刘万科｜武汉大学｜学者主页

2026

城市场景低成本GNSS/INS/视觉紧耦合高精度定位方法

刘万科，雷维豪，胡捷，楼益栋

《测绘地理信息》

2026

顾及侧偏的NHC/OD辅助GNSS/INS/视觉融合定位方法

刘泊含，刘万科，胡捷，雷维豪，叶彤，郭帅

《导航定位学报》

DOI

2026

信息熵驱动的视觉增强GNSS/SINS融合定位方法

刘万科，魏炜，胡捷，叶彤，张小红

《中国惯性技术学报》

2026

Towards rapid and reliable GNSS ambiguity resolution using residual-based machine learning in challenging environments

Ying Liu, Wanke Liu, Xiaohong Zhang, Zebo Zhou, Hailu Jia

Satellite Navigation

DOI

2026

Improving the accuracy of RTK positioning with the multipath hemispherical map model: A case study in GNSS landslide monitoring

Shenglin Lu, Jiahang Li, Jiasen Zhang, Mingkui Wu, Wanke Liu

Geodesy and Geodynamics

DOI

2026

A weight-constrained approximation of BIE estimation for reliable and efficient GNSS ambiguity resolution

Xianlu Tao, Ying Liu, Wanke Liu, Xiaohong Zhang, Shuguo Pan, Wang Gao

Advances in Space Research

DOI

2026

A novel cycle slip processing method for reliable urban GNSS positioning: enhanced by TDCP/Doppler combinations and multi-constraints

Xianlu Tao, Yantao Liang, Ying Liu, Xiaohong Zhang, Wanke Liu, Shuguo Pan

Measurement Science and Technology

DOI

2026

Refining relative tropospheric delay modeling of GPT3 for large-height-difference RTK positioning

Peida Wu, Weixing Zhang, Yidong Lou, Mengjie Liu, Wanke Liu, Hong Chen, Zhizhao Liu

Frontiers in Astronomy and Space Sciences

DOI

2026

Enhancing Positioning Accuracy of GNSS/INS/Vision Integration System With Lane-Driven Atlanta World Assumption in Man-Made Environments

J. Y. Hu, Xiaohong Zhang, Tong Ye, Wei Wei, Wanke Liu

IEEE Internet of Things Journal

DOI

2026

Enhancing GNSS Velocity Estimation for Smartphones Using RANSAC-Based TDCP Algorithm With Adaptive Clock Variation Constraint in Complex Urban Environments

Xiaohong Zhang, Mofeng Lin, Wanke Liu, Jie Hu, Jiahuan Hu, Zhang Xu, Chuanming Zhang

IEEE Transactions on Instrumentation and Measurement

DOI

2026

A GNSS/SINS/Vision Tightly Coupled Integration With Fault-Tolerant Estimation to Improve Pose Accuracy in Degraded Environments

Yupeng Gu, Wanke Liu, J. Y. Hu, Weihao Lei, Xiaohong Zhang

IEEE Transactions on Intelligent Transportation Systems

DOI

2025

城市分类场景的GNSS伪距随机模型构建及其定位性能分析

李岚，朱锋，刘万科，张小红

《武汉大学学报(信息科学版)》

2025

基于EMD-iForest的GNSS变形监测时间序列粗差探测方法

吴明魁，尚霆锋，赵文祎，王鑫宇，刘万科

《测绘地理信息》

DOI

2025

城市动态场景GNSS信号特征及其对NLOS自主识别影响分析

别秭锟，王鑫宇，刘万科

《测绘地理信息》

DOI

2025

鱼眼图像支持的GNSS随机模型神经网络生成方法

谷宇鹏，刘万科，张小红，胡捷，胡树杰，雷维豪，郑凯

《测绘学报》

2025

一种顾及卫星构型的部分模糊度固定方法

梁延涛，张小红，刘万科，刘颖

《导航定位学报》

DOI

2025

弹性调控架构下的动态视觉惯性里程计

胡树杰，刘万科，张小红，胡捷

《导航定位学报》

DOI

2025

Short-term high-precision prediction of LEO navigation satellite clock offset based on a hybrid FFT–LSTM model

Ziqiang Li, Wanke Liu, Chengpan Tang, Xiaozhong Zhang

Advances in Space Research

DOI

2025

Estimation of Downlink Signal Transmitting Antenna PCO and Equipment Delays for LEO Navigation Constellations with Limited Regional Stations

Ziqiang Li, Wanke Liu, Jie Hu

Remote Sensing

DOI

2025

Accurate and reliable GNSS/INS/vision positioning system using consumer-grade sensors in urban complex environments

Weihao Lei, Wanke Liu, J. Y. Hu, Xiaohong Zhang, Tong Ye

Measurement Science and Technology

DOI

2025

Refinement methods to improve integrated precise orbit determination of GNSS/LEO satellites based on regional ground stations

Xuewen Gong, Fuhong Wang, Jizhang Sang, Xingxing Li, Wanke Liu, Wanwei Zhang

Journal of Geodesy

DOI

2025

Rapid Deformation Identification and Adaptive Filtering with GNSS TDCP Under Different Scenarios and Its Application in Landslide Monitoring

Mingkui Wu, Rui Wen, Yue Zhang, Wanke Liu

Remote Sensing

DOI

2025

GNSS NLOS Identification and WPDOP-Based Suppression Method Aided by Fisheye Camera in Urban Canyon

Sidi Zhao, Yidong Lou, Weixing Zhang, Laihong Zhang, Wanke Liu, Xinyu Wang

IEEE Transactions on Instrumentation and Measurement

DOI

2025

Junction Points Aided Point-Line-Based GNSS/INS/Vision Integration Outlier Exclusion and Localization in Degradation Environments

Tong Ye, Wanke Liu, Xiaohong Zhang, J. Y. Hu, Weihao Lei

IEEE Transactions on Instrumentation and Measurement

DOI

2024

一种附加钟速约束的GNSS TDCP测速改进方法

陈爽，刘万科，王颖喆，陶贤露

《测绘地理信息》

2024

基于TDCP历元间位置变化量的GNSS地质灾害快速变形识别

文锐，刘万科，吴明魁，邓文昊，王昊

《大地测量与地球动力学》

2024

复杂环境GNSS实时亚厘米级监测算法设计及性能分析

邓文昊，张小红，吴明魁，刘万科，文锐，王昊

《导航定位学报》

2024

改进D*算法的未知场景机器人运动规划

鞠慕涵，刘万科，胡捷，谷宇鹏

《导航定位学报》

2024

A robust GNSS velocity estimation method combining Doppler and carrier phase observations in complex urban environments

Yantao Liang, Xiaohong Zhang, Ying Liu, Xianlu Tao, Wanke Liu, Hailu Jia, Hongxia Bai

Advances in Space Research

DOI

2024

Improving the position accuracy via merged line and point features for GNSS/SINS/Vision integration in a degradation environment

Tong Ye, Wanke Liu, J. Y. Hu, Weihao Lei

Measurement Science and Technology

DOI

2024

A reliable NLOS error identification method based on LightGBM driven by multiple features of GNSS signals

Xiaohong Zhang, Xinyu Wang, Wanke Liu, Xianlu Tao, Yupeng Gu, Hailu Jia, Chuanming Zhang

Satellite Navigation

DOI

2024

Constructing Context-Aware GNSS Stochastic Model for Code-Based Resilient Positioning in Urban Environment

Feng Zhu, Weijie Chen, Jiahuan Hu, Wanke Liu, Xiaohong Zhang

IEEE Transactions on Intelligent Vehicles

DOI

2024

POSMind: developing a hierarchical GNSS/SINS post-processing service system for precise position and attitude determination

Feng Zhu, Qinqing Cai, Xianlu Tao, Xiaohong Zhang, Wanke Liu

GPS Solutions

DOI

2024

Precise Orbit Determination of the ZY3-03 Satellite Using the Yaw-Attitude Modeling for Drift Angle Compensation

Xuewen Gong, Wanke Liu, Fuhong Wang, Qingpeng Li, Jingmei Li, Xueli Chang, Shuaihe Gao

IEEE Sensors Journal

DOI

2024

An improved GNSS ambiguity best integer equivariant estimation method with Laplacian distribution for urban low-cost RTK positioning

Ying Liu, Wanke Liu, Xiaohong Zhang, Yantao Liang, Xianlu Tao, Liye Ma

Satellite Navigation

DOI

2024

Enhance Pose and Extrinsic Accuracy With Online Spatial and Temporal Compensation in Monocular Camera-Aided GNSS/SINS Integration

J. Y. Hu, Weihao Lei, Desheng Zhuo, Feng Zhu, Wanke Liu, Xiaohong Zhang

IEEE Transactions on Instrumentation and Measurement

DOI

2024

DAP-VINS: Monocular Visual-Inertial SLAM for Dynamic Environments With Instance Association and Moving Probability Propagation

Shujie Hu, Jie Hu, Tong Ye, Weihao Lei, Wanke Liu, Xiaohong Zhang

IEEE Internet of Things Journal

DOI

2023

卫星导航原理课程思政教学设计与教学方法研究

郭斐，张小红，刘万科，王甫红，黄劲松

《测绘通报》

2023

联合SVM和HMM的水上/水下导航场景感知模型构建

朱锋，罗科干，陈惟杰，刘万科，张小红

《测绘学报》

2023

新一代北斗/GNSS智能终端及集成系统助力地质灾害防治

韩冰，李慧生，秘金钟，刘万科，王利

《中国减灾》

2023

北斗+5G时空基准的TDOA定位方法研究

宋伟伟，林巍，楼益栋，刘万科，郭文飞，王昱升

《武汉大学学报(信息科学版)》

2023

V-RTK: A velocity-constrained RTK algorithm to improve position accuracy of low-cost receiver in urban environments

Jie Hu, Wanke Liu, Feng Zhu, Xianlu Tao, Xiaohong Zhang

Advances in Space Research

DOI

2023

Characterization of GNSS Line Bias and BDS-3 Attitude Determination With Single-Differenced Observations From Common-Clock Receiver

Mingkui Wu, Shuai Luo, Jiahang Li, Wanke Liu

IEEE Sensors Journal

DOI

2023

On-board validation of BDS-3 autonomous navigation using inter-satellite link observations

Junlong Cheng, Wanke Liu, Xiaohong Zhang, Fuhong Wang, Ziqiang Li, Chengpan Tang, Junyang Pan, Zhiqiao Chang

Journal of Geodesy

DOI

2023

S2L-RTK: temporal ionospheric modeling for RTK baselines varying from short to long

Feng Zhu, Xi Chen, Liye Ma, Wanke Liu, Xiaohong Zhang

GPS Solutions

DOI

2023

Connecting integer ambiguities to avoid reinitialization and keep VRS seamless switching for virtual grid-based NRTK

Feng Zhu, Xi Chen, Wanke Liu, Yingzhe Wang, Xiaohong Zhang

GPS Solutions

DOI

2023

Smartphone RTK positioning with multi-frequency and multi-constellation raw observations: GPS L1/L5, Galileo E1/E5a, BDS B1I/B1C/B2a

Xianlu Tao, Wanke Liu, Yingzhe Wang, Lan Li, Feng Zhu, Xiaohong Zhang

Journal of Geodesy

DOI

2023

Bayes estimation and analysis of GNSS SIS fault rate

Yun Wu, Hao Zhao, Tianyu Liu, Wanke Liu

Advances in Space Research

DOI

2023

Performance Evaluation of Stereo Vision Aided Loosely Coupled GNSS/SINS Integration for Land Vehicle Navigation in Different Urban Environments

Jie Hu, Feng Zhu, Desheng Zhuo, Qingxu Xu, Wanke Liu, Xiaohong Zhang

IEEE Sensors Journal

DOI

2023

A Hybrid State Representation-Based GNSS Filtering Model to Improve Vehicular Positioning Performance

Xianlu Tao, Xiaohong Zhang, Feng Zhu, Wanke Liu, Lan Li

IEEE Sensors Journal

DOI

2022

基于GF模型的BDS-3/GPS/Galileo三频模糊度固定性能分析

陈杨，吴明魁，刘万科，罗小敏

《大地测量与地球动力学》

2022

消费级惯性传感器动态系统误差分析与建模

金静雅，朱锋，陶贤露，刘万科，张小红

《测绘科学》

2022

城市场景智能手机GNSS/MEMS融合车载高精度定位

张小红，陶贤露，王颖喆，刘万科，朱锋

《武汉大学学报(信息科学版)》

2022

非完整约束的OD/SINS自适应组合导航方法

刘万科，农旗，陶贤露，朱锋，胡捷

《测绘学报》

2022

GNSS模糊度解算的附加缩放因子的CLAMBDA方法

卢立果，马立烨，刘万科，吴汤婷，胡伟建

《测绘学报》

2022

An enhanced positioning algorithm module for low-cost GNSS/MEMS integration based on matching straight lane lines in HD maps

Qingxu Xu, Feng Zhu, Jie Hu, Wanke Liu, Xiaohong Zhang

GPS Solutions

DOI

2022

Multi-dimensional particle filter-based estimation of phase line biases for single-differenced ambiguity resolution in GNSS-based attitude determination

Mingkui Wu, Yan He, Hao Wu, Wanke Liu

Measurement Science and Technology

DOI

2022

Attitude Determination with GPS L1/Galileo E1 Observations from Common-Clock Receiver: A Comparison of Four Different Models

Mingkui Wu, Jiahang Li, Shuai Luo, Wanke Liu

Remote Sensing

DOI

2022

Precise real-time navigation of the small TJU-1 satellite using GPS, GLONASS and BDS

Xuewen Gong, Wanwei Zhang, Qingyun Wang, Fuhong Wang, Xingxing Li, Jizhang Sang, Wanke Liu

Measurement

DOI

2022

Particle filter-based real-time phase line bias estimation for GNSS-based attitude determination with common-clock receivers

Mingkui Wu, Yan He, Shuai Luo, Wanke Liu

Advances in Space Research

DOI

2022

VC-LAMBDA: a baseline vector constrained LAMBDA method for integer least-squares estimation

Liye Ma, Feng Zhu, Wanke Liu, Liguo Lu, Yidong Lou, Xiaohong Zhang

Journal of Geodesy

DOI

2022

Research on the Rotational Correction of Distributed Autonomous Orbit Determination in the Satellite Navigation Constellation

Wei Zhou, Hongliang Cai, Ziqiang Li, Chengpan Tang, Xiaogong Hu, Wanke Liu

Remote Sensing

DOI

2022

GNSS best integer equivariant estimation combining with integer least squares estimation: an integrated ambiguity resolution method with optimal integer aperture test

Liye Ma, Yidong Lou, Liguo Lu, Wanke Liu, Feng Zhu

GPS Solutions

DOI

2022

Investigating GNSS PPP–RTK with external ionospheric constraints

Xiaohong Zhang, Xiaodong Ren, Jun Chen, Xiang Zuo, Dengkui Mei, Wanke Liu

Satellite Navigation

DOI

2022

Deep Learning for Global Ionospheric TEC Forecasting: Different Approaches and Validation

Xiaodong Ren, Pengxin Yang, Hang Liu, Jun Chen, Wanke Liu

Space Weather

DOI

2021

联合少量地面控制源的空间信息网轨道确定与时间同步

陈锐志，蔚保国，王甫红，龚学文，鲍亚川，王磊，刘万科，付文举

《测绘学报》

2021

Android智能手机双频GNSS伪距差分动态定位性能分析

王颖喆，胡捷，陶贤露，刘万科，朱锋

《导航定位与授时》

DOI

2021

云-端协同的智能手机行人室内外无缝定位技术及其原型系统验证

刘万科，陶贤露，张传明，姚宜斌，王甫红，贾海禄，楼益栋

《武汉大学学报(信息科学版)》

DOI

2021

北斗三号卫星多频多通道差分码偏差估计与分析

邓远帆，郭斐，张小红，刘万科

《测绘学报》

2021

利用智能手机实现GNSS原始观测值的高精度差分定位

王颖喆，陶贤露，朱锋，刘万科，张小红，吴明魁

《武汉大学学报(信息科学版)》

DOI

2021

城市典型场景下低成本GNSS RTK定位性能评估与分析

徐辉，王晓萌，程正逢，陈功，刘万科，胡勇

《绿色科技》

DOI

2021

固定模糊度的GLONASS卫星超快速轨道确定

马小雪，戴小蕾，刘杨，楼益栋，刘万科，吴迪

《武汉大学学报(信息科学版)》

DOI

2021

Android智能手机实时精密单点定位软件实现及精度分析

郭斐，吴维旺，张小红，刘万科

《武汉大学学报(信息科学版)》

DOI

2021

一种基于穿戴式MEMS传感器状态识别的多部位PDR算法

张小红，罗科干，陶贤露，胡鑫，刘万科

《武汉大学学报(信息科学版)》

DOI

2021

Performance Assessment of BDS-2/BDS-3/GPS/Galileo Attitude Determination Based on the Single-Differenced Model with Common-Clock Receivers

Mingkui Wu, Shuai Luo, Wang Wang, Wanke Liu

Remote Sensing

DOI

2021

An enhanced foot-mounted PDR method with adaptive ZUPT and multi-sensors fusion for seamless pedestrian navigation

Xianlu Tao, Feng Zhu, Xin Hu, Wanke Liu, Xiaohong Zhang

GPS Solutions

DOI

2021

Single-epoch RTK performance assessment of tightly combined BDS-2 and newly complete BDS-3

Wanke Liu, Mingkui Wu, Xiaohong Zhang, Wang Wang, Wei Ke, Zhiqin Zhu

Satellite Navigation

DOI

2021

Baseline length constraint approaches for enhancing GNSS ambiguity resolution: comparative study

Liye Ma, Liguo Lu, Feng Zhu, Wanke Liu, Yidong Lou

GPS Solutions

DOI

2020

基于实测星间距离的BDS-3卫星集中式自主定轨性能初步分析

李子强，程军龙，刘万科，王甫红

《大地测量与地球动力学》

DOI

2020

GNSS模糊度降相关性能的条件方差平稳度评价法

卢立果，刘万科，鲁铁定，马立烨，吴汤婷，杨元喜

《测绘学报》

2020

利用Butterworth滤波器平滑加速度计的双天线GNSS/MEMS组合测姿

胡增科，朱锋，刘万科

《大地测量与地球动力学》

DOI

2020

Galileo/GPS星载原子钟在轨性能评估与分析

赵琳琳，刘万科，李建龙，晋雪远

《测绘地理信息》

DOI

2020

GPS/Galileo/BDS-3试验星短基线紧组合相对定位性能初步评估

吴明魁，刘万科，张小红，田文文

《武汉大学学报(信息科学版)》

DOI

2020

Initial results of distributed autonomous orbit determination for Beidou BDS-3 satellites based on inter-satellite link measurements

Lei Guo, Fuhong Wang, Xuewen Gong, Jizhang Sang, Wanke Liu, Wanwei Zhang

GPS Solutions

DOI

2020

Comparison of Beidou autonomous navigation performance using the SRP model and onboard accelerometers

Jing Qiao, Guochang Xu, Wanke Liu, Peng Fang, Wu Chen

Acta Astronautica

DOI

2019

谷歌Nexus 9智能终端原始GNSS观测值的质量分析

刘万科，史翔，朱锋，王甫红，虞顺

《武汉大学学报(信息科学版)》

DOI

2019

北斗三号观测数据质量及定位精度初步评估

程军龙，王旺，马立烨，刘万科

《测绘通报》

DOI

2019

GNSS多系统伪距差分定位算法及结果分析

吴海金，刘心龙，李建龙，刘万科

《测绘地理信息》

DOI

2019

BD-2星载原子钟长期在轨性能评估

姜秋晨，赵琳琳，刘万科，李子强

《大地测量与地球动力学》

DOI

2019

空间直线拟合的加权极坐标法

史翔，赵超英，刘万科

《测绘地理信息》

DOI

2019

GPS广域增强系统星历和星钟改正及用户性能分析

刘晓磊，吴云，刘万科

《测绘地理信息》

DOI

2019

Galileo导航系统观测值的质量分析

虞顺，吴明魁，刘万科，张小红

《测绘地理信息》

DOI

2019

A Triple Checked Partial Ambiguity Resolution for GPS/BDS RTK Positioning

Liguo Lu, Liye Ma, Wanke Liu, Tangting Wu, Benfu Chen

Sensors

DOI

2019

Differential Inter-System Biases Estimation and Initial Assessment of Instantaneous Tightly Combined RTK with BDS-3, GPS, and Galileo

Mingkui Wu, Wanke Liu, Wang Wang, Xiaohong Zhang

Remote Sensing

DOI

2019

Walker: Continuous and Precise Navigation by Fusing GNSS and MEMS in Smartphone Chipsets for Pedestrians

Feng Zhu, Xianlu Tao, Wanke Liu, Xiang Dong Shi, Fuhong Wang, Xiaohong Zhang

Remote Sensing

DOI

2019

Quality analysis of multi-GNSS raw observations and a velocity-aided positioning approach based on smartphones

Wanke Liu, Xiang Dong Shi, Feng Zhu, Xianlu Tao, Fuhong Wang

Advances in Space Research

DOI

2019

Dual-Antenna GNSS Integrated With MEMS for Reliable and Continuous Attitude Determination in Challenged Environments

Feng Zhu, Zengke Hu, Wanke Liu, Xiaohong Zhang

IEEE Sensors Journal

DOI

2018

北斗中长基线动态定位首次固定时间和定位精度分析

吴仁攀，刘万科，吴风波，李建龙

《大地测量与地球动力学》

2018

北斗天线相位中心改正策略及其对定位精度的影响分析

胡新乔，刘万科，刘晓磊，胡捷

《大地测量与地球动力学》

2018

一种改进的SEVB整数模糊度搜索算法

刘万科，马立烨，卢立果，李建龙

《测绘学报》

2018

基于KinPOS软件的BDS/GPS动对动相对定位性能分析

刘万科，胡捷，曾琪，张小红，李建龙，吴仁攀

《中国惯性技术学报》

2018

Influencing Factors of GNSS Differential Inter-System Bias and Performance Assessment of Tightly Combined GPS, Galileo, and QZSS Relative Positioning for Short Baseline

Mingkui Wu, Xiaohong Zhang, Wanke Liu, Renpan Wu, Renlan Zhang, Yuan Le, Yuexia Wu

Journal of Navigation

DOI

2018

Tightly combined GPS/Galileo RTK for short and long baselines: Model and performance analysis

Mingkui Wu, Wanke Liu, Renpan Wu, Xiaohong Zhang

Advances in Space Research

DOI

2018

A New Method for GNSS Multipath Mitigation with an Adaptive Frequency Domain Filter

Siqi Yu, Fei Guo, Xiaohong Zhang, Wanke Liu, Xin Li, Renpan Wu

Sensors

DOI

2018

A New Real-Time Cycle Slip Detection and Repair Method under High Ionospheric Activity for a Triple-Frequency GPS/BDS Receiver

Wanke Liu, Xueyuan Jin, Mingkui Wu, Jie Hu, Yun Wu

Sensors

DOI

2018

Multipath Mitigation Method in GPS/BDS Deformation Monitoring Based on Observation Domain

Qinggen Yi, Guoli Lin, Wanke Liu, Jiuhui Pan

Lecture notes in electrical engineering

DOI

2017

基于EMD和小波的GPS/BDS变形监测中的多路径误差削弱方法

易清根，刘心龙，刘万科

《大地测量与地球动力学》

2017

下三角Cholesky分解的整数高斯变换算法

卢立果，鲁铁定，吴汤婷，刘万科

《测绘科学》

2017

Galileo IOV卫星广播星历精度评估

尹晖，吴多，曾琪，张晓鸣，周晓庆，刘万科

《测绘工程》

2017

Algorithm and Experimental Analysis of Medium-Long Baseline Static Positioning Based on BeiDou Dual-Frequency Observations

Junjun Ying, Fengbo Wu, Wanke Liu

Lecture notes in electrical engineering

DOI

2017

卫星导航嵌入式教学实验平台建设与实践

张万威，王甫红，郭斐，刘万科

《全球定位系统》

2017

基于匀速率26位置法的iIMU-FSAS光纤陀螺仪标定

刘万科，宋宇，朱锋，朱智勤

《中国惯性技术学报》

2017

An improved robust Kalman filtering strategy for GNSS kinematic positioning considering small cycle slips

Wanke Liu, Jianlong Li, Qi Zeng, Fei Guo, Renpan Wu, Xiaohong Zhang

Advances in Space Research

DOI

2017

Long-term behavior and statistical characterization of BeiDou signal-in-space errors

Yun Wu, Xiaolei Liu, Wanke Liu, Jie Ren, Yidong Lou, Xiaolei Dai, Xing Fang

GPS Solutions

DOI

2017

Tightly Combined BeiDou B2 and Galileo E5b Signals for Precise Relative Positioning

Mingkui Wu, Xiaohong Zhang, Wanke Liu, Shaojie Ni, Shun Yu

Journal of Navigation

DOI

2017

Initial assessment of the COMPASS/BeiDou-3: new-generation navigation signals

Xiaohong Zhang, Mingkui Wu, Wanke Liu, Xingxing Li, Shun Yu, Cuixian Lu, Jens Wickert

Journal of Geodesy

DOI

2017

A robust cascaded strategy of in-motion alignment for inertial navigation systems

Wanke Liu, Rui Duan, Feng Zhu

International Journal of Distributed Sensor Networks

DOI

2016

BDS/GPS单历元多频定向算法性能对比

单弘煜，何俊，刘心龙，刘万科

《测绘科学》

2016

附有长度约束的模糊度解算方法比较

周晓青，单弘煜，卢立果，刘万科

《测绘科学》

2016

一种快速解算高维模糊度的LLL分块处理算法

刘万科，卢立果，单弘煜

《测绘学报》

2016

基于长期数据的北斗广播星历精度评估

曾琪，吴多，刘万科

《大地测量与地球动力学》

2016

BeiDou B2/Galileo E5b短基线紧组合相对定位模型及性能评估

张小红，吴明魁，刘万科

《测绘学报》

2016

车载GNSS/SINS组合导航中零速区间探测方法的改进

宋宇，朱锋，卢立果，刘万科

《测绘地理信息》

DOI

2016

卫星导航定位系列课程建设

刘万科，张小红，李征航，黄劲松，魏二虎，王甫红

《测绘地理信息》

2016

导航工程专业卫星导航数据处理方法课程建设与思考

郭斐，刘万科，楼益栋，张小红

《全球定位系统》

2016

2013—2015年BDS空间信号测距误差的精度评估

刘万科，任杰，曾琪，吴云，楼益栋

《国防科技大学学报》

2016

一种有效的LLL规约算法

卢立果，刘万科，李江卫

《武汉大学学报(信息科学版)》

2016

An effective QR-based reduction algorithm for the fast estimation of GNSS high-dimensional ambiguity resolution

Liguo Lu, Wanke Liu, X. Zhang

Survey Review

DOI

2016

Rapid ambiguity resolution over medium-to-long baselines based on GPS/BDS multi-frequency observables

Xiaopeng Gong, Yidong Lou, Wanke Liu, Fu Zheng, Shengfeng Gu, Hua Wang

Advances in Space Research

DOI

2016

Mitigating BeiDou Satellite-Induced Code Bias: Taking into Account the Stochastic Model of Corrections

Fei Guo, Xin Li, Wanke Liu

Sensors

DOI

2016

Characteristics of systematic errors in the BDS Hatch–Melbourne–Wübbena combination and its influence on wide-lane ambiguity resolution

Xiaohong Zhang, Xiyang He, Wanke Liu

GPS Solutions

DOI

2015

降相关对模糊度解算中搜索效率的影响分析

卢立果，刘万科，李江卫

《测绘学报》

2015

顾及广播星历误差分离吸收的分米级星载GPS实时定轨新方法

王甫红，龚学文，刘万科

《武汉大学学报(信息科学版)》

2015

北斗短基线三频实测数据单历元模糊度固定

何俊，刘万科，张小红

《武汉大学学报(信息科学版)》

2015

单频BDS/GPS测姿算法研究与结果对比分析

刘心龙，卢立果，刘万科

《测绘地理信息》

2015

导航卫星自主定轨星座旋转误差的地面校正算法

杜玉军，王甫红，王泽民，刘万科

《武汉大学学报(信息科学版)》

2015

Instantaneous Real-Time Kinematic Decimeter-Level Positioning with BeiDou Triple-Frequency Signals over Medium Baselines

Xiyang He, Xiaohong Zhang, Long Tang, Wanke Liu

Sensors

DOI

2015

Receiver Time Misalignment Correction for GPS-based Attitude Determination

Xiaohong Zhang, Mingkui Wu, Wanke Liu

Journal of Navigation

DOI

2014

GPS/BDS/GLONASS组合单点定位研究

何俊，袁小玲，曾琪，刘万科

《测绘科学》

2014

基于选权迭代法的GPS/北斗组合单点定位

何俊，袁小玲，刘万科

《测绘地理信息》

2013

COMPASS/GPS/GLONASS系统组合在中国区域的仿真分析

李彬，李征航，刘万科

《大地测量与地球动力学》

2013

导航卫星自主定轨中光压模型精化方法及其影响研究

张卫星，刘万科，龚晓颖，王甫红

《武汉大学学报(信息科学版)》

2013

GPS/BDS组合单点定位算法及结果分析

金彪，杨少文，刘万科

《海洋测绘》

2012

西龙池上水库GPS变形监测系统研究及实现

姜卫平，刘鸿飞，刘万科，贺湧

《武汉大学学报(信息科学版)》

2012

导航卫星自主定轨中地球定向参数误差的修正

李征航，龚晓颖，刘万科，吕海霞

《大地测量与地球动力学》

2011

EOP预报误差对自主定轨结果影响分析

张卫星，刘万科，龚晓颖

《大地测量与地球动力学》

2011

误差与先验信息对导航卫星自主定轨的影响研究

李征航，龚晓颖，刘万科

《武汉大学学报(信息科学版)》

2011

Compare of navigation constellations' GDOP with different construction

Weixing Zhang, Zhenghang Li, Wanke Liu

DOI

2011

Influence of Error and Prior Information to AOD of Navigation Satellites

Wanke Liu

Wuhan Daxue xuebao. Xinxi kexue ban

2010

用星载单频GPS数据实时定轨的电离层延迟改正

郑磊，李征航，刘万科

《大地测量与地球动力学》

2010

顾及非线性变化的地球参考框架建立与维持的思考

姜卫平，李昭，刘万科，周晓慧

《武汉大学学报(信息科学版)》

2010

配置法在卫星轨道积分中的应用

李征航，龚晓颖，刘万科

《武汉大学学报(信息科学版)》

2010

综合星间和地面测距数据的导航卫星联合定轨

刘万科，龚晓颖，李征航，王甫红

《武汉大学学报(信息科学版)》

2010

Application of Collocation Method to Numerical Integration of Satellite Orbit

Wanke Liu

Wuhan Daxue xuebao. Xinxi kexue ban

2009

导航卫星自主定轨中潮汐摄动影响分析

李征航，龚晓颖，刘万科

《大地测量与地球动力学》

2009

基于PDA实现GPS单机米级定位的地理信息采集系统

李星星，罗涛，张小红，刘万科

《大地测量与地球动力学》

2009

导航卫星自主定轨星座旋转误差分析与控制方法

侯芬，刘万科，方荣新

《武汉大学学报(信息科学版)》

2009

相位中心改正模式的转变对GPS数据处理的影响

朱智勤，李征航，刘万科

《武汉大学学报(信息科学版)》

2009

潮汐摄动对导航卫星自主定轨中的星座整体旋转误差的影响分析

刘万科，李征航，龚晓颖，王甫红

《武汉大学学报(信息科学版)》

2009

Study on method of autonomous orbit determination of navigation satellites based on least-square collocation

Wanke Liu, Xiaoying Gong, Zhenghang Li, Fuhong Wang

Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE

DOI

2009

Impact on GPS Data Processing of Changing fom Relative Phase Center Corrections to Absolute Phase Center Corrections

Wanke Liu

Wuhan Daxue xuebao. Xinxi kexue ban

2007

GNSS电离层延迟模型的数学统一与方法扩展

李征航，陈锴，刘万科，王文丽

《武汉大学学报(信息科学版)》

2007

导航卫星自主定轨中系统误差ΔΩ和Δt的消除方法

李征航，卢珍珠，刘万科，余金艳

《武汉大学学报(信息科学版)》

2007

基于广播星历的GPS卫星坐标的多项式拟合算法

丁文武，刘万科，李征航

《海洋测绘》

2007

单频GPS静态定向中整周模糊度的快速解算

刘万科，丁文武，李征航

《测绘地理信息》

2007

基于双频GPS数据的单历元定向算法研究

李征航，刘万科，楼益栋，周泽波

《武汉大学学报(信息科学版)》

2007

顾及f3项的电离层延迟模型

李征航，陈锴，刘万科，黄欢

《武汉大学学报(信息科学版)》

2006

基于GPS天线阵列技术的变形监测系统研制

冉崇宪，邹进贵，王新洲，邱卫宁，邹双朝，王永弟，刘万科，杨荣华，黄超，廖群

《测绘通报》

2006

博士学位论文质量评价指标体系的研究

李征航，毛旭东，刘万科，陈锴

《湖北经济学院学报(人文社会科学版)》

2006

导航卫星星座整体旋转的检测与校正

卢珍珠，李征航，刘万科，陈锴

《宇航学报》

2004

单频伪距差分模型用于动动目标监控的研究与实现

刘万科，楼益栋，张小红

《测绘地理信息》

2003

GPS卫星星历的精度分析

楼益栋，刘万科，张小红

《测绘地理信息》

精选作品

期刊论文

城市场景低成本GNSS/INS/视觉紧耦合高精度定位方法

顾及侧偏的NHC/OD辅助GNSS/INS/视觉融合定位方法

信息熵驱动的视觉增强GNSS/SINS融合定位方法

Towards rapid and reliable GNSS ambiguity resolution using residual-based machine learning in challenging environments

Improving the accuracy of RTK positioning with the multipath hemispherical map model: A case study in GNSS landslide monitoring

A weight-constrained approximation of BIE estimation for reliable and efficient GNSS ambiguity resolution

A novel cycle slip processing method for reliable urban GNSS positioning: enhanced by TDCP/Doppler combinations and multi-constraints

Refining relative tropospheric delay modeling of GPT3 for large-height-difference RTK positioning

Enhancing Positioning Accuracy of GNSS/INS/Vision Integration System With Lane-Driven Atlanta World Assumption in Man-Made Environments

Enhancing GNSS Velocity Estimation for Smartphones Using RANSAC-Based TDCP Algorithm With Adaptive Clock Variation Constraint in Complex Urban Environments

A GNSS/SINS/Vision Tightly Coupled Integration With Fault-Tolerant Estimation to Improve Pose Accuracy in Degraded Environments

城市分类场景的GNSS伪距随机模型构建及其定位性能分析

基于EMD-iForest的GNSS变形监测时间序列粗差探测方法

城市动态场景GNSS信号特征及其对NLOS自主识别影响分析

鱼眼图像支持的GNSS随机模型神经网络生成方法

一种顾及卫星构型的部分模糊度固定方法

弹性调控架构下的动态视觉惯性里程计

Short-term high-precision prediction of LEO navigation satellite clock offset based on a hybrid FFT–LSTM model

Estimation of Downlink Signal Transmitting Antenna PCO and Equipment Delays for LEO Navigation Constellations with Limited Regional Stations

Accurate and reliable GNSS/INS/vision positioning system using consumer-grade sensors in urban complex environments

Refinement methods to improve integrated precise orbit determination of GNSS/LEO satellites based on regional ground stations

Rapid Deformation Identification and Adaptive Filtering with GNSS TDCP Under Different Scenarios and Its Application in Landslide Monitoring

GNSS NLOS Identification and WPDOP-Based Suppression Method Aided by Fisheye Camera in Urban Canyon

Junction Points Aided Point-Line-Based GNSS/INS/Vision Integration Outlier Exclusion and Localization in Degradation Environments

一种附加钟速约束的GNSS TDCP测速改进方法

基于TDCP历元间位置变化量的GNSS地质灾害快速变形识别

复杂环境GNSS实时亚厘米级监测算法设计及性能分析

改进D*算法的未知场景机器人运动规划

A robust GNSS velocity estimation method combining Doppler and carrier phase observations in complex urban environments

Improving the position accuracy via merged line and point features for GNSS/SINS/Vision integration in a degradation environment

A reliable NLOS error identification method based on LightGBM driven by multiple features of GNSS signals

Constructing Context-Aware GNSS Stochastic Model for Code-Based Resilient Positioning in Urban Environment

POSMind: developing a hierarchical GNSS/SINS post-processing service system for precise position and attitude determination

Precise Orbit Determination of the ZY3-03 Satellite Using the Yaw-Attitude Modeling for Drift Angle Compensation

An improved GNSS ambiguity best integer equivariant estimation method with Laplacian distribution for urban low-cost RTK positioning

Enhance Pose and Extrinsic Accuracy With Online Spatial and Temporal Compensation in Monocular Camera-Aided GNSS/SINS Integration

DAP-VINS: Monocular Visual-Inertial SLAM for Dynamic Environments With Instance Association and Moving Probability Propagation

卫星导航原理课程思政教学设计与教学方法研究

联合SVM和HMM的水上/水下导航场景感知模型构建

新一代北斗/GNSS智能终端及集成系统助力地质灾害防治

北斗+5G时空基准的TDOA定位方法研究

V-RTK: A velocity-constrained RTK algorithm to improve position accuracy of low-cost receiver in urban environments

Characterization of GNSS Line Bias and BDS-3 Attitude Determination With Single-Differenced Observations From Common-Clock Receiver

On-board validation of BDS-3 autonomous navigation using inter-satellite link observations

S2L-RTK: temporal ionospheric modeling for RTK baselines varying from short to long

Connecting integer ambiguities to avoid reinitialization and keep VRS seamless switching for virtual grid-based NRTK

Smartphone RTK positioning with multi-frequency and multi-constellation raw observations: GPS L1/L5, Galileo E1/E5a, BDS B1I/B1C/B2a

Bayes estimation and analysis of GNSS SIS fault rate

Performance Evaluation of Stereo Vision Aided Loosely Coupled GNSS/SINS Integration for Land Vehicle Navigation in Different Urban Environments

A Hybrid State Representation-Based GNSS Filtering Model to Improve Vehicular Positioning Performance

基于GF模型的BDS-3/GPS/Galileo三频模糊度固定性能分析

消费级惯性传感器动态系统误差分析与建模

城市场景智能手机GNSS/MEMS融合车载高精度定位

非完整约束的OD/SINS自适应组合导航方法

GNSS模糊度解算的附加缩放因子的CLAMBDA方法

An enhanced positioning algorithm module for low-cost GNSS/MEMS integration based on matching straight lane lines in HD maps

Multi-dimensional particle filter-based estimation of phase line biases for single-differenced ambiguity resolution in GNSS-based attitude determination

Attitude Determination with GPS L1/Galileo E1 Observations from Common-Clock Receiver: A Comparison of Four Different Models

Precise real-time navigation of the small TJU-1 satellite using GPS, GLONASS and BDS

Particle filter-based real-time phase line bias estimation for GNSS-based attitude determination with common-clock receivers

VC-LAMBDA: a baseline vector constrained LAMBDA method for integer least-squares estimation

Research on the Rotational Correction of Distributed Autonomous Orbit Determination in the Satellite Navigation Constellation

GNSS best integer equivariant estimation combining with integer least squares estimation: an integrated ambiguity resolution method with optimal integer aperture test

Investigating GNSS PPP–RTK with external ionospheric constraints

Deep Learning for Global Ionospheric TEC Forecasting: Different Approaches and Validation

联合少量地面控制源的空间信息网轨道确定与时间同步

Android智能手机双频GNSS伪距差分动态定位性能分析

云-端协同的智能手机行人室内外无缝定位技术及其原型系统验证

北斗三号卫星多频多通道差分码偏差估计与分析

利用智能手机实现GNSS原始观测值的高精度差分定位

城市典型场景下低成本GNSS RTK定位性能评估与分析

固定模糊度的GLONASS卫星超快速轨道确定

Android智能手机实时精密单点定位软件实现及精度分析

一种基于穿戴式MEMS传感器状态识别的多部位PDR算法

Performance Assessment of BDS-2/BDS-3/GPS/Galileo Attitude Determination Based on the Single-Differenced Model with Common-Clock Receivers

An enhanced foot-mounted PDR method with adaptive ZUPT and multi-sensors fusion for seamless pedestrian navigation

Single-epoch RTK performance assessment of tightly combined BDS-2 and newly complete BDS-3

Baseline length constraint approaches for enhancing GNSS ambiguity resolution: comparative study