跟踪一路信号,它是直达和多径成分的合成信号,利用该信号进行定位运算必然会产生多径误差.本文提出了一种用于GNSS接收机的抗多径新技术,它基于改进的Rake模型,将合成信号中的直达和多径成分分离,并对它们分别保持跟踪,在跟踪直达信号的指峰(Finger)中,将其他指峰所跟踪的多径成分从合成信号中减去...     

IMU/GPS 测量误差对斜视条件下机载重轨干涉SAR 系统性能的影响分析

在基于测量数据的机载重轨干涉SAR 运动补偿中,IMU/GPS 测量误差和地物目标定位误差会引入残余运动误差,进而对SAR 成像及干涉测量产生影响。该文针对上述两类误差,在斜视条件下建立了残余运动误差数学模型,并进一步分析了两类误差对残余运动误差的影响,在残余运动误差分析的基础上重点讨论了不同形式的IMU/GPS 测量误差对干涉SAR 图像质量、干涉相位、DEM 精度的影响。该文通过理论和仿真分析定量研究了残余运动误差对机载重轨干涉SAR 系统的性能影响,为机载重轨干涉SAR 系统设计和信号处理提供了参考依据。      

Complex Step-Shape Binary Offset Carrier Modulation for a Unitary Analytical Framework of GNSS Signals

The Binary Offset Carrier and Binary Coded Symbol modulation family is widely used in the existing Global Navigation Satellite Systems (GNSS). There are several modulation types in this family and new types are still being developed. However, the analysis of these modulations is still scarce of uniform theoretical frame. This paper presents a novel Complex Step-shape Binary Offset Carrier (CSBOC) modulation to build a unitary analytical framework for all these modulation types. This framework contains a unified signals expression based on the extended concept of step-shape symbols bits vector. It can denote sine and cosine phase, odd and even order, time division multiplex and complex modulations. Moreover, the unified formulas of important signal characteristics which include the power spectral density, the auto-correlation function, and the cross-correlation function are derived. The proposed formulas are verified through comparing with the results came from existing theories and signal simulations. The applications of the CSBOC in analyzing side-peaks cancellation methods of GNSS signals are also provided to show that this framework is a useful tool to analyze and design locally generated signals of side-peaks cancellation methods.     

惯性导航系统/测距机系统辅助的机载全球导航卫星系统欺骗式干扰自主检测算法

全球导航卫星系统(GNSS)欺骗导致目标接收机生成错误的定位结果。利用惯性导航系统(INS)辅助,基于卡尔曼滤波新息序列构造卡方检验统计量是检测机载GNSS欺骗的有效手段。然而,该算法无法给出欺骗的持续时间,从而导致INS/GNSS系统无法依据该算法判断其解算的定位信息是否正确。该文结合测距机系统(DME),提出一种基于重构新息序列的有限记忆卡方检测算法。该算法使用已有的INS,GNSS和DME数据构造一种不参与卡尔曼滤波的新息序列,然后将该新息序列构造成有限记忆卡方检验统计量,从而实现对欺骗式干扰的检测。仿真表明,当机载GNSS欺骗造成250 m及以上的位置偏差时,所设计的算法能够获得较为准确的欺骗持续时间。最后,该文依据所提算法的检测结果,给出了INS/GNSS/DME系统正确的定位信息。     

On the use of GPS receivers in railway environments

This paper presents the electromagnetic interference effects on the performance of locomotive onboard Global Positioning System (GPS) receivers due to the railway environment. The evaluation of the maximum tolerated interferences around a train is presented by taking into account European Committee for Electrotechnical Standardization and the International Electrotechnical Commission normative, Mobile Radio for Railway Networks in Europe, and experimental results. These interference levels are used to study the performance of a hardware GPS receiver operating at different modes and considering the possible levels of GPS signal L1 at the earth surface. From the obtained results, it is possible to conclude the reliability of a low-cost GPS receiver for train positioning even if the train equipment has been designed at the threshold of the current normative.     

USING TLS ALGORITHM TO IMPROVE GPS POSITIONING PRECISION WITH ALTITUDE HOLD MODE

This paper presents a new method of improving Global Positioning System(GPS) positioning precision.Based on the altitude hold mode,the method does not need any other equipment .Under this constraint condition,the Total Least Squares(TLS) algorithm is used to prove that method is effective.Theoretical analysis shows that the algorithm can significantly improve the GPS positioning precision.     

Revisiting the doppler filter of LEO satellite GNSS receivers for precise velocity estimation

The theoretical aspects of the precise velocity determination of Low Earth Orbit (LEO) satellites’on board Global Navigation Satellite Systems (GNSS) receivers are derived. It shows that the receiver’s Phase Lock Loop (PLL) is required to feature extremely small group delay within its low frequency band, which is in contrast to existing work that proposed wide band linear phase filters. Following this theory, a Finite Impulse Response (FIR) filter is proposed. To corroborate, the proposed FIR filter and an Infinite Impulse Response (IIR) filter lately proposed in literals are implemented in a LEO satellite onboard GNSS receiver. Tests are conducted using a third party commercial GPS signal generator. The results show that the GNSS receiver with the proposed FIR achieves 11 mm/s R.M.S precision, while the GNSS receiver with the IIR filter has a filter-caused velocity error that can not be ignored for space borne GNSS receivers.     

一种基于单目视觉的无人机室内定位方法

目前,无人机定位技术主要依赖以GPS(Global Positioning System)为代表的全球定位系统,然而在室内等GPS信号缺失的地方进行定位则比较困难.另外,传统的室内定位技术主要采用蓝牙、WiFi、基站定位等多种方式融合成一套定位体系,但是该类方法受环境的影响比较大,而且往往需要部署多个设备.此外,这种方...     

GPS III首星空间信号质量监测评估

GPS （Global Positioning System）在新一代卫星载荷中采用了大量新技术,首颗卫星成功发射后,官方尚未系统公布各导航信号的调制方式、复用方法等关键信息,因而其在轨测试阶段的空间信号质量评估具有重要的意义.该文选择地面接收功率、功率分配、相位关系、调制特性和测距性能等评估参数,深入分析了GPS III卫星L1频点空间信号质量,剖析了该卫星上多种新技术的信号特征.论文成果对其它GNSS（Global Navigation Satellite System）卫星载荷设计及信号体制设计等方面具有重要的参考意义.     

A Bimodal Approach for Land Vehicle Localization

In this paper, we present a novel idea to integrate a low cost inertial measurement unit (IMU) and Global Positioning System (GPS) for land vehicle localization. By taking advantage of positioning data calculated from an image based on photogrammetry and stereo‐vision techniques, errors caused by a GPS outage for land vehicle localization were significantly reduced in the proposed bimodal approach. More specifically, positioning data from the photogrammetric approach are fed back into the Kalman filter to reduce and compensate for IMU errors and improve the performance. Experimental results are presented to show the robustness of the proposed method, which can be used to reduce positioning errors caused by a low cost IMU when a GPS signal is not available in urban areas.     

GNSS终端软件算法的改进

针对飞行试验中测控站全球导航卫星系统(GNSS)终端出现卫星定位突然失锁无法恢复问题展开了研究。分析了GNSS终端软件对目标GPS接收机的处理流程和确定参与定位卫星流程,从改进定位结果有效性判断算法、增加对定位结果的有效性判断、改进确定参与定位卫星流程3个方面提出了解决措施。测试结果表明,采用的方法能够解决试验中遇到的难题。     

WAW Location-based Service Positioning

Coordinated positioning operations require the user to be aware, not only, of his own position but also of the positions of the other elements on his team. Its deployment can be supported in WAW (??Where Are We???) location-based services, where the position of each user is made available to the rest of the group. This paper presents a method for the estimation of a user??s position based on measurements from a group of Global Positioning System (GPS) receivers. None of the GPS receiver positions, used in the estimation process, is considered to be known. The proposed approach leads to an improvement on the accuracy of the position estimates, when compared with those computed on an autonomous way, and has a direct application in the development of enhanced services in WAW location-based services. The positioning estimator takes advantage from the fact that, in this type of location-based service, GPS measurements are available from several receivers. Instead of estimating the user??s position based only on the measurements of his own GPS receiver, the proposed approach uses the measurements from all the GPS receivers in the group. The paper presents details of the positioning model and estimator used to achieve the accuracy improvements. Simulation results are presented based on real GPS satellite ephemeris, collected at the University campus.