姓 名 常国宾 性 别 男
出生年月 1984年2月 籍贯 菏泽市
民 族 汉族 政治面貌 中共党员
最后学历 博士研究生毕业 最后学位 工学博士
技术职称 副教授 导师类别 硕导
行政职务 Email guobinchang@hotmail.com
工作单位 中国矿业大学环境与测绘学院 邮政编码 221116
通讯地址 江苏省徐州市大学路1号
单位电话 **
个人主页 http://cesi.cumt.edu.cn/a2/75/c11323a434805/page.psp


个人简介
常国宾，男， 1984年2月出生，博士，副教授，硕士生导师。主要从事惯性导航/卫星导航/组合导航、卫星重力测量及其地学应用/重力场建模/大地水准面精化、统计数据处理理论/机器学习方法及其应用等方面的研究。发表SCI论文90余篇，其中以第一作者或通讯作者50余篇。主持国家自然科学基金项目3项、博士后基金面上项目和特别资助项目各1项、国家重点实验室开放基金项目2项、军内科研项目2项。Google Scholar引用数>1000，h指数为18。为40余本SCI检索期刊审稿人。

获奖、荣誉称号
船载陀螺导航设备极区导航技术研究，2017年12月获军队科技进步三等奖，排名第2；
2015年获湖北省科技进步二等奖，排名第9；
2013年获测绘科技进步奖一等奖，排名第11；
2009年获军队科技进步二等奖，排名第6。

社会、学会及学术兼职
为以下期刊审稿人
Acta Astronautica
Applied Geomatics
Applied Mathematical Modeling
Asian Journal of Control
Automatica
Boletim de Ciências Geodésicas
Circuits Systems and Signal Process
Dynamics of Atmospheres and Oceans
Electronics Letters
IEEE Access
IEEE Journal of Selected Topics in Applied Earth Observations and Remote Sensing
IEEE Sensors Letters
IEEE Sensors Journal
IEEE Signal Processing Letters
IEEE Systems Journal
IEEE Transactions on Aerospace and Electronics Systems
IEEE Transactions on Geoscience and Remote Sensing
IEEE Transactions on Instrumentation and Measurement
IEEE Transactions on Signal Processing
IEEE Transactions on Vehicular Technology
IEEE Geoscience and Remote Sensing Letters
IEEE/CAA Journal of Automatica Sinica
IET Control Theory & Applications
IET Radar Sonar & Navigation
IET Science Measurement & Technology
IET Signal Processing
International Journal of Robust and Nonlinear Control
Inverse Problems in Science & Engineering
Journal of Applied Statistics
Journal of Geodesy
Journal of Navigation
Journal of Process Control
Journal of Spatial Science
Journal of Surveying Engineering
Journal of Statistical Computation and Simulation
Measurement
Measurement Science and Technology
Nonlinear Dynamics
PLOS ONE
Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering
Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering
Remote Sensing
Sensors
Studia Geophysica et Geodaetica
Survey Review
Transactions of the Institute of Measurement and Control
测绘学报
地球物理学报
海洋测绘
系统工程与电子技术
控制与决策
武汉大学学报
中国科学：信息科学


研究领域
[1] 惯性导航/卫星导航/组合导航；
[2] 卫星重力测量及其地学应用/重力场建模/大地水准面精化；
[3] 统计数据处理理论/机器学习方法及其应用。

科研项目
[1] “稀疏正则化平差方法及应用研究”，国家自然科学基金（面上项目），批准号：**，起止时间：2021年1月-2025年12月，经费59万，主持；
[2] “大角度对称Helmert转换问题的求解、误差评估、更新与组合”，国家自然科学基金（面上项目），批准号：**，起止时间：2018年1月-2021年12月，经费69万，主持；
[3] “秩亏观测模型条件下的抗差Kalman滤波及其在组合导航中的应用”，国家自然科学基金（青年基金），批准号：**，起止时间：2015年1月-2017年12月，经费26万，主持；
[4] “GNSS载波平滑伪距技术”，中国博士后科学基金（面上项目），批准号：2019M652010，起止时间：第65批，经费8万，主持；
[5] “载波相位历元差分GNSS与低成本IMU紧组合技术”，中国博士后科学基金（特别资助），批准号：2019T120477，起止时间：第12批，经费18万，主持；
[6] “秩亏观测模型组合导航系统的抗差自适应Kalman滤波”，中央高校基本科研业务费专项资金，批准号：2018QNA22，起止时间：2018年1月-2020年12月，经费10万，主持；
[7] “单站实时GNSS同震位移确定：随机模型、误差分析与剩余电离层延迟改正”，大地测量与地球动力学国家重点实验室开放基金，批准号：SKLGED2017-4-2-EZ，起止时间：2017年1月-2018年12月，经费6万，主持；
[8] “大旋转角度条件下对称Helmert坐标转换模型的解析求解与误差分析”，地理信息工程国家重点实验室开放基金，批准号：SKLGIE2016-Z-1-1，起止时间：2017年1月-2018年12月，经费5万，主持。

发表论文
第一作者论文
[1] G. Chang, N. Qian, C. Chen, and J. Gao, "Precise instantaneous velocimetry and accelerometry with a stand-alone GNSS receiver based on sparse kernel learning," Measurement, vol. 159, no. 7, p. 107803, 2020,
[2] G. Chang, Y. Yao, T. Xu, H. Wang, and H. Zeng, "Ionospheric delay prediction based on online polynomial modeling for real-time cycle slip repair of undifferenced triple-frequency GNSS signals," Measurement, vol. 146, no. 11, pp. 289-297, 2019,
[3] G. Chang, T. Xu, and H. Wang, "M-estimator based robust unscented Kalman filter through statistical linearization," Transactions of the Institute of Measurement and Control, vol. 41, no. 7, pp. 2016-2025, 2019,
[4] G. Chang, T. Xu, C. Chen, B. Ji, and S. Li, "Switching position and range-domain carrier-smoothing-code filtering for GNSS positioning in harsh environments with intermittent satellite deficiencies," Journal of The Franklin Institute, vol. 356, no. 9, pp. 4928-4947, 2019,
[5] G. Chang, T. Xu, and Q. Wang, "M-estimator for the 3D symmetric Helmert coordinate transformation," Journal of Geodesy, vol. 92, no. 1, pp. 47-58, 2018,
[6] G. Chang, T. Xu, Y. Yao, and Q. Wang, "Adaptive Kalman filter based on variance component estimation for the prediction of ionospheric delay in aiding the cycle slip repair of GNSS triple-frequency signals," Journal of Geodesy, vol. 92, no. 11, pp. 1241-1253, 2018,
[7] G. Chang, P. Lin, H. Bian, and J. Gao, "Simultaneous Helmert transformations among multiple frames considering all relevant measurements," Measurement Science and Technology, vol. 29, no. 3, p. 035801, 2018,
[8] G. Chang, C. Chen, Y. Yang, and T. Xu, "Tikhonov regularization based modeling and sidereal filtering mitigation of GNSS multipath errors," Remote Sensing, vol. 10, no. 11, p. 1801, 2018,
[9] G. Chang, T. Xu, and Q. Wang, "Error analysis of the 3D similarity coordinate transformation," GPS Solutions, vol. 21, no. 3, pp. 963-971, 2017,
[10] G. Chang, T. Xu, and Q. Wang, "Error Analysis of Davenport's q Method," Automatica, vol. 75, no. 1, pp. 217-220, 2017,
[11] G. Chang, T. Xu, and Q. Wang, "Alternative framework for the iterated unscented Kalman filter," IET Signal Processing, vol. 11, no. 3, pp. 258-264, 2017,
[12] G. Chang, T. Xu, Q. Wang, S. Zhang, and G. Chen, "A generalization of the analytical least-squares solution to the 3D symmetric Helmert coordinate transformation problem with an approximate error analysis," Advances in Space Research, vol. 59, no. 10, pp. 2600-2610, 2017,
[13] G. Chang, T. Xu, Q. Wang, and M. Liu, "Analytical solution to and error analysis of the quaternion based similarity transformation considering measurement errors in both frames," Measurement, vol. 110, no. 1, pp. 1-10, 2017,
[14] G. Chang, T. Xu, Q. Wang, S. Li, and K. Deng, "GNSS attitude determination method through vectorization approach," IET Radar Sonar & Navigation, vol. 11, no. 10, pp. 1477-1482, 2017,
[15] G. Chang, "Closed form least-squares solution to 3D symmetric Helmert transformation with rotational invariant covariance structure," Acta Geodaetica et Geophysica, vol. 51, no. 2, pp. 237-244, 2016,
[16] G. Chang, Y. Wang, and Q. Wang, "Accuracy improvement by implementing sequential measurement update in robust Kalman filter," Acta Geodaetica et Geophysica, vol. 51, no. 3, pp. 421-433, 2016,
[17] G. Chang, T. Xu, and Q. Wang, "Baseline configuration for GNSS attitude determination with an analytical least-squares solution," Measurement Science and Technology, vol. 27, no. 12, p. 125105, 2016,
[18] G. Chang and M. Liu, "Hybrid Kalman and unscented Kalman filter for INS/GPS integrated system considering constant lever arm effect," Journal of Central South University, vol. 22, pp. 575-583, 2015,
[19] G. Chang, "On least-squares solution to 3D similarity transformation problem under Gauss-Helmert model," Journal of Geodesy, vol. 89, no. 6, pp. 573-576, 2015,
[20] G. Chang and M. Liu, "An adaptive fading Kalman filter based on Mahalanobis distance," Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering, vol. 229, no. 6, pp. 1114-1123, 2015,
[21] G. Chang and M. Liu, "M-estimator-based robust Kalman filter for systems with process modeling errors and rank-deficient measurement models," Nonlinear Dynamics, vol. 80, no. 3, pp. 1431-1449, 2015,
[22] G. Chang, "Fast two-position initial alignment for SINS using velocity plus angular rate measurements," Advances in Space Research, vol. 56, pp. 1331-1342, 2015,
[23] G. Chang, "Total least-squares formulation of Wahba's problem," Electronics Letters, vol. 51, no. 17, pp. 1334-1335, 2015,
[24] G. Chang, "Comment on "A Gaussian approximation recursive filter for nonlinear systems with correlated noises"," Automatica, vol. 50, no. 2, pp. 655-656, 2014,
[25] G. Chang, "Robust Kalman filtering based on Mahalanobis distance as outlier judging criterion," Journal of Geodesy, vol. 88, no. 4, pp. 391-401, 2014,
[26] G. Chang, "Marginal unscented Kalman filter for cross-correlated process and observation noise at the same epoch," IET Radar, Sonar & Navigation, vol. 8, no. 1, pp. 54-64, 2014,
[27] G. Chang, "Kalman filter with both adaptivity and robustness," Journal of Process Control, vol. 24, pp. 81-87, 2014,
[28] G. Chang, "Loosely Coupled INS/GPS Integration with Constant Lever Arm using Marginal Unscented Kalman Filter," Journal of Navigation, vol. 67, no. 3, pp. 419-436, 2014,
[29] G. Chang, "Alternative formulation of the Kalman filter for correlated process and observation noise," IET Science, Measurement & Technology, vol. 8, no. 5, pp. 310 - 318, 2014,
[30] G. Chang, "On Kalman filter for linear system with colored measurement noise," Journal of Geodesy, vol. 88, no. 12, pp. 1163-1170, 2014,
[31] G. Chang, "Comment on ‘Constrained total least-squares calibration of three-axis magnetometer for vehicular applications’," Measurement Science and Technology, vol. 25, no. 12, p. 128001, 2014,
通讯作者论文（学生为第一作者）
[1] C. Chen and G. Chang, "PPPLib: An open-source software for precise point positioning using GPS, BeiDou, Galileo, GLONASS, and QZSS with multi-frequency observations," GPS Solutions, vol. 25, no. 1, p. Article No. 18, 2021,
[2] L. Zhang, G. Chang, C. Chen, S. Zhang, and T. Zhu, "Adaptive GNSS velocimetry combining Doppler and carrier phase measurements based on online variance component estimation," IEEE Sensors Journal, vol. 21, no. 3, pp. 3278-3288, 2021,
[3] L. Yang, G. Chang, N. Qian, and J. Gao, " Improved atmospheric weighted mean temperature modeling using sparse kernel learning," GPS Solutions, vol. 25, no. 1, p. Article No. 28, 2021,
[4] S. Zhang, G. Chang, C. Chen, L. Zhang, and T. Zhu, "GNSS attitude estimation based on adaptive Kalman filtering using phase measurement," IET Radar Sonar & Navigation, vol. 14, no. 5, pp. 747-754, 2020,
[5] T. Zhu, G. Chang, C. Chen, L. Zhang, and S. Zhang, "Continuous modeling of GNSS multipath errors for sidereal filtering," IET Radar, Sonar & Navigation, vol. 14, no. 2, pp. 303-312, 2020,
[6] S. Zhang, G. Chang, C. Chen, G. Chen, and L. Zhang, "Parameterization-switching GNSS attitude determination considering the success rate of ambiguity resolution," Measurement Science and Technology, vol. 31, no. 6, p. 065105, 2020,
[7] S. Zhang, G. Chang, C. Chen, L. Zhang, and T. Zhu, "Attitude determination using gyros and vector measurements aided with adaptive kinematics modeling," Measurement, vol. 157, no. 6, p. 107679, 2020,
[8] L. Zhang, G. Chang, C. Chen, S. Zhang, and T. Zhu, "GNSS real-time instantaneous velocimetry based on moving-window polynomial modelling," IET Radar, Sonar & Navigation, vol. 14, no. 8, pp. 1150-1158, 2020,
[9] L. Zhang, G. Chang, C. Chen, S. Zhang, and T. Zhu, "GNSS velocimeter by adaptively combining carrier phase and Doppler measurements," IET Science, Measurement & Technology, vol. 14, no. 7, pp. 762-771, 2020,
[10] L. Yang, J. Gao, G. Chang, and C. Chen, "Effectiveness of L1-norm regularization sidereal filtering for precise point positioning," Acta Geodaetica et Geophysica, vol. 55, no. 4, pp. 593-607, 2020,
[11] N. Qian, G. Chang, and J. Gao, "Smoothing for continuous dynamical state space models with sampled system coefficients based on sparse kernel learning," Nonlinear Dynamics, vol. 100, no. 6, pp. 3597-3610, 2020,
[12] C. Chen, G. Chang, F. Luo, and S. Zhang, "Dual-frequency carrier smoothed code filtering with dynamical ionospheric delay modeling," Advances in Space Research, vol. 63, no. 2, pp. 857-870, 2019,
[13] C. Chen, G. Chang, N. Zheng, and T. Xu, "GNSS multipath error modeling and mitigation by using sparsity-promoting regularization," IEEE Access, vol. 7, no. 2, pp. 24096-24108, 2019,
[14] N. Qian, G. Chang, and J. Gao, "GNSS pseudorange and time-differenced carrier phase measurements least-squares fusion algorithm and steady performance theoretical analysis," Electronics Letters, vol. 55, no. 23, pp. 1238-1241, 2019,
[15] C. Chen and G. Chang, "Low-cost GNSS/INS integration for enhanced land vehicle performance," Measurement Science and Technology, vol. 31, no. 3, p. 035009, 2019,
[16] C. Chen, G. Chang, S. Zhang, G. Chen, and F. Luo, "New range domain carrier‐smoothed code filtering with dual‐frequency BDS data," Asian Journal of Control, vol. 21, no. 4, pp. 1496-1505, 2019,
[17] F. Wu, K. Deng, G. Chang, and Q. Wang, "The application of a combination of weighted least-squares and autoregressive methods in predictions of polar motion parameters," Acta Geodaetica et Geophysica, vol. 53, no. 2, pp. 247-257, 2018,
通讯作者论文（其他）
[1] Y. Chen, J. Fan, G. Chang, and S. Zhang, "Effect of Nonlinear Baseline Length Constraint on Global Navigation Satellite System Compass: A Theoretical Analysis," Mathematical Problems in Engineering, vol. 2020, p. Article ID **, 2020,
[2] B. Chen, G. Chang, S. Li, and K. Deng, "Analytical and Iterative Solutions to GNSS Attitude Determination Problem in Measurement Domain," Mathematical Problems in Engineering, vol. 2019, p. **, 2019,
[3] Q. Wang, G. Chang, T. Xu, and Y. Zou, "Representation of the rotation parameter estimation errors in the Helmert transformation model," Survey Review, vol. 50, no. 358, pp. 69-81, 2018,
[4] T. Xu, G. Chang, Q. Wang, and C. Hu, "Analytical 3D rotation estimation using vector measurements with full variance-covariance matrix," Measurement, vol. 98, pp. 131-138, 2017
[5] S. Li, G. Chang, J. Jin, and K. Li, "Solving planar intersection problem using Gauss quadrature rule exact for three‐order monomials," Survey Review, vol. 45, no. 332, pp. 372-379, 2013,
其他论文
[1] F. Wu, G. Chang, and K. Deng, "One-step method for predicting LOD parameters based on LS+AR model," Journal of Spatial Science, p. 10.1080/**.2019.**, 2021,
[2] H. Yu, G. Chang, S. Zhang, and N. Qian, "Sparsifying spherical radial basis function based regional gravity models," Journal of Spatial Science, p. 10.1080/**.2020.**, 2021,
[3] K. Deng, G. Chang, M. Huang, H. Zeng, and X. Chen, "Geoid determination using band limited airborne horizontal gravimetric data," Journal of Spatial Science, p. 10.1080/**.2020.**, 2021,
[4] H. Zeng, G. Chang, H. He, and K. Li, "WTLS iterative algorithm of 3D similarity coordinate transformation based on Gibbs vectors," Earth Planets & Space, vol. 72, no. 1, pp. 10.1186/s40623-020-01179-1, 2020,
[5] P. Lin, G. Chang, J. Gao, Q. Wang, and H. Bian, "Helmert transformation with mixed geodetic and Cartesian coordinates," Advances in Space Research, vol. 63, no. 9, pp. 2964-2971, 2019,
[6] S. Li, J. Zhu, L. Fan, G. Chang, and K. Deng, "A semi-analytical solution to the global navigation satellite system attitude determination problem," Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering, vol. 233, no. 3, pp. 1033-1046, 2019,
[7] H. Zeng, G. Chang, H. He, Y. Tu, S. Sun, and Y. Wu, "Iterative solution of Helmert transformation based on a unit dual quaternion," Acta Geodaetica et Geophysica, vol. 54, no. 1, pp. 123-141, 2019,
[8] X. Yang, G. Chang, Q. Wang, S. Zhang, Y. Mao, and X. Chen, "An adaptive Kalman filter based on variance component estimation for a real-time ZTD solution," Acta Geodaetica et Geophysica, vol. 54, pp. 89-121, 2019,
[9] S. Li, B. Ji, G. Chang, P. Lin, and S. Bian, "Helmert transformation solutions combination and update with new measurements," Acta Geodaetica et Geophysica, vol. 54, no. 2, pp. 181-196, 2019,
[10] Y. Yao, X. Cao, G. Chang, and H. Geng, "Accuracy Analysis of Ionospheric Prediction Models for Repairing Cycle Slips for BeiDou Triple-Frequency Observations," The Journal of Navigation, vol. 72, no. 6, pp. 1565-1584, 2019,
[11] F. Wu, K. Deng, G. Chang, and Q. Wang, "The application of a combination of weighted least-squares and autoregressive methods in predictions of polar motion parameters," Acta Geodaetica et Geophysica, vol. 53, no. 2, pp. 247-257, 2018,
[12] H. Zeng, X. Fang, G. Chang, and R. Yang, "A dual quaternion algorithm of the Helmert transformation problem," Earth, Planets and Space, vol. 70, p. 26, 2018,
[13] X. Yang, Q. Wang, and G. Chang, "A solution for real-time ionospheric delay using an adaptive Kalman filter based on estimating the variance component," Mathematical Problems in Engineering, vol. 2018, p. **, 2018,
[14] H. Yu, J. Wang, B. Wang, H. Han, and G. Chang, "Generalized total Kalman filter algorithm of nonlinear dynamic errors-in-variables model with application on indoor mobile robot positioning," Acta Geodaetica et Geophysica, vol. 53, no. 1, pp. 107-123, 2018,
[15] M. Liu and G. Chang, "Numerically and statistically stable Kalman filter for INS/GNSS integration," Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering, vol. 230, no. 2, pp. 321-332, 2016,
[16] Z. Li, G. Chang, J. Gao, J. Wang, and A. Hernandez, "GPS/UWB/MEMS-IMU tightly coupled navigation with improved robust Kalman filter," Advances in Space Research, vol. 58, no. 11, pp. 2424-2434, 2016,
[17] L. Chang, B. Hu, and G. Chang, "Modified Unscented Quaternion Estimator Based on Quaternion Averaging," Journal of Guidance Control and Dynamics, vol. 37, no. 1, pp. 305-309, 2014,
[18] M. Liu and G. Chang, "Gravity matching aided inertial navigation technique based on marginal robust unscented Kalman filter," Mathematical Problems in Engineering, vol. Article ID: 592480, pp. 1-9, 2014,
[19] L. Chang, B. Hu, G. Chang, and A. Li, "Robust derivative-free Kalman filter based on Huber's M-estimation methodology," Journal of Process Control, vol. 23, no. 10, pp. 1555-1561, 2013,
[20] L. Chang, B. Hu, G. Chang, and A. Li, "Marginalised iterated unscented Kalman filter," IET Control Theory & Applications, vol. 6, no. 6, pp. 847-854, 2012,
[21] L. Chang, B. Hu, G. Chang, and A. Li, "Huber-based novel robust unscented Kalman filter," IET Science, Measurement & Technology, vol. 6, no. 6, pp. 502-509, 2012,
[22] L. Chang, B. Hu, G. Chang, and A. Li, "Multiple Outliers Suppression Derivative-Free Filter Based on Unscented Transformation," Journal of Guidance Control and Dynamics, vol. 35, no. 6, pp. 1902-1907, 2012,







科研创新
发明专利：一种自适应运动学模型辅助的航天器姿态估计方法
发明人：常国宾，陈超，张思宇，张书毕
状态：在审
发明专利：自适应运动学模型辅助的GNSS载波相位与多普勒融合测速方法
发明人：常国宾，陈超，张来宏，张书毕
状态：在审
发明专利：一种基于稀疏核学习的单站GNSS瞬时速度和加速度构建方法
发明人：常国宾，陈超，张来宏，张书毕
状态：在审
发明专利：一种基于稀疏正则化的单频单站动态GNSS载波相位信号周跳修复方法
发明人：常国宾，陈超，张书毕
状态：在审
发明专利：一种采用三轴加速度计辅助的三轴磁强计全参数外场标定方法
发明人：常国宾，陈超，张思宇，张书毕
状态：在审
发明专利：一种稀疏球面径向基函数局部重力场建模方法
发明人：常国宾，于海鹏，钱妮佳，张书毕
状态：在审

教学活动
《误差理论与测量平差基础》，本科生课程
《现代测量数据处理》，研究生课程
《导航与位置服务》，研究生课程
《组合导航定位进展》，研究生课程

指导学生情况
[1] 2016级，骆飞，毕业论文题目《GNSS位置域载波平滑伪距技术研究》，已毕业（选调生）。
[2] 2016级，徐磊，毕业论文题目《BDS频间偏差估计与全球实时电离层产品应用分析》，已毕业（于中国矿业大学攻读博士）。
[3] 2017级，陈超，研究方向：组合导航，提前攻读博士学位（中国矿业大学）。
[4] 2018级，张思宇，毕业论文题目《GNSS姿态测量滤波算法研究》，2021年毕业。
[5] 2018级，张来宏，毕业论文题目《单站实时GNSS动态瞬时速度测量技术研究》，2021年毕业。
[6] 2018级，朱霆，毕业论文题目《基于时空域方法的短基线载波相位多路径误差建模研究》，2021年毕业。
[7] 2019级，方怀，研究方向：惯性导航，在读。
[8] 2019级，包智，研究方向：GNSS坐标序列分析，在读。
[9] 2019级，韩先楠，研究方向：GNSS坐标序列分析，在读。
[10] 2019级，陈凯，研究方向：组合导航，在读。
[11] 2020级，魏征强，研究方向：GRACE时变重力数据处理，在读。
[12] 2020级，张子涵，研究方向：时变重力数据探测冰盖质量变化，在读。
[13] 2020级，樊鉴庆，研究方向：多源数据融合PWV建模，在读。
[14] 2020级，张笑翔，研究方向：GNSS导航，在读。