一种信标辅助的北斗伪卫星CPD定位方法OA北大核心CSTPCD

In order to solve the problem of high-precision positioning of the BeiDou pseudo-satellite signal in indoor small-scale space,how to save the cost of network construction on the basis of small-scale space to improve the timeliness and positioning accuracy of indoor positioning technology is an important link in the future.In this paper,a method of BeiDou pseudo-satellite carrier phase difference(CPD)localization assisted by indoor node beacons is proposed,which fully combines the characteristics of small-scale space in indoor environment.First,the problem of large-scale fingerprint construction is transformed into a fingerprint beacon,and the concept of indoor node beacon is proposed.The connection between small-scale space and surrounding space is realized by beacon nodes,and the construction and processing of the beacon characteristic spectrum based on the carrier-to-noise ratio(CN0)and carrier phase are analyzed.Then,based on the indoor node beacon,the process of position estimation based on CPD is presented.Finally,a location search algorithm considering the constraints of pedestrian location and velocity space is proposed based on particle swarm optimization(PSO).Experimental results in real environment show that the dynamic positioning accuracy of 30cm and the positioning accuracy of 25cm in a suspended state can be achieved by the indoor node beacon.Compared with inertial navigation,it has a more relaxed attitude condition and is suitable for high-precision positioning processing in small-scale space.The proposed algorithm has a better applicability in small-scale space.