摘要
非视距(NLOS)传输会引起全球卫星导航系统(GNSS)接收机的伪距测量误差,最终导致定位解出现较大误差,这一问题在城市峡谷等复杂环境下尤为突出。针对该问题,该文提出核密度估计的鲁棒定位方法,其核心思想是在定位解算中引入鲁棒估计来缓解NLOS的影响。考虑到NLOS引起的伪距观测误差偏离高斯分布,所提方法首先利用核密度估计(KDE)方法估计伪距观测误差的概率密度函数,并利用该概率密度函数来构造鲁棒代价函数用于导航解算,从而缓解NLOS引起的定位误差。实验结果表明所提方法在卫星存在NLOS传输时能够较好地减小GNSS的定位误差。
Non-Line-Of-Sight(NLOS)propagation will cause the pseudo-range measurement error of the Global Navigation Satellite System(GNSS)receivers,and eventually lead to a large positioning error,which is especially prominent in complex environments such as urban canyons.To solve this problem,a robust positioning method for Kernel Density Estimation(KDE)is proposed.The core idea is to introduce robust estimation theory into localization solution to alleviate the influence of NLOS.Considering that the pseudorange observation error caused by NLOS deviates from the Gaussian distribution,the proposed method firstly uses the method based on KDE to estimate the probability density function of the observation error,and then uses the probability density function to construct a robust cost function for positioning solution,so as to alleviate the positioning error caused by NLOS.The experimental results show that the proposed method can effectively reduce GNSS positioning error in NLOS propagation environment.
作者
贾琼琼
周月颖
JIA Qiongqiong;ZHOU Yueying(Tianjin Key Laboratory for Advanced Signal Processing,Civil Aviation University of China,Tianjin 300300,China)
出处
《电子与信息学报》
EI
CAS
CSCD
北大核心
2024年第8期3246-3255,共10页
Journal of Electronics & Information Technology
基金
国家自然科学基金(U2133204)
中国民航大学民航航班广域监视与安全管控技术重点实验室开放基金(202202)。
关键词
全球卫星导航系统
最小二乘定位
非视距传输
核密度估计
鲁棒定位
Global Navigation Satellite System(GNSS)
Least square positioning
Non-Line-Of-Sight(NLOS)propagation
Kernel Density Estimation(KDE)
Robust positioning
