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Doppler Differential Positioning Technology Using the BDS/GPS Indoor Array Pseudolite System

机译：使用BDS / GPS室内阵列伪卫星系统的多普勒差分定位技术

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摘要

A Global Satellite Navigation System (GNSS) cannot provide normal location services in an indoor environment because the signals are blocked by buildings. The Beidou satellite navigation system (BDS)/GPS indoor array pseudolite system is proposed to overcome the problems of indoor positioning with conventional pseudolite, such as time synchronization, ambiguity resolution and base stations. At the same time, an algorithm for Doppler differential positioning is proposed to improve the indoor positioning accuracy and the positioning coverage of the system, which uses the Doppler difference equation and Known Point Initialization (KPI) to determinate the velocity and position of the receiver. Experiments were conducted to verify the proposed system under different conditions; the average positioning error of the Doppler differential positioning algorithm was 7.86 mm in the kinematic test and 2.9 mm in the static test. The results show that BDS/GPS indoor array pseudolite system has the potential to make indoor positioning achieve sub-centimeter precision. Finally, the positioning error of the proposed algorithm is also analyzed, and the data tests show that the dilution of precision (DOP) and cycle- slips have a significant impact on the indoor positioning accuracy; a cycle-slip of a half-wavelength can cause positioning errors of tens of millimeters. Therefore, the Doppler-aided cycle-slip detection method (DACS) is proposed to detect cycle-slips of one cycle or greater than one, and the carrier phase double difference cycle-slip detection method (CPDD) is used to detect cycle slips of a half-wavelength.
机译：全球信号导航系统（GNSS）无法在室内环境中提供正常的定位服务，因为信号被建筑物阻挡了。提出了北斗卫星导航系统（BDS）/ GPS室内阵列伪卫星系统，以克服传统伪卫星在室内定位中的时间同步，模糊度解析和基站定位等问题。同时，提出了一种多普勒差分定位算法，以提高室内定位精度和系统的定位覆盖率。该算法利用多普勒差分方程和已知点初始化（KPI）来确定接收机的速度和位置。进行了实验以验证在不同条件下提出的系统；运动测试中多普勒差分定位算法的平均定位误差为7.86 mm，静态测试中为2.9 mm。结果表明，BDS / GPS室内阵列伪卫星系统具有使室内定位达到亚厘米精度的潜力。最后，对所提算法的定位误差进行了分析，数据测试表明，精度（DOP）和周跳率的降低对室内定位精度有重要影响。半波长的周跳会导致数十毫米的定位误差。因此，提出了一种多普勒辅助的周期滑移检测方法（DACS）来检测一个或大于一个周期的周期滑移，并采用载波相位双差周期滑移检测方法（CPDD）来检测一个周期的滑移。半波长。

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