In this paper, aiming at the severe problems of UWB positioning in NLOS-interference circumstances, a complete method is proposed for NLOS/LOS classification, NLOS identification and mitigation, and a final accurate UWB coordinate solution through the integration of two machine learning algorithms and a hybrid localization algorithm, which is called the C-T-CNN-SVM algorithm. This algorithm consists of three basic processes: an LOS/NLOS signal classification method based on SVM, an NLOS signal recognition and error elimination method based on CNN, and an accurate coordinate solution based on the hybrid weighting of the Chan–Taylor method. Finally, the validity and accuracy of the C-T-CNN-SVM algorithm are proved through a comparison with traditional and state-of-the-art methods. (i) Focusing on four main prediction errors (range measurements, maxNoise, stdNoise and rangeError), the standard deviation decreases from 13.65 cm to 4.35 cm, while the mean error decreases from 3.65 cm to 0.27 cm, and the errors are practically distributed normally, demonstrating that after training a SVM for LOS/NLOS signal classification and a CNN for NLOS recognition and mitigation, the accuracy of UWB range measurements may be greatly increased. (ii) After target positioning, the proposed method can realize a one-dimensional X-axis and Y-axis accuracy within 175 mm, and a Z-axis accuracy within 200 mm; a 2D ($X,Y$) accuracy within 200 mm; and a 3D accuracy within 200 mm, most of which fall within (100 mm, 100 mm, 100 mm). (iii) Compared with the traditional algorithms, the proposed C-T-CNN-SVM algorithm performs better in location accuracy, cumulative error probability (CDF), and root-mean-square difference (RMSE): the 1D, 2D, and 3D accuracy of the proposed method is 2.5 times that of the traditional methods. When the location error is less than 10 cm, the CDF of the proposed algorithm only reaches a value of 0.17; when the positioning error reaches 30 cm, only the CDF of the proposed algorithm remains in an acceptable range. The RMSE of the proposed algorithm remains ideal when the distance error is greater than 30 cm. The results of this paper and the idea of a combination of machine learning methods with the classical locating algorithms for improved UWB positioning under NLOS interference could meet the growing need for wireless indoor locating and communication, which indicates the possibility for the practical deployment of such a method in the future.

To meet the urgent need for high-precision tracking and reliable cataloging of non-cooperative targets in the Earth–Moon space, this paper proposes a GNSS Inter-Satellite Link and Connected Element Interferometry (CEI)-based measurement method for high-value cislunar space targets. Firstly, the general flow and basic scenario of the proposed method are given, followed by the mathematical model which, mainly includes four parts: (i) dynamical constraint equations for targets; (ii) GNSS-based interplanetary link for irradiation of targets; (iii) transmission loss equation of GNSS inter-satellite link signal in Earth–Moon space; (iv) CEI-based precision measurements of targets. On this basis, the full process link budget analysis is carried out, followed by the performance evaluation, which includes the reception performance of CEI receiving arrays and the measurement accuracy of targets. The feasibility of the proposed method is evaluated and verified in experiments, and it is illustrated that (i) for inter-satellite link visibility analysis, at least 20 satellites can simultaneously provide inter-satellite link signals to the Earth–Moon space targets, with a single GEO satellite up to $8.5$ h continuously, while the chain access can be available at up to 73,000 km, with the angle ranging from $-{80}^{\circ }$ to ${360}^{\circ }$; (ii) the Max Duration of Chain Access for BD3-lunarprobe-CEI (from 24 March 2023 04:00:00.000 to 31 March 2023 10:00:00.000) is 50,998.804 s/day, with a Total Duration of 358,408.797 s in 7 days; (iii) for link budget and measurement accuracy analysis, even beyond the farthest Earth–Moon Lagrangian point, the $C/N_0$ will be above $56.1$ dBHZ, while even approaching the distances of $4.5\times 10^5\mathrm{km}$, the ${\sigma }_{DLL}$ and ${\sigma }_{FLL}$ will be below 5.345 m and $3.475\times {10}^{-4}$ m/s, respectively, and the final measurement error will remain at 62.5 m with the proposed method. The findings of this paper could play a key role in future increasingly serious space missions, such as Earth–Moon space situational awareness, and will have a broad application prospect, if put into actual testing and operations.