High-Precision Indoor Positioning Technology Based on Multichannel Array Pseudolite

Aiming at the problem that commercial navigation chips cannot provide positioning in GNSS signal blocking environments, an indoor high-precision positioning system based on homologous array pseudolite was designed. By deploying pseudolite base stations in indoor environments, the existing commercial navigation terminals on the market can be transformed from “unlocatable” indoors to “locatable” without changing the hardware. An interepoch carrier phase difference positioning method based on nonlinear filtering is proposed. By introducing a pseudorange similarity estimation model, it overcomes the problems of poor pseudorange measurement accuracy and integer ambiguity solution and achieves decimeter-level positioning in indoor environments. To address the issue of divergent positioning results caused by factors, such as differences in target movement speed and carrier phase cycle slip, a Doppler frequency shift-assisted dynamic update of state transition equations and CPDD cycle slip detection method are proposed, further improving the continuity and accuracy. The positioning test results in microwave anechoic chamber and typical indoor environments show that over 85% of the positioning errors within the coverage area are less than 1 m, with an average positioning error of about 0.33 m. Compared with the more advanced Cd search and Z-KPI algorithms in this field, the positioning accuracy is improved by more than 80%.