High-Precision Emergency Positioning Method for Low-Cost Terminal BDS in Disaster Environments

ZHU Huizhong; SUN Mufan; LI Jun

doi:10.13203/j.whugis20240312

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High-Precision Emergency Positioning Method for Low-Cost Terminal BDS in Disaster Environments

Review | 更新时间：2026-11-05

- High-Precision Emergency Positioning Method for Low-Cost Terminal BDS in Disaster Environments
- Geomatics and Information Science of Wuhan University Vol. 50, Issue 6, Pages: 1054-1064(2025)
- 作者机构：
  
  辽宁工程技术大学测绘与地理科学学院，辽宁阜新，123000
- 作者简介：
- 基金信息：
- DOI：10.13203/j.whugis20240312
  CLC： P228
- Received：23 April 2025，
  
  Published：05 June 2025
- 稿件说明：
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祝会忠,孙沐凡,李军.灾害环境下低成本终端BDS高精度应急定位方法[J].武汉大学学报（信息科学版）,2025,50(6):1054-1064.

ZHU Huizhong,SUN Mufan,LI Jun.High-Precision Emergency Positioning Method for Low-Cost Terminal BDS in Disaster Environments[J].Geomatics and Information Science of Wuhan University,2025,50(6):1054-1064.
祝会忠,孙沐凡,李军.灾害环境下低成本终端BDS高精度应急定位方法[J].武汉大学学报（信息科学版）,2025,50(6):1054-1064. DOI：10.13203/j.whugis20240312

ZHU Huizhong,SUN Mufan,LI Jun.High-Precision Emergency Positioning Method for Low-Cost Terminal BDS in Disaster Environments[J].Geomatics and Information Science of Wuhan University,2025,50(6):1054-1064. DOI：10.13203/j.whugis20240312

摘要

为了满足灾害环境中低成本终端高精度应急定位的需求，对灾害环境下的格网化增强定位信息的生成和低成本终端高精度增强定位方法进行研究。针对灾害环境应急定位的特点，采用长距离、大范围的参考站生成北斗卫星导航系统（BeiDou satellite navigation system

BDS）增强定位信息。鉴于参考站网被破坏无法生成误差改正数，利用较远的参考站计算误差改正数，用户端大气延迟误差可以得到较好的消除。在生成非差误差改正数的基础上，为兼顾用户端效率并降低服务端的计算压力，结合虚拟参考站及长距离BDS参考站与卫星间的几何距离信息，生成格网点的BDS增强定位观测值，通过数据单项通信方式播发格网点的增强定位信息，减少了用户数据传输压力，可以根据需求在应急定位区域生成更加密集的格网点。利用抗差自适应滤波模型提升灾害环境下应急定位的性能，提出了符合灾害应急环境的低成本终端特性的四分位法抗差自适应卡尔曼滤波方法，无须对新息向量进行标准化，通过采用四分位法动态确定阈值的方法建立抗差模型并求取方差膨胀因子，根据抗差权函数合理地调整观测值的权重，可以有效剔除粗差并改善定位精度。使用实测观测数据进行灾害应急环境下BDS增强定位算法验证和实验分析，结果表明，所提方法能够实现灾害环境下实时动态厘米级的高精度定位。

Abstract

Objectives

In order to meet the needs of high-precision emergency positioning of low-cost terminals in disaster environments

we study the generation of grid-based enhanced positioning information and high-precision enhanced positioning methods of low-cost terminals in disaster environments.

Methods

According to the characteristics of emergency positioning in disaster environment

a long-distance and large-scale reference station is used to generate BeiDou satellite navigation system（BDS） enhanced positioning information. At the same time

in view of the fact that the reference station network is destroyed and the error correction number cannot be generated

the atmospheric delay error of the client can be well eliminated by using the farther reference station to calculate the error correction number. Taking into account the calculation pressure of the client and reducing the server

on the basis of generating the undifferen‑ced error correction

the geometric distance between the virtual reference station and the long-distance BDS reference station and the satellite is fused to generate the BDS enhanced positioning observation value of the grid point. The enhanced positioning information of the grid point is broadcast by the data single communication method

which reduces the pressure of user data transmission

and can generate more dense grid points in the emergency positioning area according to the demand. The robust adaptive filtering model is used to improve the performance of emergency positioning in disaster environment. A quartile robust adaptive Kalman filtering method is proposed

which conforms to the low-cost terminal characteristics of disaster emergency environment. This method does not need to standardize the innovation vector. By using the quartile method to dynamically determine the threshold

the robust model is established and the varian‑ce expansion factor is obtained. According to the robust weight function

the weight of the observed value is adjusted reasonably

which can effectively eliminate the gross error and improve the positioning accuracy.

Results

The measured observation data are used to verify and analyze the BDS enhanced positioning algorithm in disaster emergency environment. The results show that in the static mode

the planar accuracy and elevation accuracy of the low-cost terminal can both be controlled within 0.2 m

which is an improvement of 58.9% and 52.4% respectively compared to the conventional enhanced positioning algorithm; in the dynamic mode

the improvements in the east

north

and up directions of the low-cost terminal are 0.09 m

0.14 m

and 0.26 m respectively.

Conclusions

The experimental results show that the proposed method can achieve real-time dynamic centimeter-level high-precision positioning in disaster environment.

关键词

Keywords

references

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