部分论文

1. Ma J, Yao Z, Lu M, Guo N. Band-limited dual-frequency multiplexing technique for GNSS signals, GPS Solutions, 25 (2), pp. 1-10, 2021.

2. Liu X, Yao Z, Lu M. Robust time-hopping pseudolite signal acquisition method based on dynamic Bayesian network, GPS Solutions, 25 (2), pp. 1-14, 2021.

3. Zhou H, Yao Z, Lu M, Lidar/UWB Fusion Based SLAM With Anti-Degeneration Capability, Vehicular Technology IEEE Transactions on, vol. 70, no. 1, pp. 820-830, 2021.

4. Zhou H, Yao Z, Lu M, UWB/Lidar Coordinate Matching Method With Anti-Degeneration Capability, IEEE Sensors Journal, vol. 21, no. 3, pp. 3344 - 3352, 2021.

5. Gao Y, Yao Z, Lu M, High-precision unambiguous tracking technique for BDS B1 wideband composite signal, Navigation, Journal of the Institute of Navigation, 2020, 67(3), pp.633-650.

6. Wang T, Yao Z, Lu M. Mesh topology based clock synchronization technique for pseudolite systems, Navigation, Journal of the Institute of Navigation, 2020, 67(3): pp. 619-632.

7. Guo N; Yao Z; Lu M; Indirect learning Hammerstein HPA predistorter for wideband GNSS signals, GPS Solutions, 2020, 25(6).

8. Gao Y, Yao Z, Lu, A Coherent Processing Technique with High Precision for BDS B1I and B1C Signals, Lecture Notes in Electrical Engineering, 650 LNEE, pp. 537-550.

9. Wang T, Yao Z, Lu M. Carrier Measurements Based Autonomous Spatial Reference Establishment for Ground-Based Positioning Systems, Lecture Notes in Electrical Engineering, 652 LNEE, pp. 538-549

10. Liu C, Gao W, Liu T, Wang D, Yao Z, Gao Y, Nie X, Wang W, Li D, Zhang W, Wang D, Rao Y, Design and implementation of a BDS precise point positioning service, Navigation, Journal of the Institute of Navigation, 2020, 67(4)：875-891. 

11. Gao Y, Yao Z, Lu M,; Exploring the Ultra-High-Precision Ranging Potential of BDS B1 Signal, the 33rd International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2020), Virtual Meeting.

12. Zhou H, Yao Z, Fan C, Wang S, and Lu M, “Rao-Blackwellised particle filtering for low-cost encoder/INS/GNSS integrated vehicle navigation with wheel slipping,” IET Radar, Sonar and Navigation, vol. 13, no. 11, pp. 1890-1898, 2019.

13. Wang T, Yao Z, and Lu M, “Combined difference square observation-based ambiguity determination for ground-based positioning system,” Journal of Geodesy, vol. 93, no. 10, pp. 1867-1880, Oct, 2019.

14. Wang T, Yao Z, Lu M. On-the-fly ambiguity resolution involving only carrier phase measurements for stand-alone ground-based positioning systems, GPS Solutions, 2019, 23(2):36.

15. Yun S, Yao Z, Lu M. Variable update rate carrier tracking loop for time-hopping DSSS signals, IET Radar, Sonar, & Navigation, 2019, 13(6):961-968.

16. Wu Z, Yao Z, Lu M. Coordinate Establishment of Ground-Based Positioning Systems with Anchor Information, IEEE Transactions on Vehicular Technology, 68(3), 2019: pp. 2517 - 2525

17. Su J, Yao Z, Lu M. An Improved Position Determination Algorithm Based on Nonlinear Compensation for Ground-Based Positioning Systems, IEEE Access, Volume 7, 2019, pp. 23675 – 23689.

18. Ma, J., Yao, Z. & Lu, M. An efficiency optimal dual-frequency constant-envelope multiplexing technique for GNSS signals. GPS Solut (2019) 23: 68.

19. Ma J, Yao Z, Lu M. Multicarrier Constant-Envelope Multiplexing Technique by Subcarrier Vectorization for New Generation GNSSs, IEEE Communications Letters ( Early Access ).

20. Lu M, Li W, Yao Z, Cui X, Overview of BDS III new signals, NAVIGATION, Journal of The Institute of Navigation, Vol. 66, No. 1, Spring 2019, pp. 19-35.

21. Gao Y, Yao Z, Lu M. Design and implementation of a real‐time software receiver for BDS‐3 signals. NAVIGATION. 2019;1–15. 

22. Wang T, Yao Z, Lu M, On-the-fly ambiguity resolution based on double-differential square observation, MDPI Sensors 18(8): 2495, 2018.

23. Gao Y, Yao Z, Lu, M, Theoretical analysis of unambiguous 2-D tracking loop performance for band-limited BOC signals, Springer GPS Solutions, Volume 22, Issue 1, 2018.

24. Yao Z, and Lu M, Signal multiplexing techniques for GNSS: The principle, progress, and challenges within a uniform framework, IEEE Signal Processing Magazine, Volume 34, Issue 5, 2017

25. Yao Z, Gao Y, Gao Y, and Lu M, Generalized Theory of BOC Signal Unambiguous Tracking with Two-Dimensional Loops, IEEE Transactions on Aerospace and Electronic Systems, Volume 53, Issue 6, 2017.

26. Yao Z, Guo F, Ma J, and Lu M, Orthogonality-based Generalized Multicarrier Constant Envelope Multiplexing for DSSS Signals, IEEE Transactions on Aerospace and Electronic Systems, Volume 99, Issue 99, 2017. 

27. Zhang J, Yao Z, and Lu M, Generalized theory and decoupled evaluation criteria for unmatched despreading of modernized GNSS signals, Sensors 16(6):1128, July 2016. 

28. Huang B, Yao Z, Cui X, and Lu M, Angle-of-Arrival Assisted GNSS Collaborative Positioning, Sensors 16(6):918, June 2016. 

29. Guo F, Yao Z, and Lu M, BS-ACEBOC: a generalized low-complexity dual-frequency constant-envelope multiplexing modulation for GNSS, GPS Solutions, June 2016. 

30. Yao Z, Zhang J, and Lu M, ACE-BOC: Dual-frequency constant envelope multiplexing for satellite navigation，IEEE Transactions on Aerospace and Electronic Systems, Volume 52, Issue 1, 2016. 

31. Huang B, Yao Z, Cui X, Lu M, Dilution of Precision Analysis for GNSS Collaborative Positioning, IEEE Transactions on Vehicular Technology, 2016, 65(5), pp. 3401 – 3415. 

32. Gao Y, Yao Z, Cui X, and Lu M, Analysing the orbit influence on multipath fading in global navigation satellite systems, IET Radar Sonar & Navig. 2014, 8(1): 65-70.

33. Zhao S, Yao Z, Zhuang X, and Lu M, Analysis on coverage ability of BeiDou navigation satellite system for manned spacecraft, Acta Astronautica 105(2014):487–494. 

34. Yao Z, and Lu M, Dual-frequency constant envelope multiplex with non-equal power allocation for GNSS, Electronics Letters, 2012, 48(25): 1624-1625. 

35. Yao Z, and Lu M, Lower bound on spreading code tracking error under unmatched de-spreading mode, Electronics Letters, 2011, 47(15): 878-879. 

36. Zhang X, Yao Z, and Lu M, Optimizing the Gabor bandwidth of satellite navigation signal by MCS signal expression, SCIENCE CHINA Physics, Mechanics & Astronomy (Science in China Series G), 2011, 54 (6): 1077-1082. 

37. Yao Z, Lu M, and Feng Z, Quadrature multiplexed BOC modulation for interoperable GNSS signals, Electronics Letters, 2010, 46(17): 1234-1236. 

38. Yao Z, Lu M, and Feng Z, Spreading code phase measurement technique for snapshot GNSS receiver. IEEE Transactions on Consumer Electronics, 2010, 56(3): 1275-1282. 

39. Yao Z, Lu M, and Feng Z. Unambiguous sine-phased binary offset carrier modulated signal acquisition technique. IEEE Transactions on Wireless Communications, 2010, 9(2), 577-580. 

40. Yao Z, Cui X, Lu M, Feng Z, and Yang J. Pseudo-correlation-function-based unambiguous tracking technique for sine-BOC signals. IEEE Transactions on Aerospace and Electronic Systems, 2010, 46(4), 1782-1796.

41. Yao Z, Lu M, and Feng Z. Unambiguous technique for multiplexed binary offset carrier modulated signals tracking. IEEE Signal Processing Letters, 2009, 16(7): 608-611. 

42. Yao Z, Cui X, Lu M, and Feng Z. Dual update-rate carrier tracking technique for new generation global navigation satellite system signals in dynamic environments. IET (IEE) Radar Sonar & Navig. 2009, 3(1): 81-92. 

43. Yang J, Ma X; Hou C; Liu Y; Yao Z, Automatic robust linear receiver for multi-access space-time block coded MIMO systems. IEEE Signal Processing Letters, v 16, n 8, p 687-690, 2009. 

44. Zhang W, Yao Z, and Lu M, "WHAT: Wideband high-accuracy joint tracking technique for BDS B1 composite signal," ICEIEC 2019 - Proceedings of 2019 IEEE 9th International Conference on Electronics Information and Emergency Communication. pp. 178-182.

45. Yun S, Yao Z, Wang T, Su J, Lu M. On-the-fly ambiguity resolution without requirements of priori position information for passive pseudolite receiver, Proceedings of the 2019 International Technical Meeting of The Institute of Navigation (ITM 2019). Reston, Virginia, USA, January 2019: 998-607.

46. Su J, Yao Z, Lu M. GNSS/INS Integration with Partial-ZUPT for Land Vehicle Navigation, Proceedings of the 2019 International Technical Meeting of The Institute of Navigation, Reston, Virginia, January 2019, pp. 257-269.

47. Liu H, Ma H, Wen J, Su J, Yao Z, Zhang L, FQS: Feature Quality Supervision for Visual-Inertial Navigation, Proceedings of the 2019 International Technical Meeting of The Institute of Navigation, Reston, Virginia, January 2019, pp. 270-282.

48. Yao Z, Ma J, Zhang J, Lu M, Multicarrier constant envelope composite signal - a solution to the next generation satellite navigation signals, Institute of Navigation Satellite Division Proceedings of the International Technical Meeting (ION GNSS+ 2017), 2017, pp. 1520-1533

49. Zhang J, Yao Z, Ma J, Lu M. An optimized and payload achievable multiplexing design technique for GNSS signals, Proceedings of 2018 IEEE/ION Position, Location and Navigation Symposium (PLANS), Monterey, CA, USA, 23-26 April 2018

50. Zhang S, Yao Z, and Lu M, “Rapid configuration algorithm for ground-based pseudolite navigation system,” Geomatics and Information Science of Wuhan University, vol. 43, no. 9, pp. 1355-61, 5 Sept., 2018.

51. Wu Z, Yao Z, and Lu M, "Spatial coordinate autonomous establishment technique for high-precision local positioning system," Lecture Notes in Electrical Engineering. pp. 909-918.

52. Ma J, Yao Z, and Lu M, "Subcarrier-Abstracted Multi-frequency Constant-Envelope Multiplexing and Its Implementation Optimization," Lecture Notes in Electrical Engineering. pp. 147-160.

53. S. Jin, Z. Yao, S. Jia, and M. Lu, “High-Speed Non-Binary Coding and Modulation Techniques of GNSS Message,” Journal of Beijing University of Posts Telecommunications, vol. 41, no. 4, pp. 97-103, 2018, 2018.

54. Ma J, Yao Z, Lu M, Analytic Efficiency Optimal Constant-Envelope Multiplexing Technique for GNSS Signals, Institute of Navigation Satellite Division Proceedings of the International Technical Meeting (ION GNSS+ 2017), 2017, pp. 1579-1588

55. Zhang W, Yao Z, Lu M, An improved pseudolite-based indoor positioning system compatible with GNSS, 2016 Fourth International Conference on Ubiquitous Positioning, Indoor Navigation and Location Based Services (UPINLBS)

56. Yun S, Yao Z, Lu M, High accuracy and fast acquisition algorithm for pseudolites-based indoor positioning systems, 2016 Fourth International Conference on Ubiquitous Positioning, Indoor Navigation and Location Based Services (UPINLBS)

57. Zhao S, Cui X, Jia M, Yao Z, and Lu M, Carrier Phase Tracking and Navigation Message Demodulation Approach for Vector Tracking Loops using Serial PLL, ION GNSS+ 2016, At Portland, Oregon, USA.

58. Zhao S, Guan F, Cui X, Yao Z, and Lu M. A measurement discarding algorithm for robust multi-constellation multi-frequency RTK positioning, 2016 IEEE/ION Position, Location and Navigation Symposium - PLANS 2016.

59. Guo F, Yao Z, Lu M, and Zhou H, "Generalized Transparent Constant Envelope Multiplexing Method," Proceedings of the 2016 International Technical Meeting of The Institute of Navigation, Monterey, California, January 2016, pp. 456-463.

60. Guo F, Yao Z, Lu M, and Zhou H, "Performance Comparison of Existing Dual-frequency Constant-Envelope Modulations," Proceedings of the 2016 International Technical Meeting of The Institute of Navigation, Monterey, California, January 2016, pp. 948-955.

61. Liu Z, Shen J, Yao Z, Lu M, and Zhao Y, "The Ziv-Zakai Bound for Time-Of-Arrival Estimation of New Generation GNSS Signals," Proceedings of the 2016 International Technical Meeting of The Institute of Navigation, Monterey, California, January 2016, pp. 639-646.

62. Zhou H, Yao Z, and Lu M. A Quasi-Coherent Receiving Algorithm and its Performance Verification for Composite Signals of Next Generation GNSS," Proceedings of the 2016 International Technical Meeting of The Institute of Navigation, Monterey, California, January 2016, pp. 591-599. (EI, )

63. Zhao S, Yao Z, Yin J, Lu M, "Application of Extended and Unscented Kalman Filtering for Non-linear Positioning in Nearby Region of Navigation Sources," Proceedings of the 2015 International Technical Meeting of The Institute of Navigation, Dana Point, California, January 2015, pp. 640-650.

64. Zhao S, Guan F, Cui X, Yao Z, Lu M, "Triple-frequency BDS and Dual-frequency GPS Combination RTK Algorithm for Moving Baseline Relative Positioning," Proceedings of the 28th International Technical Meeting of The Satellite Division of the Institute of Navigation (ION GNSS+ 2015), Tampa, Florida, September 2015, pp. 2595-2604.

65. Huang B, Yao Z, Cui X, Lu M, Guo J, "Distributed GNSS Collaborative Localization: Theoretical Performance Analysis and Simulation Verification," Proceedings of the 28th International Technical Meeting of The Satellite Division of the Institute of Navigation (ION GNSS+ 2015), Tampa, Florida, September 2015, pp. 2444-2454.

66. Ren Q, Yao Z, and Lu M, Design of fast acquisition algorithm for TDRSS burst signal, Electronics Information and Emergency Communication (ICEIEC), 2015 5th International Conference on, 14-16 May 2015

67. Huang B, Yao Z, Cui X, and Lu M, Distributed GNSS Collaborative Positioning Algorithms and Performance Analysis, Lecture Notes in Electrical Engineering 342:427-437, April 2015

68. Zhou H, Yao Z, Lu M, A Robust Dynamic Satellite-Searching Algorithm for Multi-constellation GNSS Receivers, China Satellite Navigation Conference (CSNC) 2015 Proceedings: Volume I. Lecture Notes in Electrical Engineering, vol 340. Springer, Berlin, Heidelberg, pp 695-705

69. Zhao S, Yao Z, Zhuang X, and Lu M. Analysis on coverage ability of BeiDou navigation satellite system for manned spacecraft, Acta Astronautica 105(2), November 2014

70. Huang B, Yao Z, Cui X, Lu M, Guo, Jing, "GNSS Collaborative Positioning and Performance Analysis," Proceedings of the 27th International Technical Meeting of The Satellite Division of the Institute of Navigation (ION GNSS+ 2014), Tampa, Florida, September 2014, pp. 1920-1930.

71. Guo F, Yao Z, and Lu M, "Orthogonality-based Constant Envelope Multiplexing," Proceedings of the 27th International Technical Meeting of The Satellite Division of the Institute of Navigation (ION GNSS+ 2014), Tampa, Florida, September 2014, pp. 3163-3173.

72. Wei Z, Li H, Yao Z, and Lu M, General computing platform based GNSS signal simulator architecture: Design, implementation and validation, Lecture Notes in Electrical Engineering, v 303 LNEE, n VOL. 1, p 279-294, 2014. 

73. Huang B, Yao Z, Guo F, Deng S, Cui X, and Lu M, STARx – A GPU Based Multi-System Full-Band Real-Time GNSS Software Receiver, Proc. of ION GNSS+ 2013, Nashville, TN, 2013: 1549-1559.

74. Zhang J, Yao Z, and Lu M. Applications and low-complexity implementations of ACE-BOC multiplexing. Proc. of ION ITM, San Diego, CA. 2014: 781-791. 

75. Zhang J, Yao Z, and Lu M. Optimized asymmetric dual-frequency constant envelope multiplexing technique, Lecture Notes in Electrical Engineering, v 304 LNEE, n VOL. 2, p 103-113, 2014. 

76. Zhu Y, Yao Z, Cui X, Lu M. Comparative analysis of dual-frequency constant envelop multiplexing techniques for ARNS band. Proc. of ION ITM, San Diego, CA. 2014: 792-801. 

77. Gao Y, Yao Z, Zhu Y, and Lu M. A two-dimension tracking based multipath mitigation method for BOC signals. Proc. of ION ITM, San Diego, CA. 2014: 876-883. 

78. Yao Z, and Lu M, Design, Implementation, and Performance Analysis of ACE-BOC Modulation, Proc. of ION GNSS+ 2013, Nashville, TN, 2013: 1549-1559.

79. Yao Z, and Lu M. Constant envelope combination for components on different carrier frequencies with unequal power allocation. Proc. of ION ITM, San Diego, CA. 2013:. 

80. Yao Z, and Lu M. Quasi-coherent joint processing of modernized GNSS multiplexing signals. Proc. of ION PPNT, Honolulu, HI. 2013: 98-105. 

81. Yao Z, and Lu M. ACED multiplexing and its application on BeiDou B2 band. Springer Lecture Notes in Electrical Engineering 244, 2013: 25-34.

82. Gao Y, Yao Z, Cui X, and Lu M. Influence of tracking loops in navigation receivers on multipath error, Huazhong Keji Daxue Xuebao (Ziran Kexue Ban)/Journal of Huazhong University of Science and Technology (Natural Science Edition), v 41, n 10, p 21-24+29, 2013

83. Huang B, Yao Z, Lu M, and Feng Z. A code phase measurement method for snap-shot GNSS receiver, Lecture Notes in Electrical Engineering, v 243 LNEE, p 641-651, 2013.

84. Lv P, Lu M, and Yao Z. Dual-update rate INS aided carrier phase lock loop for new generation global navigation satellite signals. Lecture Notes in Electrical Engineering, v 243 LNEE, p 715-724, 2013. 

85. Lv P, Yao Z, Lu M, and Feng Z. Adaptive PLL tracking algorithm for GNSS pilot signals based on the INS acceleration signal, Qinghua Daxue Xuebao/Journal of Tsinghua University, v 53, n 11, p 1542-1547, November 2013 

86. Zhang X, Zhang X, Yao Z, Lu M. Implementations of Constant Envelope Multiplexing based on Extended Interplex and Inter-Modulation Construction Method. Proc. of ION GNSS, Nashville TN. 2012: 893-900.

87. Zhang L, Yao Z, Zheng Y, Lu M, and Wang A, Simulation and analysis of satellite visibility and DOP for multi-constellation and their combinations. Lecture Notes in Electrical Engineering, v 161 LNEE, p 667-676, 2012, Proceedings - 3rd China Satellite Navigation Conference, CSNC 2012, Revised Selected Papers.

88. Li Q, Yao Z, Li H, and Lu M, A CUDA-based real-time software GNSS IF signal simulator. Lecture Notes in Electrical Engineering, v 161 LNEE, p 359-369, 2012, Proceedings - 3rd China Satellite Navigation Conference, CSNC 2012, Revised Selected Papers. 

89. 姚铮,刘琳琳,张晓明,陆明泉. 面向多接收模式的GNSS互操作信号调制. 武汉大学学报·信息科学版, 2012, 37(5): 621-625.

90. 朱亮,姚铮,陆明泉,冯振明. Compass B1信号设计中的非对称ALTBOC复用技术. 清华大学学报(自然科学版), 2012, 52(6): 869-873. 

91. Yao Z, and Lu M. Side-peaks cancellation analytic design framework with applications in BOC signals unambiguous processing. Proc. of ION ITM, San Diego, CA. 2011: 775-785. 

92. Yao Z, and Lu M, Optimized modulation for Compass B1-C signal with multiple processing modes, Proc. of ION GNSS, Portland, OR. 2011: 1234-1242. 

93. Zhang X, Yao Z, Zhang X, and Lu M, A method to optimize the spreading code chip waveform in sense of Gabor bandwidth, Proc. of ION GNSS, Portland, OR. 2011: 1299-1304. 

94. Zhu L, Yin H, Yao Z, and Lu M, Non-symmetrical AltBOC multiplexing scheme for Compass B1-C signal design. Proc. 5th European Workshop on GNSS Signals and Signal Processing, Toulouse, France, 2011.

95. 黄静,姚铮,陆明泉. 一种改进的GPS信号捕获策略的性能分析. 宇航学报, 2011, 32(1): 157-161. 

96. Jin L, Yao Z, Cui X, Lu M, and Feng Z, Dual update-rate FLL-assisted phase lock loop of novel robust receivers for new generation global navigation satellite signals, Proc. of ION GNSS, Portland, OR. 2011: 3652-3659. 

97. Chen Q, Yao Z, and Lu M. Implementation of a GNSS receiver with an unambiguous acquisition and tracking technique. Proc. of ION ITM, San Diego, CA. 2011: 989-996.

98. Teng D, Yao Z, Cui X, Lu M, and Feng Z, Weighting adjustment acquisition method for the DSSS signal. Proc. of NSWCTC, Wuhan, China. 2010: 336 – 339. 

99. 姚铮，陆明泉，冯振明. 正交复用BOC调制及其多路复合技术. 中国科学: 物理学 力学 天文学, 2010, 40(5): 575-580. 

100. Yao Z. A new unambiguous tracking technique for sine-BOC(2n, n) signals. Proc. of ION GNSS, Savannah, GA. 2008: 2432-2438. ION论文竞赛优胜，获ION全额资助 

101. Yang J, Ma X; Hou C; Yao Z, A static multiprocessor scheduling algorithm for arbitrary directed task graphs in uncertain environments. Proc. of Algorithms and Architectures for Parallel Processing (ICA3PP):  18-29, 2008. 

102. 姚铮,崔晓伟,陆明泉,冯振明. 应用于GPS接收机的序贯检测器性能分析. 清华大学学报(自然科学版), 2007, 47(7): 1166-1169. 

学术专著

1. Lu M, Yao Z. BeiDou Navigation Satellite System, Chapter 6, Position, Navigation, and Timing Technologies in the 21st Century: Integrated Satellite Navigation, Sensor Systems, and Civil Applications, Volume 1, First Edition. Edited by Y. T. Jade Morton, Frank van Diggelen, James J. Spilker Jr., and Bradford W. Parkinson.2021 Published 2021 by John Wiley & Sons, Inc.

2. Yao Z, Lu M, Next-Generation GNSS Signal Design: Theories, Principles and Technologies Springer Nature, 2020.

3. 姚铮, 陆明泉. 新一代卫星导航系统信号设计原理与实现技术. 北京: 电子工业出版社, 2016.4.

4. Yao Z, Unambiguous Processing Techniques of Binary Offset Carrier Modulated Signals. In Jin S (Eds.), Global Navigation Satellite Systems - Signal, Theory and Applications (Chapter 3), Rijeka, Croatia: InTech Press, 2012: 53-76.

姚铮博士的研究方向为导航信号处理。研究内容以卫星导航系统的下行信号为核心，紧密围绕信号的产生、传输、接收展开，主要包括下一代导航信号体制设计、导航信号多径抑制、新体制导航信号接收方法、实时软件接收机技术，陆基无线电导航系统设计，以及多用户协作定位技术等。

（一）下一代导航信号体制设计

信号体制是卫星导航系统的三大核心技术之一，信号的潜在性能决定了导航系统的先天性能。研究工作面向2020年后的PNT（定位、导航、授时）需求，为正在建设中的新一代卫星导航系统设计信号，以解决测距性能提升与功率带宽受限之间的矛盾，并为下一代导航卫星设计高灵活性的星上可重构信号生成技术。

十三五期间，在国家重大专项和国家自然科学基金项目的支持下，为北斗三号全球系统设计了两种新型卫星导航信号结构——正交复用二进制偏移载波调制（QMBOC）以及非对称恒包络二进制偏移载波调制（ACE-BOC）信号。这两种信号均能够在发射/接收带宽和发射功率受限的条件下最大程度满足定位服务的多样性，并同时提高用户的测距性能。其中ACE-BOC信号在同等发射功率条件下，与同频段的Galileo和新一代GPS的信号测相比，测距精度提高了33%，接收灵敏度提升了1.76 dB。

图1  多频联合调制复用原理示意

（二）区域无线电定位系统设计

面向卫星导航拒止条件，并兼顾卫星导航服务盲区有人、无人智能无人系统对精准、可靠、安全的定位、导航与授时服务的迫切需求，从功率和频谱资源的高效利用和恶劣环境下时空基准的建立与维持两方面入手，开展区域定位系统信号处理和信息处理关键技术研究，提升区域定位系统的时空信息服务性能。

十三五期间，在国家专项资助下开展了区域无线电定位系统关键技术研究，所提出的信号体制解决了地基导航系统的远近效应问题，并突破了TH-DSSS信号高精度相位锁定、收发一体伪卫星的快速组网及时间同步等多项核心关键技术。基于上述研究，研制开发了高精度区域定位系统原型，并开展了有线测试和小规模外场测试，测距精度和组网精度指标均达到国际领先水平。

（三）新体制导航信号接收方法研究

针对下一代导航系统普遍采用的谱分裂（Spectrum Split）调制和数据导频分离的信号结构，研究相应的信号捕获、跟踪、多径抑制等技术。在BOC、MBOC、AltBOC等新型信号的无模糊处理及多径抑制方面获突破性进展。研究工作得到了国家重大专项、国家自然科学基金、863计划、科技部国家重大仪器专项、教育部博士点基金、企业合作等资助。

图2  所提出的BOC信号抗多径方法的多径抑制效果

（四）实时GNSS软件接收机技术

作为STARx (Software-defined Tunable All-GNSS Receiver) Project负责人、国际卫星导航SDR元数据标准化工作组成员，瞄准未来导航接收机处理架构的变革趋势，研究基于软件无线电架构的实时导航接收机。

2013年带领小组研制成功国际上第一个可同时接收5大卫星导航系统（GPS、GLONASS、Galileo、北斗、日本准天顶系统）全部16种民用信号并联合定位的实时软件接收机（图3(a)），于2013年5月5日凌晨，在中国境内首次接收到在轨的4颗Galileo卫星信号并实现三维定位，验证了Galileo信号的实际服务精度，并为北斗全球信号设计提供参考。试验结果获得欧洲空间局（ESA）颁布的证书（图3(b)），并得到中央电视台新闻、北斗卫星导航系统官方主页、清华头条新闻、IEEE Spectrum中文版的报导。

近年来，北斗重大专项的多项关键技术攻关课题的研究在STARx上开展，取得了很好的效果。STARx还被航天科技514研究所选定为北斗重大专项信号源专题的测试验收设备。

(a)  STARx架构

(b)  欧洲空间局（ESA）颁发的证书

图3  实时GNSS软件接收机技术

（五）GNSS多用户协作定位技术

针对未来北斗卫星导航系统中群体性较强的位置服务应用等需求，对GNSS多用户点对点协作定位技术开展预先研究，以改善恶劣环境中卫星导航的定位服务质量。重点包括接收机之间有效协作方式的探索、交互数据的内容和格式的确定、协作的安全性问题等在内的一系列关键技术。

图4  GNSS多用户协作定位示意图