【摘要】 伪卫星技术与全球导航卫星系统（GNSS）信号体制兼容，在遮蔽环境下与视觉、惯性信息融合具有应用潜力。但当可见伪卫星数量不足或水平精度衰减因子（HDOP）值较高时，传统多基站定位方法难以提供有效全局约束。针对此问题，提出了一种具备多模态量测的伪卫星定位方法，设计了一种均匀圆型伪卫星阵列天线，提供了载体相对于单基站伪卫星的方位角和俯仰角量测。然后基于因子图优化完成多模态伪卫星/视觉/惯性信息融合，在可见伪卫星数量和HDOP值变化场景下，实现伪卫星量测信息的动态选择，增强了系统对复杂环境的适应能力。最后通过实际实验验证了所提方法的有效性，相较于VIO与多基站式伪卫星位置/视觉/惯性融合方法，所提方法定位精度分别提高了72.73%、55.31%，并且在室外与GNSS信息融合后具备室内外无缝定位的能力。更多还原

【Abstract】 Pseudolite technology is compatible with the signal structure of the Global Navigation Satellite System(GNSS) and shows great potential for integration with visual and inertial information in occluded environments. However, when the number of visible pseudolites is insufficient or the Horizontal Dilution of Precision(HDOP) value is high, traditional multi-base-station pseudolite localization methods fail to provide effective global constraints. To address this issue, a pseudolite localization method equipped with multi-modal measurements is proposed, in which a uniformly circular pseudolite antenna array is designed to provide azimuth and elevation measurements of the platform relative to a single-base pseudolite. Subsequently, factor graph optimization is employed to fuse pseudolite multi-modal measurements together with visual and inertial information. This framework enables dynamic selection of pseudolite measurement data under varying numbers of visible pseudolites and HDOP values, thereby enhancing the system’s adaptability to complex environments. Finally, the effectiveness of the proposed method is validated through extensive experiments. Compared with conventional VIO and multi-base-station pseudolite/visual/inertial fusion approaches, the proposed method improves localization accuracy by 72.73% and 55.31%, respectively. Moreover, when integrated with GNSS information outdoors, the method achieves seamless indoor and outdoor localization capabilities.更多还原