顾及伪卫星空间分布的随机模型及定位优化

doi:10.12305/j.issn.1001-506X.2026.06.26

系统工程与电子技术 ›› 2026, Vol. 48 ›› Issue (6): 2064-2071.doi: 10.12305/j.issn.1001-506X.2026.06.26

顾及伪卫星空间分布的随机模型及定位优化

孔淳艺¹^,²^,³, 姜维¹^,²^,³^,*, 王剑¹^,²^,³, 蔡伯根¹^,²^,³, 巴晓辉¹^,²^,³, 刘江¹^,²^,³, 陆德彪¹^,²^,³

1. 北京交通大学自动化与智能学院，北京 100044
2. 北京交通大学先进轨道交通自主运行全国重点实验室，北京 100044
3. 北京交通大学北京市电磁兼容与卫星导航工程技术研究中心，北京 100044

收稿日期:2025-04-14 修回日期:2025-06-30 出版日期:2026-06-25 发布日期:2025-11-06
通讯作者: 姜维
作者简介:孔淳艺（2001—），女，硕士研究生，主要研究方向为伪卫星定位和组合导航
王　剑（1978—），男，教授，博士，主要研究方向为卫星导航、组合导航、列车运行控制
蔡伯根（1966—），男，教授，博士，主要研究方向为卫星定位导航、列车运行控制
巴晓辉（1980—），男，教授，博士，主要研究方向为卫星导航
刘　江（1985—），男，教授，博士，主要研究方向为轨道交通控制、卫星导航定位
陆德彪（1986—），男，教授，博士，主要研究方向为轨道交通控制、卫星导航定位
基金资助:
国家自然科学基金（T2422002，T2222015，U2268206）资助课题

Stochastic model and positioning optimisation based on pseudolite geometrical distribution

Chunyi KONG¹^,²^,³, Wei JIANG¹^,²^,³^,*, Jian WANG¹^,²^,³, Baigen CAI¹^,²^,³, Xiaohui BA¹^,²^,³, Jiang LIU¹^,²^,³, Debiao LU¹^,²^,³

1. School of Automation and Intelligence，Beijing Jiaotong University，Beijing 100044，China
2. State Key Laboratory of Advanced Rail Autonomous Operation，Beijing Jiaotong University，Beijing 100044，China
3. Beijing Engineering Research Center of EMC and GNSS Technology for Rail Transportation，Beijing Jiaotong University，Beijing 100044，China

Received:2025-04-14 Revised:2025-06-30 Online:2026-06-25 Published:2025-11-06
Contact: Wei JIANG

摘要/Abstract

摘要：

针对传统随机模型未充分考虑伪卫星几何构型及先验模型中部分参数依赖经验值的问题，首先构建基于精度因子（dilution of precision，DOP）的随机模型，其次设计移动窗口载波相位方差实时估计方法，通过实时提取固定窗口历史历元的载波相位观测量噪声，自适应调整随机模型参数，最后融合DOP贡献度定权与自适应参数调整，形成一种顾及伪卫星几何构型的随机模型精化方法。实验结果表明，所提方法水平定位精度可达到0.136 3 m，相较于传统等权随机模型和载噪比随机模型分别提高25.68%和23.98%。

关键词: 随机模型精化, 精度因子, 伪卫星定位系统, 定位精度

Abstract:

Aiming at the problem of the traditional stochastic models that insufficiently consider the geometrical configuration of the pseudolites and the dependence of some parameters in the models on empirical values, firstly a stochastic model is constructed based on the dilution of precision （DOP）, secondly a real-time estimation method of the carrier phase variance of the moving window is designed, and the stochastic model parameters are adjusted adaptively by calculating the carrier phase observation noise of the historical calendar elements of the fixed window in real time. Finally, the DOP contribution weighting and adaptive parameter adjustment are combined to form a stochastic model refinement method based on the pseudolite geometric configuration. The experiment results show that the horizontal positioning accuracy of the proposed method is 0.136 3 m, which is improved by 25.68% and 23.98% compared with that of the equal-weight model and the carrier to noise ratio model, respectively.

Key words: stochastic model refinement, dilution of precision, pseudolite positioning system, position accuracy

中图分类号:

U 268.6

孔淳艺, 姜维, 王剑, 蔡伯根, 巴晓辉, 刘江, 陆德彪. 顾及伪卫星空间分布的随机模型及定位优化[J]. 系统工程与电子技术, 2026, 48(6): 2064-2071.

Chunyi KONG, Wei JIANG, Jian WANG, Baigen CAI, Xiaohui BA, Jiang LIU, Debiao LU. Stochastic model and positioning optimisation based on pseudolite geometrical distribution[J]. Systems Engineering and Electronics, 2026, 48(6): 2064-2071.

图/表 10

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参数	方向	等权模型	基于HDOP贡献度随机模型
均方根误差	北向	0.4873	0.3697
均方根误差	东向	0.3131	0.2839
水平均方根误差	—	0.5792	0.4661

参数	方向	等权模型	载噪比模型	基于HDOP贡献度模型
均方根误差	北向	0.1542	0.1521	0.1144
均方根误差	东向	0.0993	0.0949	0.0740
水平均方根误差	—	0.1834	0.1793	0.1363

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顾及伪卫星空间分布的随机模型及定位优化

Stochastic model and positioning optimisation based on pseudolite geometrical distribution

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