103 results about "Pseudolite" patented technology

The invention relates to a space-ground integrated Beidou high-precision positioning method applied to urban canyons, and belongs to the technical field of navigation positioning. The method comprises the following steps: deploying a pseudo satellite base station, calibrating coordinates of the base station through carrier phase difference, and monitoring the number of Beidou visible satellites; a master pseudo-satellite is determined, timestamps and ephemeris data are broadcasted to slave pseudo-satellites through Beidou short messages, and the slave pseudo-satellites are combined with bidirectional ranging data to correct a local clock to realize high-precision synchronization; receiving Beidou and pseudo-satellite signals by a user terminal, screening effective observation values through a shielding judgment mechanism, substituting the effective observation values into a non-difference observation equation in combination with pseudo-satellite reference difference data, and resolving a fusion result through an elastic coupling mode; and finally, multi-path interference is identified by using pseudo-satellite double antennas, and historical data is called to construct an error model to correct a fusion result. The space-ground integrated positioning of Beidou and pseudo satellites in an urban canyon scene is realized, the centimeter-level positioning precision is stably output, and the high-precision positioning requirements of urban traffic, surveying and mapping and the like are met.

The invention discloses a pseudo-satellite layout optimization method based on a deep belief network and a particle swarm, and relates to the technical field of base station deployment optimization, and the method comprises the steps: firstly constructing a non-exposed space pseudo-satellite base station layout constraint index; secondly, determining a pseudo satellite base station layout optimization performance evaluation index; then constructing a pseudo satellite base station layout optimization mathematical model; training the collected data based on a deep belief network to generate a DBN model; the training process comprises an unsupervised pre-training stage and a supervised fine tuning stage; and finally, based on a DBN-PSO algorithm, obtaining an optimal layout scheme of the pseudo-satellites in the current environment. According to the method provided by the invention, by comprehensively evaluating the layout performance of the pseudo satellite and combining the advantages of unsupervised learning and supervised learning, the efficiency of the optimization process is improved, the resource consumption is reduced, the optimal layout scheme under various constraint conditions is realized, and the overall efficiency of a navigation system is improved.

The invention specifically discloses a particle swarm indoor pseudo satellite base station layout optimization method based on a minimum GDOP configuration, and relates to the technical field of indoor positioning. The method comprises the following steps: S1, determining a scene and the number of base stations, setting a population scale, and initializing a population based on a minimum geometric accuracy factor GDOP; s2, collecting the number of visible satellites and horizontal precision factor data, calculating an objective function value, and storing a non-dominated solution and determining an initial optimal position of a particle swarm according to a Pareto dominating relationship; s3, adopting a segmented adaptive linear decline strategy to update the inertia weight, and updating the particle speed and position; s4, recalculating a particle objective function value, updating the optimal positions of the individuals and the group, and updating an external file; s5, checking whether a termination condition is met or not, and if not, continuing iteration; and S6, outputting a finally obtained non-dominated solution set. According to the method, the performance of the indoor pseudo satellite positioning system is effectively improved, and a new way is provided for base station layout optimization.

The invention relates to an ephemeris broadcast and time synchronization method for Beidou pseudolite deformation monitoring, and belongs to the technical field of satellite positioning. The method comprises the following steps: constructing a linearization error equation based on a pseudo-range observation value, and solving a clock error correction amount in combination with a robust iterative algorithm to improve the time synchronization precision; analyzing ephemeris parameters of the Beidou GEO satellite, calculating earth-fixed coordinates of the Beidou GEO satellite, and rotating and adapting the earth-fixed coordinates; establishing an affine transformation relationship between the pseudo-satellite coordinates and GEO ephemeris, and generating optimized pseudo-satellite ephemeris data; and a time synchronization protocol is designed, and clock skew is compensated through bidirectional timestamp interaction of the main base station and the pseudo satellite. According to the method, nanosecond synchronization of the pseudo-satellite and the real satellite is realized, the ephemeris parameter redundancy problem of the static pseudo-satellite is optimized, multi-system cooperative work is supported, and the deformation monitoring reliability and precision under the complex terrain are remarkably improved.

The present invention discloses a method and system for seamless indoor and outdoor positioning based on pseudo-satellite technology. By changing the pseudo-satellite transmitting end into a transceiver system, external satellite signals can be received while positioning indoors, so that indoor positioning and outdoor positioning are combined. The system also adds a reference transmitting end to assist in calculating the outdoor position by obtaining the distance and angle with the indoor target. The present invention can realize flexible indoor and outdoor positioning switching. Since the pseudo-satellite message is highly similar to the satellite in the sky, it does not affect the normal capture of the receiver. Whether the positioning target is indoors or outdoors, the signal can be received normally. Therefore, there is no need to design a special receiver and switch the indoor and outdoor modes. The system technology is simple to implement, and the algorithm is easy to implement and has strong controllability.

The invention relates to the technical field of clock synchronization, in particular to a high-precision clock synchronization method and system based on Beidou satellite navigation, and the method comprises the steps: a pseudo satellite master station receives a Beidou signal, carries out the processing of capturing, tracking and the like, solves the transmission time and transmission delay, and adjusts a local clock to obtain the local receiving time; the 1PPS pulse is corrected, so that the rising edge of the 1PPS pulse is aligned with the whole second time of the local receiving time; and the master station completes time service by taking the 1PPS as an anchor point, adjusts the telegraph text transmission time delay, and broadcasts time service information to the slave station. And the slave station receives the telegraph text resolving time, calculates the transmitting time and synchronously transmits the telegraph text with the master station, so that the time synchronization of the ground-based pseudo satellite system and the Beidou is realized. According to the method provided by the embodiment of the invention, the unification of the ground-based pseudo satellite system and the Beidou time reference is realized, the problem that the existing system cannot unify the time reference with the Beidou is solved, high-precision time synchronization is ensured, and indoor and outdoor seamless positioning is supported.

The present invention specifically discloses a method for optimizing the layout of indoor pseudolite base stations based on the minimum GDOP configuration, which relates to the technical field of indoor positioning. The method includes: S1. Defining the scenario and the number of base stations, setting the population size, and initializing the population based on minimizing the geometric dilution of precision GDOP; S2. Collecting the number of visible satellites and horizontal dilution of precision data, calculating the objective function value, storing the non-dominated solutions according to the Pareto dominance relationship, and determining the initial optimal position of the particle swarm; S3. Updating the inertia weight using a piecewise adaptive linear decreasing strategy, and updating the particle velocity and position; S4. Recalculating the particle objective function value, updating the individual and global optimal positions, and updating the external archive; S5. Checking whether the termination condition is satisfied, and if not, continuing the iteration; S6. Outputting the finally obtained non-dominated solution set. This method effectively improves the performance of the indoor pseudolite positioning system and provides a new way for optimizing the layout of base stations.

The invention relates to a positioning method, a positioning device and a readable storage medium, and relates to the technical field of satellite navigation. The positioning method is applied to a receiver, and the receiver receives a pseudo satellite signal sent by each target satellite in a plurality of target satellites simulated by a pseudo satellite base station; wherein the number of the target satellites is at least four, and the target satellites are satellites which are invisible at the position where the receiver is located; for each pseudo-satellite base station, determining auxiliary positioning information of the pseudo-satellite base station according to the pseudo-satellite signal corresponding to the pseudo-satellite base station; wherein the auxiliary positioning information comprises the base station position of the pseudo satellite base station and the clock skew, and the clock skew is the skew between the clock of the pseudo satellite base station and the local clock of the receiver; and determining the position of the receiver according to the auxiliary positioning information of the pseudo satellite base station.

The invention discloses a pseudo-satellite system positioning method based on Doppler phase difference, which relates to the technical field of pseudo-satellite positioning, and comprises the following steps: setting a starting moment and an ending moment, enabling a receiver to continuously move from a starting point to an ending point, and keeping the receiver to continuously track at least seven pseudo-satellites; the receiver continuously records the whole cycle and the phase variation of each pseudo satellite carrier to obtain a recording result; based on the recorded result, constructing an observation equation based on Doppler phase difference for each pseudo-satellite; obtaining observation equations of all pseudo-satellites and carrying out simultaneous observation of equation sets; and resolving the observation equation set to obtain and output the precise coordinates of the starting point and the precise coordinates of the end point. According to the method, a new pseudo-satellite positioning observation equation set is constructed through Doppler phase difference of a receiver between two points, and high-precision user position calculation is realized without the aid of code bandwidth on the premise of frequency synchronization between pseudo-satellites without clock synchronization.

The invention relates to a Beidou pseudolite signal simulation generation method, which comprises the following steps of: setting a pseudolite private frequency band so as to avoid same-frequency interference with a real Beidou satellite signal; high-precision clock synchronization is carried out to ensure that the pseudolite and the Beidou atomic clock are highly synchronized; and the transmitting power is dynamically adjusted to adjust the transmitting power in real time, the near-far effect is inhibited, and the signal coverage range is optimized. Through collaborative optimization of frequency spectrum planning, clock synchronization and power regulation, the positioning availability is improved and the elevation precision is optimized in a complex environment, and a complete enhanced positioning solution is provided for a Beidou system in scenes such as automatic driving, tunnel navigation, mountains and canyons.

The present disclosure provides a pseudolite receiver comprising a plurality of signal channels and a plurality of signal cancellation modules for processing baseband signals. The plurality of signal channels and the plurality of signal elimination modules alternately and sequentially carry out signal processing, any signal channel captures the strongest signal component in the baseband signal to be processed, generates a reconstructed signal component according to the tracking parameter of the strongest signal component and outputs the reconstructed signal component to the corresponding signal elimination module; the corresponding signal cancellation module cancels the reconstructed signal component from its baseband signal to be processed to generate an updated baseband signal to be processed. According to the invention, the adverse effect of strong signal interference on weak signal capture can be avoided, the influence of near-far effect on the pseudo-satellite receiver is reduced, and the capture performance of the pseudo-satellite receiver is improved.

The invention discloses a Beidou pseudo satellite fusion positioning method and system in a tunnel. The method comprises the steps that a tunnel is divided into multiple sections of visible sub-areas, a relative coordinate system is established, Beidou signals are introduced into the tunnel through Beidou pseudo satellites, a common commercial receiver can still have the Beidou signal positioning capacity in the tunnel, meanwhile, according to the environment in the tunnel, a directional antenna is adopted, the multipath effect is reduced, and the positioning accuracy of the Beidou signals is improved. An infrared distance measuring device is arranged in a specific area, the vehicle driving direction and Doppler errors are judged, single pseudo satellite positioning is achieved through Doppler, and final coordinate output is achieved through the relation between relative coordinates and map coordinates.

The invention relates to a positioning method, a positioning device and a readable storage medium, and relates to the technical field of satellite navigation. The positioning method is applied to a receiver, and comprises the following steps: receiving a pseudo satellite signal for simulating each target satellite in a plurality of target satellites; wherein the target satellite is a satellite which is invisible at the position of the receiver; determining a pseudo satellite base station corresponding to each target satellite according to the pseudo satellite signal; for each pseudo-satellite base station, determining whether a target pseudo-satellite signal corresponding to the pseudo-satellite base station is credible; and under the condition that the target pseudo-satellite signal is credible, determining the position of the receiver according to the target pseudo-satellite signal.

The invention relates to the technical field of satellite navigation, and particularly discloses a multi-modal pseudo-satellite multi-source fusion positioning method based on factor graph optimization, which comprises the following steps: S1, predicting a carrier pose by using an improved visual inertial odometer system VIO; s2, assisting an antenna array pseudo satellite to carry out angle calculation through the carrier pose predicted value, and calculating position information through a traditional pseudo satellite positioning method; s3, constructing a fusion positioning system based on factor graph optimization, and solving all state variables in the sliding window; and S4, performing optimization solution on the state variable by minimizing the sum of all residual errors in the sliding window, and solving the objective function through the nonlinear optimization library to obtain an optimal estimation value of the system state variable. According to the multi-modal pseudo-satellite multi-source fusion positioning method based on factor graph optimization, the defect of a single positioning means is effectively overcome, and the reliability and precision of a positioning system in a complex environment are improved.

The invention provides a vehicle-mounted SINS (Strapdown Inertial Navigation System) advancing alignment method in a high-low fluctuating road surface environment, which specifically comprises the following steps of: 1, acquiring output data of an IMU (Inertial Measurement Unit) in a vehicle advancing process, calculating a fluctuating road surface height difference between two adjacent moments on the basis of the acquired IMU data in combination with vehicle-mounted barometer data, and calculating the sky-direction speed of a vehicle by adopting the fluctuating road surface height difference; step 2, providing height information calculated by the vehicle-mounted barometer for a pseudo satellite receiver to carry out auxiliary positioning and speed measurement so as to calculate the sky-direction speed of the vehicle through the pseudo satellite receiver; step 3, the sky-direction speed in the step 1 and the sky-direction speed in the step 2 are fused, and the fused sky-direction speed is obtained; and 4, based on the fused sky-direction velocity, performing initial fine alignment on the vehicle-mounted SINS by adopting unscented Kalman filtering. According to the method, the error of the height and the sky-direction speed calculated by the pseudo satellite receiver can be effectively compensated, and more accurate position and speed information can be obtained.

The present application discloses a GNSS pseudo-satellite system for generating and broadcasting time-frequency synchronized GNSS pseudo-satellite signals based on a GNSS system. The system includes at least one main base station and at least three sub-base stations. Any one of the at least one main base station includes a main base station GNSS signal processing unit, a main base station time-frequency synchronization unit, a main base station signal generation unit, a main base station synchronization reference signal receiving unit, a main base station loop processing unit, and a main base station reference signal generation unit. Any one of the at least three sub-base stations includes a sub-base station time-frequency synchronization unit, a sub-base station signal generation unit, a sub-base station synchronization reference signal receiving unit, a sub-base station loop processing unit, and a sub-base station reference signal generation unit. The signals emitted by the main base station and sub-base stations of the GNSS pseudo-satellite system of the present application have time-frequency synchronization characteristics, which can help the user terminal achieve accurate dynamic positioning.

The present invention relates to the field of Beidou application technology, and in particular to a monitoring signal capture method for Beidou positioning warehouse management assisted by pseudo-satellite. The steps are as follows: receiving a specific frequency and pseudo-random noise code sequence signal emitted by a pseudo-satellite through a pseudo-satellite receiver, the signal including the position information of the pseudo-satellite and other auxiliary positioning information; receiving a signal from a Beidou satellite through a Beidou receiver in a warehouse management monitoring system, and using the Beidou signal to determine the initial position and state of the monitoring system; fusing the pseudo-satellite signal with the Beidou satellite signal; and eliminating multipath signal interference. The monitoring signal capture method for Beidou positioning warehouse management assisted by pseudo-satellite provided by the present invention enhances the Beidou signal by the pseudo-satellite signal, thereby realizing an efficient and accurate monitoring signal capture method, and thus being able to locate and monitor complex indoor and outdoor environments, and can significantly improve the accuracy and reliability of positioning.

The invention discloses a preprocessing method and a receiver adapted to intensity changes of pseudo satellite pulse signals, and the method comprises the steps: converting a high-bit-width digital intermediate frequency signal outputted by a high-bit-width analog-to-digital conversion chip into a low-bit-width digital intermediate frequency signal adaptive to a capture circuit and a tracking circuit; through a preprocessing circuit, the amplitude of an input signal of a high-bit-width analog-to-digital conversion chip is controlled, and when no pseudo-satellite pulse signal is input, the output power of an amplifier is controlled, so that the amplitude bit of a high-bit-width digital intermediate frequency signal is low 3 bits, and the rest are sign bits; the control parameter is the same as that when no pseudo-satellite pulse signal is input; under the conditions of not changing the data bit width in the existing capture circuit and tracking circuit and not obviously increasing the logic resources of the circuit, the receiver can adapt to satellite navigation signals and pseudo satellite pulse signals with variable strength, and the application range of the navigation receiver is expanded.

The invention provides a homologous multichannel pseudo satellite deformation monitoring system in a GNSS denial environment, and relates to the field of geological deformation early warning and monitoring. The device comprises a pseudo satellite base station module, a transmitting antenna module, an infrared distance measurement module, a monitoring receiver, a monitoring data processing center and a high-definition camera device. The monitoring receiver is used for receiving observed quantities such as a Beidou micro base station signal output carrier phase and the like, the carrier phase double-difference data is used for monitoring the deformation condition, and due to the fact that the fluctuation of the carrier phase difference value is small, when a mountain and the like deform, the identification degree is high; when the carrier phase double-difference data changes greatly, the position point of the receiver can be checked and detected at a fixed point through the high-definition camera device, and further deformation confirmation is carried out.

This invention discloses a pseudo-satellite indoor positioning optimization method based on ergonomic robust Kalman filtering, comprising the following steps: obtaining the initial positions of all positioning base stations; setting the verification information parameters in the ergonomic robust Kalman filter model; obtaining positioning route data passing through the initial positions of all positioning base stations; inputting the positioning route data into the ergonomic robust Kalman filter model for processing to obtain the optimized positions of the positioning base stations; obtaining the optimal verification information value by comparing the optimized positions with the initial positions; setting the optimal verification information value as the model verification information for this positioning, and starting the positioning process. This invention combines the idea of ​​the ergonomic algorithm with the robust Kalman filter algorithm, thereby effectively solving the problem of ensuring the optimality of verification information in the robust Kalman filter algorithm model during actual positioning, thus further improving the accuracy of the algorithm and obtaining a better filtering effect.

The invention discloses a GNSS land-based enhancement system and method for a railway trunk line. The GNSS land-based enhancement system comprises a data processing center, a satellite tracking base station, a pseudo satellite base station and a disaster emergency satellite base station, the satellite tracking base station is used for receiving GNSS satellite signals in real time; the data processing center is used for carrying out differential processing on the GNSS satellite signals, generating corresponding differential navigation data, broadcasting the differential navigation data through a railway broadcasting private network, and starting disaster emergency satellite base stations in a corresponding range when the signal-to-noise ratio and the duration of the GNSS satellite signals do not accord with corresponding threshold values; and transmitting a disaster positioning signal through the disaster emergency satellite base station, starting the pseudo-satellite base station in the corresponding range when the integrity and duration of the GNSS satellite signal do not accord with the corresponding threshold value, and transmitting a pseudo-satellite signal through the pseudo-satellite base station. According to the GNSS land-based augmentation system of the trunk railway, data processing and switching of the normal working mode, the standby working mode and the disaster working mode can be carried out according to different conditions.

The application relates to a space-ground integrated Beidou high-precision positioning method applied to an urban canyon, and belongs to the technical field of navigation and positioning. The method comprises the following steps: deploying a pseudolite base station, calibrating the base station coordinates through carrier phase difference, and monitoring the number of visible Beidou satellites; determining a master pseudolite, broadcasting timestamp and ephemeris data to a slave pseudolite through a Beidou short message, and combining two-way ranging data to correct a local clock to realize high-precision synchronization; then a user terminal receives Beidou and pseudolite signals, screens effective observation values through a shielding discrimination mechanism, combines pseudolite reference differential data into a non-difference observation equation, and solves a fusion result through a loose-tight coupling mode; finally, the pseudolite double-antenna is used to identify multipath interference, historical data is called to construct an error model, and the fusion result is corrected. The space-ground integrated fusion positioning of Beidou and pseudolites in the urban canyon scene is realized, stable centimeter-level positioning precision is output, and the high-precision positioning demand of urban traffic and surveying and mapping is met.

The application discloses a discontinuous random time hopping pulse pseudolite signal tracking method based on carrier phase correction, and belongs to the field of satellite navigation auxiliary enhancement. The method first down-converts the received pseudolite signal to an intermediate frequency by using a receiver local oscillator; then carries out effective time slot signal interception and invalid time slot interference cutting on the pseudolite signal converted to the intermediate frequency by using a random time hopping pulse generation and control module in the receiver; then generates a carrier phase correction value of the signal in the effective time slot by using the pulse position information provided by the random time hopping pulse generation and control module and the carrier Doppler information fed back by the rear end; then further generates a cosine and sine result of the carrier phase correction value, and uses the result to continuously correct the carrier phase instantaneous value in the effective time slot; finally, the method realizes accurate tracking on the pseudolite signal after carrier phase correction by using a delay lock loop and a phase lock loop.

The invention belongs to the technical field of pseudo satellite positioning, discloses an indoor pseudo satellite signal carrier-to-noise ratio positioning method based on a commercial smart phone, and solves the core problem through innovative design. The invention provides a positioning technology based on Bayesian reasoning alternating optimization dynamic estimation. According to an attenuation relationship between a carrier-to-noise ratio observation value and a distance base station, maximum posteriori estimation (MAP) is calculated through Bayesian reasoning, and an alternating estimation strategy is adopted to iteratively optimize an attenuation coefficient and a position until the attenuation coefficient and the position converge, so that the change of the attenuation coefficient is effectively dealt with, and the performance difference between smart phone devices is relieved; compared with a traditional weighted centroid method, the average positioning precision is improved by 30%. The technology provided by the invention is not only suitable for smart phones with different performances, but also can be used. The technology provides a universal solution for high-reliability positioning of the smart phone under the same-frequency interference condition.

The invention relates to the field of satellite radio positioning systems, in particular to a remote batch online upgrading method for software of a pseudo satellite navigation positioning system, which comprises the following steps of: reading the version number of a program which is currently operated at a system end; the user side analyzes the storage area of the current running program version number in the FLASH of the pseudo-satellite navigation positioning system, and appoints the FLASH storage area in the upgrading program; the user side sends an upgrading program to the system side frame by frame through the wireless communication module; the system end receives each frame of upgrading program and performs CRC (Cyclic Redundancy Check); writing each frame of upgrading program into a specified FLASH storage area; switching a starting program by the system end, and starting from the FLASH area of the upgrading program; the system end starts a timer for timing; and judging whether the timer is overtime or not. According to the method, the defect that the FPGA upgrading is inconvenient in geographic position and structure of the arranged equipment is overcome, the system method has a check backspacing mechanism, and the reliability of remote upgrading is guaranteed.

This invention proposes a pseudo-satellite base station layout optimization method suitable for urban lifeline monitoring, belonging to the field of deformation monitoring. The method determines the urban lifeline areas to be monitored based on existing city maps and analysis of relevant GNSS signal strength and positioning accuracy. It also analyzes system measurement errors in positioning scenarios to determine the constraints on base station layout, using GDOP (Geostationary Descent Point)... w Evaluation metrics were established, and a mathematical model of the base station geometric layout was built in the positioning area. The Monte Carlo algorithm was used to solve the mathematical optimization model with Cramérault lower bound (CRLB) constraints, thus initially determining the current optimal layout of base stations in the positioning area. These models were then used as superior individuals in a population, and an improved genetic algorithm was used to obtain the optimal base station layout. This invention makes the deployment of pseudo-satellite base stations in urban environments more flexible and accurate, improving base station signal coverage and quality, system positioning accuracy, and enhancing the efficiency of urban lifeline monitoring.

The invention discloses a communication and conduction integrated device and system for high-precision positioning of a tunnel, and the device comprises a pseudo satellite which is used for transmitting a radio-frequency signal containing position information, and covering the internal space of the tunnel; the 5G equipment is used for realizing a wireless communication function in the tunnel and providing data transmission and communication services; the signal processor is used for receiving a radio frequency signal transmitted by the pseudo satellite and data transmitted by the 5G equipment; the positioning terminal is used for receiving the position information output by the signal processor and realizing real-time positioning of targets such as vehicles and personnel; according to the invention, by integrating advanced navigation positioning technology, high-precision positioning can be realized in complex environments such as tunnels and the like.

The invention discloses an indoor high-precision positioning method realized by backstepping after indoor Bluetooth beacon coarse positioning, which comprises the following steps: acquiring navigation auxiliary data sent by a Bluetooth beacon system, and calculating by using signal intensity data of a broadcast message received from the Bluetooth beacon system to obtain a summary coarse positioning position of a terminal; after the terminal and the Bluetooth beacon system finish time synchronization, calculating a terminal receiver clock error based on the navigation auxiliary data, and reversely calculating a virtual pseudo-range from the terminal to a satellite based on the navigation auxiliary data, the summary coarse positioning position and the terminal receiver clock error; and the terminal receives the position system information block from the network side, analyzes the position system information block to obtain RTK differential data, performs differential positioning calculation by using the virtual pseudo-range, the RTK differential data and the summary coarse positioning position, and outputs indoor positioning coordinates. According to the invention, the Bluetooth facility is used for relaying satellite data and constructing a virtual observation value, and low-cost extension of an outdoor RTK high-precision positioning algorithm to an indoor scene is realized on the premise that pseudo-satellite hardware is not needed.

The present invention discloses an indoor dual-antenna positioning method based on carrier phase difference optimization. The method first installs two pseudolites indoors to transmit signals and messages in a GPS standard format. A dual-antenna receiving terminal is installed on a device that requires positioning information. A carrier phase reference error from the receiving terminal to the pseudolites is then obtained. During the positioning process, the receiving terminal receives pseudolites' message signals. The carrier phase differences between pseudolites 1 and 2 and receiving antennas A and B are calculated based on the carrier phase conditions. The distance differences between the pseudolites and receiving antennas A and B are calculated using the carrier phase differences. An optimization model is established to minimize the residual error between the measured carrier phase difference and the theoretically calculated carrier phase difference. The optimization algorithm is then used to solve the position data of the dual-antenna receiving terminal, thereby achieving indoor positioning.

The invention discloses a pseudolite indoor positioning method based on Chan and SQP. The method comprises the following steps: 1) a pseudo satellite receives a signal and outputs a carrier phase value; 2) a pseudo satellite indoor positioning model based on Chan and SQP algorithms; 3) analyzing a model positioning error; and 4) after removing the positioning error, correcting the carrier phase positioning observation value by using the model. According to the indoor pseudo-satellite positioning method based on Chan and SQP, the positioning value obtained through the Chan algorithm serves as the initial solution of SQP for iteration, and the indoor carrier phase positioning precision of the pseudo-satellite is improved by reducing errors. Aiming at the problem that a Chan algorithm non-line-of-sight (NLOS) error is relatively large during indoor positioning and the NLOS error can cause a multipath effect during positioning, an SQP is utilized to carry out iterative correction on a Chan positioning value, and establishment of a positioning model is completed without depending on any external data. The algorithm is applied to a pseudo-satellite end, positioning errors are reduced, the positioning precision of pseudo-satellites is improved, and subsequent superposition errors are avoided. According to the method, result divergence caused by NLOS is overcome, and meanwhile, the indoor positioning precision of the pseudo-satellite is effectively improved.