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In the indoor pseudolite positioning system, the effect of the clock offset always leads to a large error in the positioning result. To reduce the effect of the clock offset, a relative localization algorithm for the indoor environment is proposed. In this paper, firstly, the Kalman positioning algorithm is used to obtain the coarse baseline. The model of the indoor relative localization and its operation are shown. Using the Kalman filter, the pseudorange double difference is smoothed by the carrier phase double difference. Then, the accurate baseline and the accurate positioning result of the receiver could be obtained. In order to predict the next state precisely, the Kalman corrected result is replaced by the accurate result. The experimental results show that the proposed algorithm has a good localization accuracy and the positioning error is less than 20 cm.
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Keywords:
- pseudolite /
- relative localization /
- double baseline /
- Kalman filter
[1] So H, Lee T, Jeon S, Kim C, Kee C, Kim T, Lee S 2010 Sensors 10 6324
[2] Liu Y Q, Lian B W, Tang C K 2013 J. Northwestern Polytech. Univ. 31 451 (in Chinese) [刘亚擎, 廉保旺, 唐成凯 2013 西北工业大学学报 31 451]
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[10] [11] Liu Y Y, Lian B W, Zhao H W, Song Y L 2014 Infrared and Laser Engineering 43 2228 (in Chinese) [刘洋洋, 廉保旺, 赵宏伟, 宋玉龙 2014 红外与激光工程 43 2228]
[12] Xu Y T, Cheng P F, Cai Y H 2013 J. Southwest Jiaotong Univ. 48 317 (in Chinese) [徐彦田, 程鹏飞, 蔡艳辉 2013 西南交通大学学报 48 317]
[13] [14] [15] Liu X, Gao Q, Li X L 2014 Chin. Phys. B 23 010202
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[17] [18] [19] Zhang X C, Guo C J 2013 Chin. Phys. B 22 128401
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[22] [23] Sheng X L, Lu J, Ling Q, Xu J, Dong W J 2014 Acta Phys. Sin. 63 054303 (in Chinese) [生雪莉, 芦嘉, 凌青, 徐江, 董伟佳 2014 物理学报 63 054303]
[24] Zheng W, Hsu H T, Zhong M, Liu C S, Yun M J 2013 Chin. Phys. B 22 049101
[25] [26] [27] Xu D J, Liu M K, Shen F, Zhu L Y 2013 Acta Aeronaut. Astronaut. Sin. 34 371 (in Chinese) [徐定杰, 刘明凯, 沈峰, 祝丽业 2013 航空学报 34 371]
[28] Liu Y Y, Lian B W, Song Y L, Xu H W 2014 China Satellite Navigation Conference (CSNS) 2014 Proceedlings Nanjing, China, May 21-23, 2014 p787
[29] [30] Cheng W D, Liu Y L, Zhu Q G, Chen Y 2013 Acta Phys. Sin. 62 170506 (in Chinese) [陈卫东, 刘要龙, 朱奇光, 陈颖 2013 物理学报 62 170506]
[31] -
[1] So H, Lee T, Jeon S, Kim C, Kee C, Kim T, Lee S 2010 Sensors 10 6324
[2] Liu Y Q, Lian B W, Tang C K 2013 J. Northwestern Polytech. Univ. 31 451 (in Chinese) [刘亚擎, 廉保旺, 唐成凯 2013 西北工业大学学报 31 451]
[3] [4] [5] Lin T, Ma M, Broumandan A, Lachapelle G 2013 Adv. Space Res. 51 1035
[6] [7] He Y, Martin R, Bilgic A 2014 Signal Processing 94 445
[8] [9] Sharp L, Yu K 2013 IEEE Trans. Mobile Comput. 12 1640
[10] [11] Liu Y Y, Lian B W, Zhao H W, Song Y L 2014 Infrared and Laser Engineering 43 2228 (in Chinese) [刘洋洋, 廉保旺, 赵宏伟, 宋玉龙 2014 红外与激光工程 43 2228]
[12] Xu Y T, Cheng P F, Cai Y H 2013 J. Southwest Jiaotong Univ. 48 317 (in Chinese) [徐彦田, 程鹏飞, 蔡艳辉 2013 西南交通大学学报 48 317]
[13] [14] [15] Liu X, Gao Q, Li X L 2014 Chin. Phys. B 23 010202
[16] Zhao L 2012 Acta Phys. Sin. 61 104301 (in Chinese) [赵龙 2012 物理学报 61 104301]
[17] [18] [19] Zhang X C, Guo C J 2013 Chin. Phys. B 22 128401
[20] [21] Liu N, Xiong Y L, Feng W, Xu S G 2013 Acta Geodaet. Cartograph. Sin. 42 211 (in Chinese) [刘宁, 熊永良, 冯威, 徐韶光 2013 测绘学报 42 211]
[22] [23] Sheng X L, Lu J, Ling Q, Xu J, Dong W J 2014 Acta Phys. Sin. 63 054303 (in Chinese) [生雪莉, 芦嘉, 凌青, 徐江, 董伟佳 2014 物理学报 63 054303]
[24] Zheng W, Hsu H T, Zhong M, Liu C S, Yun M J 2013 Chin. Phys. B 22 049101
[25] [26] [27] Xu D J, Liu M K, Shen F, Zhu L Y 2013 Acta Aeronaut. Astronaut. Sin. 34 371 (in Chinese) [徐定杰, 刘明凯, 沈峰, 祝丽业 2013 航空学报 34 371]
[28] Liu Y Y, Lian B W, Song Y L, Xu H W 2014 China Satellite Navigation Conference (CSNS) 2014 Proceedlings Nanjing, China, May 21-23, 2014 p787
[29] [30] Cheng W D, Liu Y L, Zhu Q G, Chen Y 2013 Acta Phys. Sin. 62 170506 (in Chinese) [陈卫东, 刘要龙, 朱奇光, 陈颖 2013 物理学报 62 170506]
[31]
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