GNSS直接位置估计技术综述

周志健; 冉承新; 戴志强; 陈正坤; 徐奕禹; 朱祥维

doi:10.12265/j.gnss.2022199

GNSS直接位置估计技术综述

doi: 10.12265/j.gnss.2022199

中山大学电子与通信工程学院, 广东深圳 518107

基金项目: 国家重点研发计划（2021YFA0716500）；国家自然科学基金（61973328）；深圳市基础研究重点项目（2021B01）

详细信息

作者简介:
周志健：(1998—)，男，硕士，研究方向为GNSS欺骗检测与新型导航接收机设计

冉承新：(1972—)，男，博士，研究员，研究方向为北斗RDSS和综合定位导航授时(PNT)体系

戴志强：(1985—)，男，博士，助理教授，研究方向为复杂环境下无人系统智能可信导航的理论与工程问题

陈正坤：(1991—)，男，博士，研究方向为GNSS多波束智能感知、GNSS/INS深组合导航等智能可信导航

徐奕禹：(1998—)，男，硕士，研究方向为卫星导航欺骗干扰检测

朱祥维：男，博士，教授，研究方向为北斗系统和综合定位导航授时（PNT）体系

通信作者:
朱祥维 E-mail：zhuxw666@mail.sysu.edu.cn

中图分类号: P228.4；TN967.1
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出版历程
- 收稿日期: 2022-10-28
- 网络出版日期: 2023-04-21

Review of GNSS direct position estimation techniques

School of Electronics and Communication Engineering, Sun Yat-sen University, Shenzhen Guangdong 518107, China

摘要

摘要: 直接位置估计(DPE)是一种最大似然估计(MLE)最优的新型导航接收机技术，对弱信号以及多径干扰具有鲁棒性，能够克服传统两步法接收机在城市峡谷等复杂环境下无法正常工作的缺点. 本文首先分析了DPE在理论方面的优势潜力，总结了DPE实现层面临的问题，并在应用层给出了复杂环境下的接收机设计框架，该接收机根据信号可用程度来判断是否使用DPE进行导航定位，能够在消耗尽量少的算力资源下提高接收机在复杂环境下的定位性能.
- 卫星导航 /
- 直接位置估计(DPE) /
- 复杂环境 /
- 弱信号 /
- 定位精度
Abstract: The direct position estimation (DPE) technology is robust to weak signals and multipath interference, which can overcome the shortcomings of traditional two-step methods that can not work normally in complex environments such as cities with tall buildings and indoors. This paper summarizes and analyzes the research status of the direct position estimation technology from three aspects: theory, implementation and application. According to previous researches, the problems of huge amount of computation, low positioning accuracy, and the need for initialization are summed up in the realization of direct position estimation. A receiver design framework in complex environments is presented in the application layer. The receiver judges whether to use DPE for navigation and positioning according to the signal availability, which can improve the positioning performance of the receiver in complex environments with minimal computational resources.
- satellite navigation /
- direct position estimation /
- complex environments /
- weak signals /
- positioning accuracy

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图 1 标量接收机结构

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图 2 矢量接收机结构

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图 3 导航信号估计方法示意图

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图 4 克拉美罗下界和信噪比的关系^[10]

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图 5 DPE成本函数^[30]

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图 6 DPE接收机接收欺骗信号的示意图

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图 7 复杂环境 DPE 接收机结构

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表 1 DPE性能研究状况

DPE性能	仿真测试	实际测试	结论分析
弱信号环境^[9,12-13]	有	有	DPE对弱信号具有鲁棒性
多径干扰^[10,15]	有	无	多径干扰下，DPE的定位误差始终低于传统方法
抗压制干扰^[17-18]	有	无	增大压制干扰功率，DPE保持稳健，此时标量跟踪已失效
高动态^[15-16]	有	无	相同跟踪阈值的前提下，DPE定位误差要优于矢量跟踪环路
转发式欺骗^[17-18]	无	有	增大欺骗信号功率，DPE保持稳健，标量跟踪误差增大

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表 2 DPE实现研究状况

研究方向	研究内容	研究结果
优化算法：提高计算效率	SAGE算法^[20]	大大降低了复杂度，但对初始化非常敏感
	松弛DPE^[21]	通过利用可用的几何关系来保留DPE的优点并降低其计算量
	低占空比DPE^[22]	占空比低至2%的DPE和连续DPE拥有相似的性能
	SIR PF算法、SCKF算法^[24]	相同数量粒子下，SCKF算法优于SIR PF算法
	并行实现^[29]	在NVIDIA Jetson TX2平台实现了一个并行DPE软件接收机，大大提高了解算速度
优化模型：提高定位精度	DPE+粒子滤波器^[25-27]	1）首次提出了在商业软件上实现粒子滤波DPE 2）提供了一种能够克服数字计算的有限精度问题的权重更新的解决方案 3）讨论了最佳且最简单的测量更新的问题
	加权DPE^[28]	求网格相关值时，对不同质量卫星信号的相关值加权后再相加，以提高定位精度
	误差分析^[30]	分析了DPE数值解、求解过程的近似以及采用的网格模型对定位误差的影响

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表 3 DPE扩展应用研究状况

扩展应用	主要原理和优势
直接时间估计（DTE）^[18,37-38]	对于仅需要时间同步的场景，DPE可以简化为DTE，维度从八维降到二维，大大降低了计算量并且保留了DPE的性能优势
多接收机DPE/DTE^[35-38]	多接收机之间相对位置固定且已知，提供了测量冗余；每一个天线可能具有不同的天空视图，可以将其合并，从而提供了几何冗余
联合GNSS+视觉DPE^[34]	通过视觉生成的导航域测量信息很容易与DPE地流形结合，可以用于约束DPE的候选网格状态，以减小计算量

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