Multi-source fusion positioning algorithm based on pseudo-satellite for indoor narrow and long areas

In recent years, the research of indoor positioning technology has mainly focused on WI-FI, Bluetooth, ultra-wideband, and pseudo-satellites. Each of these indoor positioning technologies has different advantages, but also has various limitations, especially in indoor areas such as corridors, tunnels, and stairs. Due to the limitations of application scenarios, navigation and positioning accuracy and efficiency, it is difficult to form a satisfactory navigation and positioning solution for indoor special environment. In order to solve the positioning problem of indoor long and narrow areas, a multi-source fusion navigation and positioning algorithm based on pseudo-satellite assistance is proposed in this paper. Under certain map information constraints, it can use the direct arrival signal of a single pseudo-satellite to correct the location information output by mobile phone PDR(Pedestrian Dead Reckoning), and improve the navigation and positioning performance of indoor passageway and corridor areas. To realize the system, it is necessary to ensure that a direct pseudo-satellite signal can be received in any area of the corridor. The position of the pseudo-satellite can be determined according to the captured pseudo-satellite signal, and the pseudo-range change rate can be estimated by calculating the carrier phase change rate. In this paper, we deduce the relationship between the pseudo-range change rate and the change of the mobile phone PDR position, and build an optimization model based on map information constraints, which improves the positioning accuracy of the system for indoor narrow and long areas. A large number of experimental results show that the system has high positioning accuracy in the real indoor long and narrow environment. The average positioning accuracy of the algorithm in indoor environments is better than 0.4 m, and there is no significant change in the performance after a long time of cumulative positioning.