Indoor and Outdoor Fusion Positioning Technology Based on BeiDou Satellite Navigation

In order to solve the inaccuracy and discontinuity of BeiDou differential indoor and outdoor navigation and positioning, this article highlights an indoor and outdoor fusion positioning method based on BeiDou differential and WIFI. This positioning method combines the micro-inertial navigation positioning technology with a single positioning method such as Bluetooth, WIFI fingerprint, ZigBee, ultra-wideband UWB, etc., to correct the BeiDou pseudo range equation to reduce the spatial pseudo range error. And it can integrate BeiDou differential pseudo range equation and linear filtering algorithm to achieve precise positioning of navigation. The research results show that the method realizes the positioning of the indoor and outdoor interactive area by fusing the satellite pseudo-range equation and the base station pseudo-range equation. And it realizes the seamless integration of indoor and outdoor precise positioning, which improves the positioning accuracy and reliability.