一种面向低空城市环境的改进天牛须搜索GNSS快速选星方法OA

With the full deployment of the BeiDou-3 Navigation Satellite System(BDS-3),the number of visible satellites per epoch routinely exceeds 30.The substantial volume of GNSS observational data presents a severe challenge to the on-chip resources and computing power of consumer-grade terminals,such as low-altitude unmanned aerial vehicles.To address this issue,a fast satellite selection algorithm based on the improved beetle antennae search(IBAS)is proposed.Building upon the standard modified beetle antennae search(MBAS),this method incorporates a weighted directional search strategy and a hybrid stopping mechanism to enhance global search capability and convergence efficiency.Semi-physical simulations utilizing domestic low-power chips demonstrate that,compared to the MBAS algorithm,IBAS reduces the average execution time for satellite selection by 60%-65%.When selecting 12 satellites,the algorithm achieves a 100%capture rate for optimal geometric configurations.Furthermore,it maintains sub-meter positioning accuracy even when only 6 satellites are retained for calculation.Consequently,the proposed method significantly reduces computational overhead while ensuring positioning reliability,rendering it highly suitable for real-time deployment on resource-constrained terminals.