Joint Localization Algorithm Based on TDoA and Carrier Phase with ARP Error Calibration

Carrier phase positioning is currently a high-precision positioning method in 5G systems, with centimeter-level positioning capabilities demonstrated in ground-based positioning systems. However, indoor positioning accuracy may be significantly negatively affected by unexpected shifts in antenna locations. This paper proposes a joint positioning estimation algorithm based on Time-Difference-of-Arrival (TDoA) and carrier phase measurements, utilizing a particle swarm optimization algorithm to accurately determine the position of the mobile terminal while mitigating the impact of antenna reference point (ARP) location errors on the positioning process, thereby achieving high-precision indoor positioning. System simulation experiments demonstrate that this method can achieve centimeter-level positioning performance in indoor positioning systems.