卫星信号遮蔽环境下车辆位置预测技术研究  

Research on Vehicle Position Prediction Technology in Satellite Signal Obscured Environments

作　　者：张强 曹新亮[1,2] ZHANG Qiang;CAO Xinliang(School of Physics and Electronic Information,Yan’an University,Yan’an 716099,China;Shaanxi Key Laboratory of Intelligent Processing for Big Energy Data,Yan’an 716099,China)

机构地区：[1]延安大学物理与电子信息学院,陕西延安716099 [2]陕西省能源大数据智能处理省市共建重点实验室,陕西延安716099

出　　处：《无线电工程》2025年第4期883-890,共8页Radio Engineering

基　　金：国家自然科学基金(62141107);陕西省重点研发计划项目。

摘　　要：随着全球导航卫星系统(Global Navigation Satellite System,GNSS)技术的广泛应用,在隧道、密林、山区等弱信号或无信号的环境下,传统的卫星导航技术难以提供可靠的定位信息。针对定位信号遮蔽环境下的路径规划和位置确定问题,设计了一种基于改进的局部避障动态窗口算法(Dynamic Window Approach,DWA)的定位方法。为保证目标车辆能够正确行驶并避让障碍,引入人的行车习惯,在路径规划过程中考虑跟车、限速、车道变换、超车等因素,增强其行为和决策模式。根据算法得出的路径和定位信号消失瞬间的定位信息标定车辆在接下来的运动中的位置信息,从而实现定位信号遮蔽环境下的定位。实验结果表明,该方法能够获得符合实际的结果,在多种环境中验证了算法的有效性。With the widespread application of satellite navigation technologies such as the Global Navigation Satellite System(GNSS),in environments such as tunnels,dense forests,and mountainous areas with weak or no signals,traditional satellite navigation technology struggles to provide stable and reliable positioning services.To address the issues of path planning and position determination under signal obstruction,a positioning method is designed based on an improved Dynamic Window Approach(DWA) for local obstacle avoidance.First,to ensure that the target vehicle can drive correctly and avoid obstacles,human driving habits are incorporated into the path planning process,factors such as following other vehicles,speed limits,lane changes,and overtaking are taken into consideration.This enhances the vehicle's behavior and decision-making patterns.Additionally,the positioning information at the moment the signal disappears is used to calibrate the vehicle's position for its subsequent movement based on the path generated by the algorithm,thereby achieving positioning even when the signal is limited.Experimental results indicate that this method can yield results in line with practical situations and the effectiveness of the algorithm is validated in various environments.

关 键 词：全球导航卫星系统 动态窗口算法 路径规划 

分 类 号：P228[天文地球—大地测量学与测量工程]