密林环境空地协同GNSS/UWB快速高精度定位技术

针对密林中卫星信号遮挡难以实现快速高精度定位的问题，提出了一种密林环境空地协同全球卫星导航系统/超宽带(GNSS/UWB)高精度定位方法。该方法综合考虑无人机平台在空旷环境快速运动与超宽带的强穿透性测量等特征，通过无人机携带GNSS/UWB集成化载荷，以移动单基站模拟多基站，配合密林中UWB标签组网测距，完成密林中UWB标签定位。对基站布设方案展开研究，为密林环境下空地协同GNSS/UWB快速高精度定位技术应用提供基站布设指导和依据，并且利用密林环境下实测测距实验+仿真定位实验对提出的方法进行验证。结果表明，所述方法可有效实现密林环境下的快速高精度定位，精度达到分米级，并且通过优选基站布设网型、范围及高度可有效提高定位精度，为密林环境下快速高精度定位方法提供了理论支撑。

Air-ground collaborative GNSS/UWB fast high-precision positioning technology in dense forest environments

An air-ground collaborative GNSS/UWB high-precision positioning method for dense forest environments is proposed, aiming to address the challenges of satellite signal obstruction, and achieve fast and accurate positioning. The method takes into consideration the characteristics of unmanned aerial vehicle (UAV) platforms in open environments with rapid movements and the strong penetration capabilities of ultra-wideband (UWB) measurements. It utilizes a UAV equipped with an integrated GNSS/UWB payload to simulate multiple base stations, combined with UWB tag network ranging in the dense forest to achieve UWB tag positioning. Research on the base station deployment scheme is conducted, providing guidance and basis for the application of GNSS/UWB cooperative positioning technology in dense forest environments. It verifies the proposed method through field ranging experiments and simulation positioning experiments in dense forest environments. The simulation results demonstrate that the proposed method can effectively achieve fast and high-precision positioning in dense forest environments, with an accuracy of decimeter level. By optimizing the network type, coverage range, and height of the base station deployment, the positioning accuracy can be effectively improved, thus providing theoretical support for fast and high-precision positioning methods in dense forest environments.