部分论文

1. Yunhan Qi, Zheng Yao*, Mingquan Lu, Dual-assisted high-precision tracking technique for wideband multiplexed signals in new generation GNSS, Satellite Navigation, 2024, 5(1), 1-22

2. Zhen Wu, Zheng Yao*, Mingquan Lu, Optimal beacon deployment for positioning in cluttered indoor environments, IEEE Sensors Journal, 2023, 23(4), 4256-4266

3. Tengfei Wang, Zheng Yao*, Mingquan Lu, Autonomous coordinate establishment of local reference frames for ground-based positioning systems without known points, Journal of Geodesy, 2023, 97(1), 4

4. Yunhan Qi, Zheng Yao*, Mingquan Lu, Carrier Assisted Robust Unambiguous Positioning Technique for Subcarrier Modulated Signals in GNSS, IEEE Transactions on Vehicular Technology, 2023, 72(11), 14844-14859

5. Zizheng Dou, Zheng Yao*, Zhuo Zhang, Mingquan Lu, A Lidar-assisted Self-localization Technology for Indoor Wireless Sensor Networks, IEEE Internet of Things Journal, 2023, 10(19), 17515-17529

6. Zhuo Zhang, Zheng Yao*, Mingquan Lu, FT‐LVIO: Fully Tightly coupled LiDAR‐Visual‐Inertial odometry, IET Radar, Sonar & Navigation, 2023, 17(5), 759-771

7. Zhen Wu, Zheng Yao*, Mingquan Lu, Waypoint selection for unmanned aerial vehicle‐aided calibration in wireless positioning networks, IET Radar, Sonar & Navigation, 2023, 17(7), 1088-1099

8. Cheng Liu, Zheng Yao*, Dun Wang, Weiguang Gao, Tianxiong Liu, Yongnan Rao, Dongjun Li, Chengeng Su, Multiplexing modulation design optimization and quality evaluation of BDS-3 PPP service signal, Satellite Navigation, 2022, 3(1), 1

9. Xu Liu, Zheng Yao*, Mingquan Lu, Robust time-hopping pseudolite signal acquisition method based on dynamic Bayesian network, GPS Solutions, 2021, 25, 1-14

10. Caoming Fan, Zheng Yao*, Jianping Xing, Portable anechoic chamber-type calibration and the effect of phase corrections on the results of indoor positioning, GPS Solutions, 2022, 26, 1-14

11. Xu Liu, Zheng Yao*, Mingquan Lu, A rapid convergent positioning algorithm based on projected cancellation technique for pseudolite positioning systems, GPS Solutions, 2022, 26(1), 15

12. Zhen Wu, Zheng Yao*, Mingquan Lu, Deep-Reinforcement-Learning-Based Autonomous Establishment of Local Positioning Systems in Unknown Indoor Environments, IEEE Internet of Things Journal, 2022, 9(15), 13626-13637

13. Zizheng Dou, Zheng Yao*, Mingquan Lu, Asynchronous collaborative localization system for large-capacity sensor networks, IEEE Internet of Things Journal, 2022, 9(16), 15349-15361

14. Ningyan Guo, Sihao Zhao, Xiao-Ping Zhang, Zheng Yao*, Xiaowei Cui, Mingquan Lu, New closed-form joint localization and synchronization using sequential one-way TOAs, IEEE Transactions on Signal Processing, 2022, 70

15. Tengfei Wang, Zheng Yao*, Mingquan Lu, Carrier Phase Based Autonomous Coordinate Evolution for Narrowband Positioning Systems, IEEE Transactions on Wireless Communications, 2022, 21(11), 9879-9891

16. Yunhan Qi, Zheng Yao*, Mingquan Lu, General Design Method for Two-dimensional Multi-correlator Anti-multipath Tracking Loop for BOC Signals, IEEE Transactions on Aerospace and Electronic Systems, 2022, 59(2), 871-885

17. Yudong Sun, Zheng Yao*, Mingquan Lu, Extended Double-Delta Correlator Technique for GNSS Multipath Mitigation, IEEE Transactions on Aerospace and Electronic Systems, 2022, 59(2), 1758-1773

18. Yunhan Qi, Zheng Yao*, Yang Gao, Mingquan Lu, Robust unambiguous ranging technique for BDS-3 B1 wideband composite signals, GPS Solutions, 2022, 26(4), 115

19. Caoming Fan, Zheng Yao*, Shengli Wang, Jianping Xing, Pseudolite system-augmented GNSS real-time kinematic PPP, Journal of Geodesy, 2022, 96(10), 77

20. Ningyan Guo, Zheng Yao*, Mingquan Lu, Indirect learning Hammerstein HPA predistorter for wideband GNSS signals, GPS Solutions, 2021, 25(1), 6

21. Junjie Ma, Zheng Yao*, Mingquan Lu, Ningyan Guo, Band-limited dual-frequency multiplexing technique for GNSS signals, GPS Solutions, 2021, 25(2), 78

22. Tengfei Wang, Zheng Yao*, Mingquan Lu, Cooperative carrier phase positioning for asynchronous narrowband positioning systems, IEEE Transactions on Vehicular Technology, 2021, 70(10), 10347-10358

23. Yunhan Qi, Zheng Yao*, Mingquan Lu, General design methodology of code multi‐correlator discriminator for GNSS multi‐path mitigation, IET Radar, Sonar & Navigation, 2021, 15(9), 969-984

24. Shijie Yun, Zheng Yao*, Mingquan Lu, On-the-fly ambiguity resolution method for pseudolite/INS integration based on double-difference square observations, GPS Solutions, 2021, 25, 1-14

25. Caoming Fan, Zheng Yao*, Shijie Yun, Jianping Xing, Ground-based PPP-RTK for pseudolite systems, Journal of Geodesy, 2021, 95, 1-10

26. Haoyu Zhou, Zheng Yao*, Zhuo Zhang, Penghao Liu, Mingquan Lu, An online multi-robot SLAM system based on LiDAR/UWB fusion, IEEE Sensors Journal, 2021, 22(3), 2530-2542

27. Haoyu Zhou, Zheng Yao*, Mingquan Lu, UWB/LiDAR coordinate matching method with anti-degeneration capability, IEEE Sensors Journal, 2020, 21(3), 3344-3352

28. Yang Gao, Zheng Yao*, Mingquan Lu, High‐precision unambiguous tracking technique for BDS B1 wideband composite signal, Navigation, 2020, 67(3), 633-650

29. Haoyu Zhou, Zheng Yao*, Mingquan Lu, Lidar/UWB fusion based SLAM with anti-degeneration capability, IEEE Transactions on Vehicular Technology, 2020, 70(1), 820-830

30. Cheng Liu*, Weiguang Gao, Tianxiong Liu, Dun Wang, Zheng Yao, Yang Gao, Xin Nie, Wei Wang, Dongjun Li, Weixing Zhang, Dongxia Wang, Yongnan Rao, Design and implementation of a BDS precise point positioning service, Navigation, 2020, 67(4), 875-891

31. Tengfei Wang, Zheng Yao*, Mingquan Lu, Mesh topology based clock synchronization technique for pseudolite systems, Navigation, 2020, 67(3), 619-632

32. Mingquan Lu, Wenyi Li, Zheng Yao*, Xiaowei Cui, Overview of BDS III new signals, Navigation, 2019, 66(1), 19-35

33. Zhen Wu, Zheng Yao*, Mingquan Lu, Coordinate establishment of ground-based positioning systems with anchor information, IEEE Transactions on Vehicular Technology, 2019, 68(3), 2517-2525

34. Shijie Yun, Zheng Yao*, Mingquan Lu, Variable update rate carrier tracking loop for time‐hopping DSSS signals, IET Radar, Sonar & Navigation, 2019, 13(6), 961-968

35. Yang Gao, Zheng Yao*, Mingquan Lu, Design and implementation of a real‐time software receiver for BDS‐3 signals, Navigation, 2019, 66(1), 83-97

36. Tengfei Wang, Zheng Yao*, Mingquan Lu, Combined difference square observation-based ambiguity determination for ground-based positioning system, Journal of Geodesy, 2019, 93(10), 1867-1880

37. Jingxuan Su, Zheng Yao*, Mingquan Lu, An improved position determination algorithm based on nonlinear compensation for ground-based positioning systems, IEEE Access, 2019, 7, 23675-23689

38. Tengfei Wang, Zheng Yao*, Mingquan Lu, On-the-fly ambiguity resolution involving only carrier phase measurements for stand-alone ground-based positioning systems, GPS Solutions, 2019, 23(2), 36

39. Junjie Ma, Zheng Yao*, Mingquan Lu, Multicarrier constant-envelope multiplexing technique by subcarrier vectorization for new generation GNSSs, IEEE Communications Letters, 2019, 23(6), 991-994

40. Junjie Ma, Zheng Yao*, Mingquan Lu, An efficiency optimal dual-frequency constant-envelope multiplexing technique for GNSS signals, GPS Solutions, 2019, 23, 1-10

41. Haoyu Zhou&, Zheng Yao*, Caoming Fan, Shengli Wang, Mingquan Lu, Rao‐Blackwellised particle filtering for low‐cost encoder/INS/GNSS integrated vehicle navigation with wheel slipping, IET Radar, Sonar & Navigation, 2019, 13(11), 1890-1898

42. Tengfei Wang, Zheng Yao*, Mingquan Lu, On-the-fly ambiguity resolution based on double-differential square observation, Sensors, 2018, 18(8), 2495

43. Yang Gao, Zheng Yao*, Mingquan Lu, Theoretical analysis of unambiguous 2-D tracking loop performance for band-limited BOC signals, GPS Solutions, 2018, 22, 1-13

44. Zheng Yao*, Fu Guo, Junjie Ma, Mingquan Lu, Orthogonality-based generalized multicarrier constant envelope multiplexing for DSSS signals, IEEE Transactions on Aerospace and Electronic Systems, 2017, 53(4), 1685-1698

45. Zheng Yao*, Mingquan Lu, Signal multiplexing techniques for GNSS: the principle, progress, and challenges within a uniform framework, IEEE Signal Processing Magazine, 2017, 34(5), 16-26

46. Fu Guo, Zheng Yao*, Mingquan Lu, BS-ACEBOC: A generalized low-complexity dual-frequency constant-envelope multiplexing modulation for GNSS, GPS solutions, 2017, 21, 561-575

47. Zheng Yao*, Yang Gao, Mingquan Lu, Generalized theory of BOC signal unambiguous tracking with two-dimensional loops, IEEE Transactions on Aerospace and Electronic Systems, 2017, 53(6), 3056-3069

48. Zheng Yao*, Fu Guo, Junjie Ma, Mingquan Lu, Orthogonality-based generalized multicarrier constant envelope multiplexing for DSSS signals, IEEE Transactions on Aerospace and Electronic Systems, 2017, 53(4), 1685-1698

49. Zheng Yao*, Jiayi Zhang, Mingquan Lu, ACE-BOC: dual-frequency constant envelope multiplexing for satellite navigation, IEEE Transactions on Aerospace and Electronic Systems, 2016, 52(1), 466-485

50. Bin Huang, Zheng Yao*, Xiaowei Cui, Mingquan Lu, Angle-of-arrival assisted GNSS collaborative positioning, Sensors, 2016, 16(6), 918

51. Jiayi Zhang, Zheng Yao*, Mingquan Lu, Generalized theory and decoupled evaluation criteria for unmatched despreading of modernized GNSS signals, Sensors, 2016, 16(7), 1128

52. Bin Huang, Zheng Yao*, Xiaowei Cui, Mingquan Lu, Dilution of precision analysis for GNSS collaborative positioning, IEEE Transactions on Vehicular Technology, 2015, 65(5), 3401-3415

53. Yang Gao*, Zheng Yao, Xiaowei Cui, Mingquan Lu, Analysing the orbit influence on multipath fading in global navigation satellite systems, IET Radar, Sonar & Navigation, 2014, 8(1), 65-72

54. Zheng Yao*, Mingquan Lu, Dual-frequency constant envelope multiplex with non-equal power allocation for GNSS, Electronics Letters, 2012, 48(25), 1624-1625

55. Jing Huang, Zheng Yao*, Mingquan Lu, Performance analysis of an improved GPS acquisition strategy, J. Astron, 2011, 32(1), 157-161

56. Xiaoming Zhang, Zheng Yao*, MingQuan Lu, Optimizing the Gabor Bandwidth of satellite navigation signals by MCS signal expression, Science China Physics, Mechanics and Astronomy, 2011, 54, 1077-1082

57. Zheng Yao*, Mingquan Lu, Lower bound on spreading code tracking error under unmatched de-spreading mode, Electronics letters, 2011, 47(15), 878-879

58. Zheng Yao*, Mingquan Lu, Zhenming Feng, Quadrature multiplexed BOC modulation for interoperable GNSS signals, Electronics letters, 2010, 46(17), 1

59. Zheng Yao*, Mingquan Lu, Zhenming Feng, Unambiguous sine-phased binary offset carrier modulated signal acquisition technique, IEEE Transactions on Wireless Communications, 2010, 9(2), 577-580

60. Zheng Yao*, Mingquan Lu, Zhenming Feng, Spreading code phase measurement technique for snapshot GNSS receiver, IEEE Transactions on Consumer Electronics, 2010, 56(3), 1275-1282

61. Zheng Yao*, Xiaowei Cui, Mingquan Lu, Zhenming Feng, Jun Yang, Pseudo-correlation-function-based unambiguous tracking technique for sine-BOC signals, IEEE Transactions on Aerospace and Electronic Systems, 2010, 46(4), 1782-1796

62. Zheng Yao*, Mingquan Lu, Zhenming Feng, Unambiguous technique for multiplexed binary offset carrier modulated signals tracking, IEEE Signal Processing Letters, 2009, 16(7), 608-611

63. Zheng Yao*, Xiaowei Cui, Mingquan Lu, Z Feng, Dual update-rate carrier tracking technique for new generation global navigation satellite system signals in dynamic environments, IET radar, sonar & navigation, 2009, 3(3), 203-213

64. Zheng Yao, Junjie Ma, Jiayi Zhang, Mingquan Lu, Spectral transparent adhesive: a solution to the next generation satellite navigation signals, Inside GNSS Magazine, January-February, 2018

65. Bin Huang, Zheng Yao, Fu Guo, Shihai Deng, Xiaowei Cui, Mingquan Lu, Reaching for the STARx: a software-defined all-GNSS solution, Inside GNSS Magazine, January-February, 2014

学术专著

1. Mingquan Lu, Zheng Yao, BeiDou Navigation Satellite System, In Y. Morton, Frank van Diggelen, J. Spilker Jr., and B. Parkinson (Eds.), Position, Navigation, and Timing Technologies in the 21st Century, Volume 1 (Chapter 6), John Wiley & Sons, Inc, 2021: 143-170.

2. Zheng Yao, Mingquan Lu, Next-Generation GNSS Signal Design: Theories, Principles and Technologies, Springer, 2021

3. Zheng Yao, Mingquan Lu, New Generation Satellite Navigation System Signal Design - Principles and Techniques (in Chinese), Beijing, China: Publishing House of Electronics Industry, 2016.

4. Zheng Yao, 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

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