e-Navigation下陆基非理想环境船舶定位新方法研究

In the e-Navigation, the most economical ground-based navigation system solution is adding the ranging mode on the basis of the existing Automatic Identification System (AIS) and MF beacon system, to overcome the vulnerability of Global Navigation Satellite System (GNSS) and guarantee the safety of maritime navigation. However, the AIS and MF beacon system is a communication system essentially. It is difficult to meet the number request of positioning reference nodes in traditional ranging mode under the coverage of the existing shore stations in many cases. Moreover, the positioning accuracy is affected seriously by the Not Line of Sight (NLOS) signals in maritime radio signal transmission. The novel position estimation methods in the above two types of non-ideal conditions of land-based radio navigation system for e-Navigation is investigated in this project. To solve the vessel positioning problem under the limit coverage of shore stations, the self-organization collaboration positioning and the novel displacement assisted positioning of two reference points are investigated. The model of signal propagation characteristics under maritime NLOS environment is proposed. A nonlinear dynamic tracking positioning method based on the filter algorithm is proposed to against NLOS interference effectively and improve the positioning accuracy of vessels. The positioning accuracy evaluation system according to different metrics is given to assess the positioning method. And Cramer-Rao lower bound of the proposed method is calculated. Through this project research, a theoretical foundation is laid for the non-ideal conditions of the ranging mode land-based navigation system for e-Navigation.

e-Navigation战略下提出的基于船舶自动识别系统（AIS）和中频信标系统的陆基导航系统，是克服全球卫星导航系统脆弱性，保障船舶航行安全最为经济的解决方案。但目前的AIS和中频信标系统是通信系统，其岸站覆盖条件在很多情况下很难满足传统测距模式定位参考点数目的要求，且海上无线电信号传输中存在的非直达波会严重影响船舶定位精度。因此，e-Navigation提出的陆基导航系统对于船舶定位是非理想的，本项目拟在上述非理想环境下探讨船舶定位新方法。利用自组织协作理论和位移辅助算法，解决岸站非定位覆盖限制下两个参考点的船舶定位问题；建立海面非直达波（NLOS）传播模型，利用滤波算法实现抗NLOS的船舶非线性动态跟踪定位，提高定位精度；建立以不同度量指标为依据的通用定位精度评估体系，给出克拉美罗下界。通过本项目的研究，为e-Navigation提出的测距模式陆基导航系统实现奠定理论基础。

本项目针对e-Navigation框架下提出的基于船舶自动识别系统（AIS）和中频信标陆基导航系统非理想环境下的船舶定位问题，研究了岸站非定位覆盖限制下的船舶定位方法和海面海面非直达波（NLOS）环境下的船舶高精度定位方法，评估了基于AIS和中频信标陆基定位方法的精度。提出了两个参考点下的船舶位移辅助定位方法和自组织协作定位方法，解决了基于AIS和中频信标系统岸站非定位覆盖限制下的船舶定位问题；建立了NLOS环境下的信号传播特性模型，给出了基于滤波算法的船舶非线性动态跟踪定位方法，提高了船舶的定位精度；建立了以几何精度因子等为度量指标的定位精度评估体系，给出定位方法的克拉美罗下界；研制了嵌入式中频数据采集存储平台和陆基导航系统船舶定位仿真验证平台，设计实现了本项目提出的非理想环境下的船舶定位新方法，并进行了海面非理想环境下的船舶定位测试。本项目的研究成果为e-Navigation提出的测距模式的陆基导航系统的实现奠定了理论基础，有利于解决全球卫星导航系统（GNSS）的脆弱性，保障船舶的航行安全，促进我国e-Navigation战略和智能航运的发展。在本项目研究成果的基础上，可向国际航标协会（IALA）等国际组织提出技术建议案，有助于提高我国在国际海事领域的技术话语权。在本项目研究期间，共发表论文12篇，SCI检索6篇，EI检索4篇，EI待检1篇；获得授权国家发明专利3项，申请公开了国家发明专利2项；培养已毕业博士研究生1人，已毕业硕士研究生6名，在读硕士研究生5名；获得人才称号3项；参加了国际学术会议和交流活动11人次。