基于部分模糊度固定技术的RTK定位改进算法

差分卫导实时动态定位(RTK)的定位精度取决于载波相位整周模糊度固定算法的成功率。LAMBDA(Least-Squares Ambiguity Decorrelation Adjustment)算法作为最有效的模糊度在航固定算法,其效能易受卫星故障、多径效应等因素的影响。为提高LAMBDA算法的成功率,引入部分模糊度固定技术。改进后的RTK定位算法以模糊度方差值为序,逐步剔除具有相对最大方差的模糊度并利用LAMBDA算法固定剩余的模糊度,直至模糊度固定成功。双动运动平台实测结果表明,改进后的RTK定位的模糊度固定成功率达到100%,其中首次固定成功率达到98.3%。与导航领域公认的事后处理软件定位结果相比,改进后的RTK定位精度达到厘米级。     

一种多基准接收机条件下的载波相位差分报文优化生成方法

实时动态相对定位(RTK)以其精度高的特点广泛适应于精密 RTK 测绘和高精度导航等领域。为了保证系统的完好性,基准站设置多台基准接收机,因此需要选取状态最优的基准接收机用于 RTK 定位的基准。在多基准接收机条件下,本文提出了完好性算法结合残差以及多基准优选的方法生成 RTK 报文,优选出状态最好的基准接收机,确保播发的报文数据质量高且卫星数多。该方法经过多次故障加注试验,验证了该方法能够优选出综合状态最佳的基准接收机作为基准,从而保证移动站的定位精度和定位成功率。     

用于高精度实时动态定位的整周模糊度解算

本文主要针对RTK技术中最关键的问题——整周模糊度解算进行了深入分析和详细讨论,并以此为基础,实现了一种具有较强实用性的高精度实时动态定位算法。实验结果表明,该算法对GPS和GLONASS数据均可实现毫米级的精确定位。     

BDS RTK定位性能分析

目前,我国北斗三号基本系统已经建成并向全球提供公开服务,随着北斗卫星导航系统服务范围的扩大,北斗定位技术的应用正在逐渐增加,因此北斗的定位性能显得尤为重要。采用扩展卡尔曼滤波（EKF）和MLAMBDA算法基于天津地区实测数据,从卫星可见性、PDOP值、定位误差等方面对BDS及GPS、BDS/GPS的RTK定位性能进行较全面的对比分析。试验结果表明:?静态基线下,BDS RTK平面定位精度约为3.25cm,垂直定位精度约为5.98cm;?动态基线下,速度对定位精度有一定影响,BDS RTK最差定位精度不超过9cm。说明BDS在不依赖于其他卫星系统的情况下定位精度可达厘米级,足以满足日常测绘定位需求。以上研究内容为BDS用户提供了相关参考信息。      

网络RTK定位性能分析

网络 RTK 技术作为传统 RTK 算法的扩展,可利用区域参考站网的大气产品提供作业范围更广、成本更低、初始化时间更短、更高精度的定位服务性能。首先对网络 RTK 算法策略进行了总结归纳,采用实测数据从基准站模糊度固定效果、大气延迟建模精度和终端定位性能三个方面评估分析了网络 RTK 的定位性能。试验结果表明,网络 RTK 技术和单基线 RTK 算法水平定位精度均优于 1 cm,高程定位精度 2 cm 左右,模糊度固定率均接近 100%。     

GPS动态定位中自适应卡尔曼滤波研究

采用描述机动载体运动的“当前”统计模型，建立了一种新的GPS动态定位自适应卡尔曼滤波模型。为了进一步提高滤波器的动态性能，提出一种改进的自适应滤波算法，大大提高了GPS动态定位卡尔曼滤波器的跟踪能力，改善了滤波效果。计算机仿真结果验证了该算法的有效性。     

基于Kalman滤波的实时动态相对定位方法

常规实时动态定位(Real Time Kinematic,RTK)模糊度解算策略是基于当前时刻观测数据快速确定模糊度,在后续最小二乘方程中将该模糊度作为已知值,该方法会导致后续定位结果存在系统性的偏差甚至错误。针对该问题,设计了基于Kalman滤波的RTK解算方法,该方法以固定的模糊度为已知量进行强制约束来提高模糊度解算的可靠性。基于实测数据验证分析表明,该方法在超短和中长基线下具有定位精度稳定的优点。     

基于哈里斯鹰优化算法的多GNSS快速选星方法

为提高多全球导航卫星系统(Global Navigation Satellite System, GNSS)组合导航选星的效率，提出了一种基于哈里斯鹰优化(Harris Hawks Optimization, HHO)算法的快速选星方法。该算法模仿哈里斯鹰捕食的特点，结合莱维(Levy)飞行实现对复杂多维度问题的求解，用该算法解决选星问题既能保证获得理想几何构型，又能大幅度减少接收机运算量，提高选星的实时性。通过仿真实验，调用卫星工具包(Satellite Tool Kit, STK)导出的导航卫星数据，分析不同的参数变化对HHO快速选星算法结果的影响。结果表明，在从17颗可见星中选择8颗进行定位时，HHO法与遍历法相比，几何精度因子(Geometric Dilution of Precision, GDOP)计算平均误差为0.318 9%,所节省的时间占遍历法耗时的74.830 6%,证明了该选星算法具有计算效率高、耗时短、精度高的优点，适用于多星座多选星的情况。     

基于Wi-Fi的动态室内定位方法

针对目前动态室内定位方法定位精度不足，研究基于Wi-Fi的动态室内定位方法。该方法利用传感器采集Wi-Fi的RSS(received signal strength，接收信号强度)指纹信号后，使用改进非均值滤波算法去除RSS指纹信号的干扰噪声，以不含干扰噪声的RSS指纹信号作为基础，使用基于指纹子空间匹配动态室内定位方法，计算不同阶段RSS指纹覆盖向量、汉明距离以及欧式距离等，得到若干个动态室内定位估计值，再使用峰值密度聚类算法对若干个动态室内定位估计值进行估计，获取估计值中可信的估计位置，即动态室内定位结果。实验结果表明：该方法不仅可有效去除RSS指纹信号含有的干扰噪声，还可对动态室内目标进行准确定位，定位误差仅为-1～0.5 m，定位精度较高。     

GPS的几何精度因子和定位解的递推算法

本文从理论上证明了几何精度因子随卫星数目的增加而减小，提出了两个几何精度因子和定位解的递推算法。这些算法不仅能在递推几何精度因子的同时递推定位解，而且使用灵活，可根据需要求出最佳四星定位解、最佳五星定位解及全部可见星定位解。由于算法不涉及矩阵的乘法和求逆运算，因而计算量较小。     

A Nonlinear Filtering Approach for Robust Multi-GNSS RTK Positioning in Presence of Multipath and Ionospheric Delays

In this paper, we develop a new approach of precise positioning using three carrier phase multi-Global Navigation Satellite System (GNSS) measurements in presence of multipath and ionospheric delays. We propose a new nonlinear filter to estimate the user position as well as all the unknown parameters including the integer ambiguities and the ionospheric errors. First, we use a kernel representation of the conditional density and apply a local linearization which yields a Kalman-like correction enhancing the particle filter correction. This new particle Kalman filter approach, is designed to be efficient for the non-Gaussian state and nonlinear measurements model, reduces the number of needed particles, and reduces the risk of divergence. The proposed procedure for multifrequency ambiguity resolution is based on four steps: 1) at each epoch, we compute the float solution adaptively to the dynamic environment by minimizing the noise level and estimating the ionospheric errors using the proposed robust Bayesian particle Kalman filter (RobPKF); 2) we introduce a new carrier phase multipath indicator and use it to derive a related constraint to reject integers candidates that are affected by multipath errors; 3) we apply the LAMBDA method to search the integer ambiguities; and finally 4) validate the fixed solution using a statistical test. We show in this work that the efficient integration of multifrequency/multisystem carriers provides more redundancy in the measurements and better observability for multipath and ionospheric errors estimation for long-baseline RTK positioning. A major advantage of this method is that it is independent of frequencies choice and therefore can be applied for any multi-GNSS measurements (e.g., Global Positioning System (GPS), Galileo, and their combination). Real-time and postprocessing test results show the effectiveness of the developed overall real-time kinematic (RTK) software.     

Optimal soft morphological filter for periodic noise removal using a particle swarm optimiser with passive congregation

Periodic noise widely appears in raw images and is often accompanied with white noise. The removal of such compound noise is a challenging problem in image processing. To avoid using the time-consuming methods such as Fourier transform, a simple and efficient spatial filter called optimal soft morphological filter (OSMF) is proposed in this paper. The filter is a combination of basic soft morphological operators and the combination parameters are optimised by an improved particle swarm optimiser with passive congregation (PSOPC) subject to the least mean square error criterion. Applying OSMF to the removal of periodic noise with different frequencies, the simulation results are analysed in comparison with spectral median filter (SMF), which show that OSMF is more effective and less time-consuming in reducing both pure periodic and compound noise meanwhile preserving the details of the original image.     

Improved digital filter structure for fast moments computation

An efficient approach is introduced to implement a digital filter structure for fast moments calculation. The approach not only improves the computation efficiency, but also simplifies possible realisations using both hardware and software. A suitable filter structure for the computation of moments is reviewed. The improved filter structure is compared with conventional algorithms, and yields superior performance over other algorithms in both computational speed and complexity. The most time-consuming multiplication operations in traditional approaches can be completely eliminated, and over 60% of additions in the straightforward method can be avoided. Experimental results show that the approach requires only 20% and 88% of the computation times of the straightforward and Hatamian's (1986) digital filter approaches, respectively     

基于RTK的毫米波导引头性能评估方法

毫米波导引头可穿透云、雨、烟、雾,实现目标的全天候探测,其性能指标直接决定了控制算法的设计。为保证造价昂贵的毫米波制导武器系统的命中精度和毁伤效果,需要对毫米波导引头的性能进行准确的评估。然而仅仅通过实验室测试无法模拟真实的作战使用环境,需要高精度的外场测试方法准确评估导引头性能。针对此问题,提出了一种基于RTK的毫米波导引头性能评估方法。首先,基于GPS的测量结果实时计算导引头参数;然后,将计算结果与导引头自身的输出进行对比分析;最后,评估毫米波导引头各性能指标的精度。实测数据验证了所提方法的有效性。     

基于模型校正技术的滤波器设计方法

针对滤波器设计后期三维全波仿真优化耗时长和结果不容易收敛的问题,提出了一种基于模型校正技术的滤波器设计方法,该方法通过预先得到的拟合参数对滤波器结构尺寸进行迭代校正,避免了耗时的全波仿真优化。并通过一个4腔的同轴腔体滤波器的设计实例验证了文中方法。滤波器的电磁仿真结果与理论综合结果吻合良好,证实了该方法的有效性。     

Noise-reduction method for ROM/ACC filters

A noise-reduction method for the coefficient roundoff noise in a ROM/ACC filter is proposed and demonstrated. The method of realisation is a modification of the contents of the look-up table of the ROM to include the error feedback. Therefore, it does not need time-consuming procedures, and is suitable for a filter implemented by using a microprocessor.     

A Fast Windowing-Based Technique Exploiting Spline Functions for Designing Modulated Filter Banks

A very fast technique to design prototype filters for modulated filter banks without using time-consuming multivariable optimization is introduced. In the proposed method, the prototype filter is optimized by using the windowing technique, with the novelty of exploiting spline functions in the transition band of the ideal filter, instead of using the conventional brick-wall filter. A study of the optimization techniques and three different objective functions existing in the literature has been carried out, and more suitable redefinitions of these objective functions are employed to achieve as optimized prototype filters as possible. The resulting filter banks closely satisfy the perfect reconstruction property, as is illustrated by means of examples.      

利用Kalman滤波修正卫星导航差分RTK定位坐标

卫星导航差分RTK(Real Time Kinematic)定位方法的定位精度极易受到载波相位整周模糊度固定算法的影响,在模糊度固定失败的情况下,差分RTK定位将出现大幅偏差.针对该问题,基于Jerk模型提出了一种利用Kalman滤波修正差分RTK定位坐标的方法.在传统Jerk模型基础上,将卫星导航系统输出的载体运动速度信息引入状态空间模型的观测方程.基于扩展状态空间模型,利用Kalman滤波器实时修正载体的位置坐标.半实物仿真表明,所提方法能大幅改善卫星导航差分RTK定位精度.     

AVS解码器环路滤波的优化及实现

AVS编解码器采用环路滤波去除块效应来提高图像质量,而环路滤波复杂度高、运算量大,且滤波过程数据访问频繁,严重影响了代码的执行效率.为提高解码速率,通过分析滤波算法特点,调整滤波结构,优化滤波算法,部分代码采用DSP汇编语言.结果表明与传统的C相比,缩短了代码运行时间,提高了执行速度,达到实时解码的要求.