A Robust Indoor High-precision Positioning Method Based on Arrayed Pseudolites

Pseudolites can overcome the shortcomings of Global Navigation Satellite System(GNSS), and simulate similar navigation satellite signals to be used as a stable and reliable positioning signal source in the indoor environment, which has gradually become a research hotspot in the field of indoor positioning. Due to the influence of factors such as multipath propagation, it is impossible to directly replicate the existing outdoor positioning method. To solve the above problems, we designed a BDS/GPS array pseudolite indoor high-precision positioning system PIP's (Pseudolite Indoor Positioning system). Relying on this system, we proposed a pseudo-satellite carrier phase differential positioning algorithm based on particle filtering, which avoids the problem of solving the integer ambiguity by calculating the pseudorange similarity. Then, aiming at the problem of divergence of positioning results caused by different carrier moving speeds, a method of dynamically estimating particle velocity based on Doppler frequency shift is proposed, which improves the accuracy of particle weight distribution, thereby improving the positioning accuracy and continuity of the positioning system. Finally, in order to verify the positioning performance of the proposed system, we conducted a large number of experiments in the microwave anechoic chamber and the test field environment. The results show that in the microwave anechoic chamber, the average positioning error in the X direction is 0.09m, and the average positioning error in the Y direction is 0.12m. In the test field environment, we analyzed the influence of different transmitting powers and different types of antennas on the positioning performance. At the same time, the positioning accuracy heat map is drawn, and the maximum positioning error is 0.67m.