空基伪卫星组网部署的航路规划算法

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。

Route planning algorithm for configuring airborne pseudolites

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.