多源传感器“盲插即用”的组件化PNT融合框架、原理及试验验证

doi:10.11947/j.AGCS.2026.20250487

测绘学报 ›› 2026, Vol. 55 ›› Issue (5): 787-797.doi: 10.11947/j.AGCS.2026.20250487

• 北斗/GNSS多源传感器融合PNT • 上一篇下一篇

多源传感器“盲插即用”的组件化PNT融合框架、原理及试验验证

耿江辉¹^,²(), 王锋¹

^1.武汉大学卫星导航定位技术研究中心，湖北　武汉　430079
^2.中国科学院精密测量科学与技术创新研究院，湖北　武汉　430071

收稿日期:2025-11-18 修回日期:2026-05-16 出版日期:2026-06-23 发布日期:2026-06-23
作者简介:耿江辉（1982—），男，博士，教授，研究方向为GNSS精密数据处理和多源传感器融合。　E-mail：jgeng@whu.edu.cn
基金资助:
国家自然科学基金(42361134580);湖北省中央引导地方科技发展专项(2025CSA009)

Componentized PNT framework for blind-plug-and-play multi-sensor fusion and its principles and experimental verification

Jianghui GENG¹^,²(), Feng WANG¹

^1.GNSS Research Center, Wuhan University, Wuhan 430079, China
^2.Innovation Academy for Precision Measurement Science and Technology, Chinese Academy of Sciences, Wuhan 430071, China

Received:2025-11-18 Revised:2026-05-16 Online:2026-06-23 Published:2026-06-23
About author:GENG Jianghui (1982—), male, PhD, professor, majors in high-precision GNSS and multi-sensor fusion.　E-mail: jgeng@whu.edu.cn
Supported by:
The National Natural Science Foundation of China(42361134580);Central Government Funds for Hubei Science and Technology Development(2025CSA009)

摘要/Abstract

摘要：

多源传感器融合是国家综合定位、导航与授时（PNT）体系下终端服务的核心技术。当前的多源融合框架普遍针对特定任务和场景进行预先配置和定制化设计，任务和场景的切换通常需要用户从头配置多源融合系统的软硬件结构，迟滞了跨场景多任务PNT应用中多源融合系统的快速高效重构。为此，本文提出了一种统一且通用的多源融合框架——组件化PNT。理论上，该框架支持任意类型与数量的传感器以“盲插即用”的方式灵活接入，解耦了多源传感器和融合处理平台之间的软硬件连接，通过组件化拼接从根本上提升了PNT系统面向不同任务和场景的即时适配性。具体来说，组件化PNT基于边缘计算模式，将传感器观测建模与多源传感器信息融合分别部署于传感器端和PNT平台端，设计了标准化的软硬件接口，实现了两端之间的统一信息交互，最终达到传感器在PNT平台上盲插即用的效果。依托自主研发的组件化PNT原型样机，本文在不同PNT场景的切换试验中实施了传感器的动态接入、移除与更换，验证了组件化PNT系统的盲插即用能力，以及在多域转换与传感器动态切换中的自主重构能力。试验结果表明，随着传感器数量和类型的逐步扩充，组件化系统的实时PNT性能能够即时改善，提升了PNT平台针对不同场景和任务时重构软硬件的效率。

关键词: 国家综合PNT体系, 多源传感器融合, 组件化PNT, 盲插即用

Abstract:

Multi-sensor fusion is a core terminal technology in the national comprehensive positioning, navigation, and timing (PNT) system. However, existing multi-sensor fusion frameworks often require pre-configuration and task-specific customization, making it difficult to achieve rapid and seamless reconfiguration in multi-scenario and multi-task PNT applications. Users are therefore forced to repeatedly adjust both PNT software and hardware settings. To address this issue, this paper proposes a unified and general multi-sensor fusion framework, termed componentized PNT. The framework theoretically supports the flexible integration of sensors of arbitrary types and quantities in a blind-plug-and-play manner, fundamentally enhancing the adaptability of PNT systems in complex environments. Based on an edge-computing architecture, the framework adopts standardized hardware and software interfaces, deploying the sensor-specific measurement modeling module on the edge sensor side and the sensor-shared fusion module on the central PNT platform. The interaction between the two modules is standardized through a unified mathematical representation, thereby overcoming the inherent limitation of traditional frameworks that require sensor pre-configuration on the PNT platform. Based on a self-developed prototype for the componentized PNT system, real-time experiments were conducted under complex scenarios involving sensor connection, removal, and replacement. The results validate the blind-plug-and-play capability of the proposed system, as well as its autonomous reconfiguration ability during multi-domain transitions and dynamic sensor switching. Experimental results show that as the number and diversity of sensors increase, the componentized PNT system achieves immediate improvements in real-time positioning performance, exhibiting high operational efficiency during transitions between different scenarios.

Key words: national comprehensive PNT, multi-sensor fusion, componentized PNT, blind-plug-and-play

中图分类号:

P228

耿江辉, 王锋. 多源传感器“盲插即用”的组件化PNT融合框架、原理及试验验证[J]. 测绘学报, 2026, 55(5): 787-797.

Jianghui GENG, Feng WANG. Componentized PNT framework for blind-plug-and-play multi-sensor fusion and its principles and experimental verification[J]. Acta Geodaetica et Cartographica Sinica, 2026, 55(5): 787-797.

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参数属性	描述
时间	用于将参数与相同时间的观测值相关联
维度	用于参数内存分配与估计器初始化
初值	参数估计线性化点，参数更新起点
时变特性	用于建立参数历元间约束伪观测方程
更新规则	用于校正参数初值，得到参数估计值

传感器	描述
GNSS	型号：U-blox ZED-F9P
	采样率：1 Hz
	信号频率：GPS/QZSS L1/L2，
	GLONASS L1/L2，
	Galileo E1/E5b，
	BeiDou B1I/B2I
IMU	型号：ADIS16470
	采样率：200 Hz
	器件参数：
	陀螺仪：
	角度随机游走：0.34（°）/
	零偏稳定性：8（°）/h
	加速度计：
	速度随机游走：0.037 m/s/
	零偏稳定性：13μg
Camera 1	型号：Realsense D435
	采样率：30 Hz
	FOV：69°×42°
	图像分辨率：1920×1080
Camera 2	型号：Realsense D455
	采样率：30 Hz
	FOV：90°×65°
	图像分辨率：1280×800
Camera 3	型号：Realsense D455
	采样率：30 Hz
	FOV：90°×65°
	图像分辨率：1280×800
LiDAR	型号：Livox MID-360
	采样率：10 Hz
	FOV：360°×59°
	最大/最小探测距离：100 m/0.1 m

盲插即用传感器		轨迹	3D定位精度/m	平均定位精度/m	相较前一阶段提升/（%）
相机	雷达	轨迹	3D定位精度/m	平均定位精度/m	相较前一阶段提升/（%）
0	0/0	1	3.46	3.46	—
1	1/0	2	0.90	0.90	74
	2/0	3	0.30
2	2/0	6	0.28	0.33	63
2	2/0	7	0.60	0.33	63
	1/1	8	0.13
3	3/0	4	0.18	0.18	45
4	3/1	5	0.10	0.10	44

多源传感器“盲插即用”的组件化PNT融合框架、原理及试验验证

Componentized PNT framework for blind-plug-and-play multi-sensor fusion and its principles and experimental verification

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