Indoor Pseudolites Precise Point Positioning Based on Improved Time-Satellites Difference

Considering the peculiar characteristic of indoor environment,based on specific hardware design which can insure the pseudolites clock synchronization,a precise point positioning model based on improved time-satellites difference for indoor pseudolites is proposed.Computation process of this model is described.At the end,results indicate that the use of 1 000 s static data span can provide a horizontal positioning accuracy at centimeter level in case of no cycle slip.