Pseudolites/repeaters infrastructure autopositioning approach - Mathematics and first simulation-based results

In the various infrastructure-based indoor positioning systems using Global Navigation Satellite System signals, i.e. pseudolites, repeaters, and repealites, there is the need for the terminal to know the positions of the various transmitters. Some techniques have been proposed for high accuracy pseudolite systems, but they require carrier phase measurements and a careful choice of some specific test locations. Other approaches consider that these data are simply available by any means: Of course, this can be achieved through manual distance measurements and the use of maps of the indoor environment. In this paper, we describe a new method that is based on a two-step approach. The first one consists in deploying the system. The second one is the calculation of the position of the transmitters through classic code measurements for a few specific chosen locations. Thus, the system can be deployed without any constraint and the locations of the transmitters calculated through a basic set of elementary measurements. The theoretical method is first described and the resulting accuracy of the position of the transmitters is then evaluated through theoretical calculations. In addition, electromagnetic simulations are carried out in order to estimate the pseudo-range errors of the proposed measurements: The accuracy of the determination of the position of the transmitters is then estimated (note that two receiver tracking loop implementations are considered). Thus, the accuracy of the proposed method is evaluated theoretically and through simulations.