Delta Carrier Range algorithm for indoor positioning application to pseudolite-like transmitters

Indoor positioning with Pseudolites consists of deploying a network of terrestrial transmitters which have the same function as the Global Navigation Satellite Systems (GNSS) outdoor. In this paper, we propose an algorithm that allows carrying out sub-metric positioning using precise carrier phase measurements for a dynamic receiver. During the motion, the measured carried phases are changing according to relative position between the receiver and the transmitters. With enough transmitters, typically 4 for 2D positioning, and unless 3 measurements for each transmitters, it is thus possible to calculate the initial position of the motion. The algorithm and its limitations are explained. Finally, experimental results are presented to validate the previously presented concepts.