Multi-Epoch Differential Pseudorange Joint Positioning Using GNSS Signals and Terrestrial Cellular Signals-of-Opportunity

When the global navigation satellite systems (GNSSs) are unavailable, cellular signals of opportunity (SOPs) can be used to achieve positioning. However, in low observability environments where both GNSS signals and cellular SOPs are less than 2, the current research on cellular SOPs–GNSS signals fusion positioning faces challenges regarding the difficulty in precise position initialization and spatiotemporal uncertainty. To address these issues, a cellular SOPs and GNSS signals fusion positioning model by the pseudorange single difference at multi-epoch (PSDM) is proposed. The spatiotemporal uncertainty of fusion positioning is solved by differential pseudorange. Then, to solve the problem of difficult precise location initialization during the differential pseudorange positioning process, a pseudo-linearization closed-form method was derived, and its limitations were analyzed. Moreover, the pseudo-linearization equation was reconstructed. Based on this, a constrained multi-step weighted least squares (CMWLS) method is proposed that reduces the impact of noise on the PSDM positioning models and improves global convergence. According to the simulation and field test results, the proposed fusion positioning method shows good positioning performance in low-observability environments. For urban positioning in such environments, this study provides a new solution strategy and avoids the requirement of the prior information of the receiver’s initial position for positioning.