Indoor combination positioning technology of Pseudolites and PDR

Satellite navigation signals are blocked by the buildings and can't provide the positioning service for the indoor users. In 2016, Chinese government supports the research and development of the BeiDou/GPS pseudolites for indoor and outdoor seamless positioning in the national key research and development program, in order to reduce application costs, the combination technology of pseudolites and PDR is used for indoor positioning. Firstly, the seamless positioning system architecture, the signal format and navigation message, indoor positioning principle of Beidou/GPS pseudolites are introduced in this paper, the positioning results of array pseudolites begin to converge and the horizontal positioning error is about 1 meter, After the positioning results become very stable, the positioning error of 0.5 meters. Secondly, the pseudolites and PDR combination localization algorithm is studied, the average positioning error of PDR is 5.5 m and 10 m, while the average positioning error of PL\_PDR is 2 meters and 2.3 meters. It can be seen that the combined technology of pseudolites and PDR can achieve high-precision indoor positioning under a long time and long-distance conditions.