空基伪卫星组网部署的航路规划算法

曾凌川; 李大朋; 曲艺; 任爱爱; 巩应奎

doi:10.13700/j.bh.1001-5965.2015.0477

空基伪卫星组网部署的航路规划算法

doi: 10.13700/j.bh.1001-5965.2015.0477

中国科学院光电研究院, 北京 100094

基金项目: 国家自然科学基金（91438207）

详细信息

作者简介:
曾凌川男,硕士,助理工程师。主要研究方向:导航增强技术。Tel.: 010-82178014 E-mail: zenglingchuan@aoe.ac.cn;巩应奎男,博士,副研究员。主要研究方向:卫星导航仿真技术、导航增强技术。Tel.: 010-82178658 E-mail: ykgong@aoe.ac.cn

通讯作者:
巩应奎,Tel.: 010-82178658 E-mail: ykgong@aoe.ac.cn

中图分类号: V249.31
计量
- 文章访问数: 889
- HTML全文浏览量: 55
- PDF下载量: 586
- 被引次数: 0
出版历程
- 收稿日期: 2015-07-16
- 网络出版日期: 2016-07-20

Route planning algorithm for configuring airborne pseudolites

Academy of Opto-Electronics, Chinese Academy of Sciences, Beijing 100094, China

摘要

摘要: 针对以临近空间飞艇为平台的空基伪卫星组网问题，提出了一种空基伪卫星从初始位置到目标位置进行组网部署的航路规划算法。首先，通过梳理空基伪卫星组网的性能指标，设计了基于距离和几何精度因子（GDOP）的航路规划代价函数；然后，对航路规划的约束条件进行了分析，在稀疏A^*算法的基础上，设计了距离代价和GDOP代价权重可自适应调整的空基伪卫星航路规划算法，并对规划出的航路采用Dubins曲线进行平滑；最后，通过仿真实验，对提出的航路规划算法进行了验证。仿真实验结果表明，航路规划算法在GDOP较恶劣的情况下，能够有效地在后续的航路规划中降低GDOP代价，提高用户定位精度；而在GDOP较为良好时，则可以增加距离代价的权重，在航路规划时使伪卫星尽快向目标位置收敛，减少时间消耗。
- 导航增强 /
- 空基伪卫星 /
- 航路规划 /
- 稀疏A^*搜索算法 /
- Dubins曲线
Abstract: This paper focuses on the airborne pseudolites based on airships and proposes a route planning method to configure airborne pseudolites from the initial position to the target position. First, by analyzing the geometric dilution of precision (GDOP) as the performance of navigation enhancement, a route planning cost function was designed based on the distance and GDOP. Then, on the basis of sparse A^* algorithm and analysis of constraint conditions, a route planning algorithm was proposed which can adjust the weights of distance and GDOP adaptively, and the route was smoothed by the Dubins curve. Finally, the route planning algorithm was validated through the simulated experiments. The simulated experimental results show that the route planning algorithm can reduce the GDOP cost effectively and improve user positional accuracy in the subsequent route planning if the GDOP value is severe at current time; on the other hand, while the GDOP approaches its optimal value, the algorithm will increase the weight of distance to make pseudolites move to their destinations as quickly as possible and reduce the time consumption during the subsequent route planning.
- navigation enhancement /
- airborne pseudolites /
- route planning /
- sparse A^* search algorithm /
- Dubins curve

HTML全文

参考文献(18)

[1]	DAI L W,WANG J L,TSUJII T,et al.Pseudolite applications in positioning and navigation:Modeling and geometric analysis[C]//International Symposium on Kinematic System in Geodesy,Geomatics & Navigation.Berlin:Springer,2001:482-489.
[2]	OKTAY H,STEPANIAK M.Airborne pseudolite in a global positioning system degraded environment[C]//2011 5th International Conference on Recent Advances in Space Technologies (RAST).Piscataway,NJ:IEEE Press,2011:280-285.
[3]	TIWARY K,BEHERA S,SHARADA G,et al.Modelling and simulation of pseudolite-based navigation:A GPS-independent radio navigation system[J].Defence Science Journal,2010,60(5):541-550.
[4]	CHANDU B,PANT R,MOUDGALYA K.Modeling and simulation of a precision navigation system using pseudolites mounted on airships:AIAA-2007-7746[R].Reston:AIAA,2007.
[5]	WANG J.Pseudolite applications in positioning and navigation:Progress and problems[J].Journal of Global Positioning Systems,2002,1(1):48-56.
[6]	TSUJII T.Experiments of inverted pseudolite positioning for airship-based GPS augmentation system[C]//Proceedings of the 15th International Technical Meeting of the Satellite Division of the U.S.Institute of Navigation.Manassas:Institute of Navigation,2002:1689-1695.
[7]	MA W H,YUAN J P,LUO J J.Airborne pseudolite aiding BeiDou system to improve positioning precision in low latitude areas[C]//International Conference on Space Information Technology.Bellingham:SPIE Press,2006,5985:955-959.
[8]	杨一,高社生,阎海峰.临近空间伪卫星几何布局方案设计[J].系统工程与电子技术,2014,36(3):532-538.YANG Y,GAO S S,YAN H F.Design on geometric configuration schemes of pseudolite in near space[J].Systems Engineering & Electronics,2014,36(3):532-538(in Chinese).
[9]	呼玮,杨建军,何苹.基于临近空间飞艇定位的伪卫星布局研究[J].无线电工程,2009,39(10):24-27.HU W,YANG J J,HE P.Study on psedulite configuration scheme based on near space airships[J].Radio Engineering,2009,39(10):24-27(in Chinese).
[10]	孟键,孙付平,丛佃伟.伪卫星增强区域卫星导航系统组网仿真[J].测绘科学技术学报,2008,25(3):213-215.MENG J,SUN F P,CONG D W.Plans of agumenting regional satellite navigation using PLs[J].Journal of Geomatics Science and Technology,2008,25(3):213-215(in Chinese).
[11]	杨龙,周建华,陈金平.基于遗传算法的空基伪卫星导航信号增强平台组网优化方法研究[J].全球定位系统,2008,33(3):9-13.YANG L,ZHOU J H,CHEN J P.The study of optimization of formation flying navigation agumentation platforms based on genetic algorithm[J].GNSS World of China,2008,33(3):9-13(in Chinese).
[12]	党进伟,高社生,张极.伪卫星协同编队控制与仿真[J].测控技术,2013,32(11):76-79.DANG J W,GAO S S,ZHANG J.Control and simulation of collaborative formation for pseudolites[J].Measurement & Control Technology,2013,32(11):76-79(in Chinese).
[13]	HART P E,NILSSON N J,RAPHAEL B.A formal basis for the heuristic determination of minimum cost routes[J].IEEE Transactions on Systems Science and Cybernetics,1968,4(2):100-107.
[14]	SZCZERBA R J,GALKOWSKI P,GLICKSTEIN I S,et al.Robust algorithm for real-time route planning[J].IEEE Transactions on Aerospace and Electronic Systems,2000,36(3):869-878.
[15]	TSOURDOS A,WHITE B,SHANMUGAVEL M.无人机协同路径规划[M].祝小平,周洲,王怿,译.北京:国防工业出版社,2013:27-56.TSOURDOS A,WHITE B,SHANMUGAVEL M.Cooperative path planning of unmanned aerial vehicles[M].ZHU X P,ZHOU Z,WANG Y,translated.Beijing:National Defense Industry Press,2013:27-56(in Chinese).
[16]	丁明跃,郑昌文,周成平,等.无人飞行器航迹规划[M].北京:电子工业出版社,2009:46-57.DING M Y,ZHENG C W,ZHOU C P,et al.Route planning for unmanned aerial vehicles[M].Beijing:Publishing House of Electronics Industry,2009:46-57(in Chinese).
[17]	朱志良,叶宁,刘军,等.基于临近空间飞行器的区域自组网优化部署算法[J].电子与信息学报, 2011,33(4):915-921.ZHU Z L,YE N,LIU J,et al.Deployment optimization algorithm for regional MANET containing near space vehicles as a part[J].Journal of Electronics & Information Technology,2011,33(4):915-921(in Chinese).
[18]	LI D P,DENG P K,LIU B,et al.Research on the dynamic configuration of air-based pseudolite network[C]//China Satellite Navigation Conference (CSNC) 2015 Proceedings:Volume Ⅱ.Berlin:Springer,2015,341:357-367.