智慧城市建设对高精度位置的需求日益扩大，城市建筑群卫星信号易受干扰，且无法到达室内。项目引入UWB局域增强技术，针对城市建筑群无缝定位：研究建筑群空间结构的几何表达、卫星可见性的智能分类，建立动态多路径误差模型；明确UWB测距精度与路径损耗的耦合关系，揭示遮挡误差变化规律与群延迟各向异性特征，建立UWB精确测距补偿模型；研究过渡区GNSS/UWB观测值质量模型与混合观测值随机特性，构建混合观测值权重自适应调节的动态随机模型；阐明UWB基站位置及数量对定位可得性的影响规律，研究基于信号遮挡、多径干扰与几何结构的基站网络优化理论；建立典型终端状态参数优化与自由扩展的室外-过渡区-室内统一的状态方程，研究观测值粗差交叉检核机制，建立顾及多重约束的GNSS/UWB自适应稳健无缝定位理论与方法。项目成果将丰富导航与位置服务理论体系，在智能驾驶、机器人导航、安防救援等方面发挥巨大作用。

Abstract: The demands of high-precision locations for smart city construction is expanding. However, high-density urban buildings will block the satellite signals, causing the lack of reliability and continuity of a standalone GNSS positioning. The proposal fusing the UWB Augmentation technique in urban buildings area to achieve ubiquitous positioning. The following contents will be studied: (1) To study the geometrical representation of the spatial structure, the intelligent classification of satellites' visibility and satellite optimization, a dynamic multi-path error model will be established; (2) The coupling relation between UWB ranging accuracy and path loss will be studied to reveal the variation law of blocking error and the characteristics of group delay anisotropy, and the UWB precise ranging compensation model will be established; (3) To investigate the evaluation model of the quality of GNSS/UWB measurements and the stochastic characteristics of the mixed observations, and a dynamic stochastic model will be established to adaptively adjust the weights of mixed observations; (4) the influence of location and number of UWB base stations on positioning availability is investigated. The theory of base station network optimization based on signal occlusion, multi-path interference and geometric structure will also be studied. A uniform state equation for free expansion of parameters during outdoor–transition zone–indoor environment is established. We also study the cross check mechanism of gross error of observation, as well as the theory and method of adaptively robust GNSS/UWB tightly coupled ubiquitous positioning considering multiple constraints. The achievements of the proposal will enrich the theory of navigation and location based service and play a great role in intelligent driving, robot navigation, security and rescue.