Ambiguity resolution (AR) is crucial for high-precision indoor pseudolite positioning. Due to the existing characteristics of the pseudolite positioning system, such as the geometry structure of the stationary pseudolite which is consistently invariant, the indoor signal is easy to interrupt and the first order linear truncation error cannot be ignored, and a new AR method based on the idea of the ambiguity function method (AFM) is proposed in this paper. The proposed method is a single-epoch and nonlinear method that is especially well-suited for indoor pseudolite positioning. Considering the very low computational efficiency of conventional AFM, we adopt an improved particle swarm optimization (IPSO) algorithm to search for the best solution in the coordinate domain, and variances of a least squares adjustment is conducted to ensure the reliability of the solving ambiguity. Several experiments, including static and kinematic tests, are conducted to verify the validity of the proposed AR method. Numerical results show that the IPSO significantly improved the computational efficiency of AFM and has a more elaborate search ability compared to the conventional grid searching method. For the indoor pseudolite system, which had an initial approximate coordinate precision better than 0.2 m, the AFM exhibited good performances in both static and kinematic tests. With the corrected ambiguity gained from our proposed method, indoor pseudolite positioning can achieve centimeter-level precision using a low-cost single-frequency software receiver.
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