| 基于GNSS多径信号的反射面参数估计算法 |
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| 引用本文： | 邵乙伦,赵娟,刘承禹,王岩,陈新.基于GNSS多径信号的反射面参数估计算法[J].全球定位系统,2021,46(1):1-6. |
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| 作者姓名： | 邵乙伦 赵娟 刘承禹 王岩 陈新 |
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| 作者单位： | 1.上海交通大学 电子信息与电气工程学院，上海 200240 |
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| 基金项目： | 国家重点研发计划项目(2018YFB0505103);国家电网有限公司科技项目(SGSHJX00KXJS1901531)。 |
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| 摘 要： | 全球卫星导航系统（GNSS）多径信号广泛存在于城市峡谷等复杂导航定位场景中. 多径信号在干扰GNSS接收机并造成系统定位精度下降的同时，也为接收机提供了周边反射面环境信息. 在码相位延迟幅度联合跟踪算法（CADLL）实现GNSS多径信号感知和特征参数提取的基础上，设计实现了基于粒子滤波的反射面参数估计算法. 该算法可以在GNSS多径环境中增强接收机的环境感知能力，相关环境信息可应用于场景感知、避障、路径规划和定位增强等领域. 静态环境下进行GNSS多径信号采集和算法测试，实验结果表明该算法能够有效估计反射面位置参数，反射面方位角均方根误差（RMSE）小于10°，反射面俯仰角RMSE小于5°，反射面距离RMSE小于10 m.
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| 关 键 词： | 环境感知 全球卫星导航系统（GNSS） 粒子滤波 多径信号处理 反射面定位 |
| 收稿时间： | 2020-11-16 |
Reflection plane parameters estimation with GNSS multipath signal |
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| SHAO Yilun,ZHAO Juan,LIU Chengyu,WANG Yan,CHEN Xin.Reflection plane parameters estimation with GNSS multipath signal[J].Gnss World of China,2021,46(1):1-6. |
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| Authors: | SHAO Yilun ZHAO Juan LIU Chengyu WANG Yan CHEN Xin |
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| Institution: | 1.School of Electronic Information and Electrical Engineering, Shanghai Jiaotong University, Shanghai 200240, China2.25 Unit, 96901 Troops, Beijing 100094, China |
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| Abstract: | GNSS multipath signals widely exist in complex navigation and positioning scenarios such as urban canyons.Although the multipath signal interferes GNSS receiver and reduces positioning accuracy,it provides environment information around the receiver.Based on the coupled amplitude delay locked loops algorithm(CADLL)which senses GNSS multipath signals and extracts feature parameters,a particle filterbased reflection plane parameters estimation algorithm is designed and implemented.The algorithm can enhance the receiver's environment perception in the GNSS multipath environment,the corresponding information can be applied to the fields of scene perception,collision avoidance,path planning and positioning augmentation.GNSS multipath signal recording and algorithm testing are carried out in a static environment.The experimental results show that the algorithm can effectively estimate the position parameters of the reflecting plane.The root mean square error(RMSE)of the azimuth angle of the reflection plane is less than 10 degrees,the RMSE of the elevation angle is less than 5 degrees,and the RMSE of the distance is less than 10 meters. |
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| Keywords: | environment perception GNSS particle filter multipath signal processing reflection plane localization |
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