Indoor Position recognition using the pseudo-range estimation

In this paper, we propose a method of position recognition in indoor environment by pseudo range estimation of each satellite. Position recognition is a core technology for operating autonomous intelligent robots such as Unmanned Aerial Vehicle System(UAV), Automated Guided Vehicle(AGV). The Position recognition technology is divided into outdoor position recognition and indoor position recognition. The outdoor position is estimated using Global Positioning System(GPS) and the indoor position is estimated using various sensors such as Beacon and Inertial Measurement Unit(IMU). Due to the development of the technology, outdoor position recognition using GPS can be precise position estimation, but indoor position recognition using various sensors has a cumulative error caused by various factors and it is difficult to operate for a long time. In this paper, to overcome this drawback, we analyze the relationship between the velocity of the moving object and pseudo-range shift each satellite, and estimate the indoor position of the moving object by estimating the pseudo-range