LSOS: An FG Position Method Based on Group Phase Ranging Ambiguity Estimation of BeiDou Pseudolite

Due to the influence of indoor space environments, carrier phase information obtained by BeiDou pseudo-satellite often has issue cycle slips, which makes user unable carry out high-precision positioning. Aiming at problem ambiguity resolution (AR) and location in large-scale occluded (LSOS), a factor graph (FG) position method based on group ranging estimation pseudolite is proposed. Firstly, introducing principle period quantization utilizing multi-frequency characteristic pseudo-satellite, propagation can be estimated quickly. On this basis, shuffled frog leading algorithm (SFLA) assisted optimization method, positioning process LSOS realized. The experimental results show that proposed solve fast LSOS, accuracy improved two wavelength ranges. In further experiment, it found not only guarantee real-time output but also improve precision sub-meter level under combination; optimal test 9 cm, maximum error 50 cm. This successfully solves wherein cannot provide real-time, continuous, LSOS.