中文摘要：

针对GNSS接收机在室内环境中面临的强烈的信号衰减、非视距传播和互相关效应的问题，提出了一种基于粗时段导航和RAIM算法解决A-GNSS室内定位问题的方法，并利用BDS数据验证了该方法的可靠性。结果表明，粗时段导航算法能够提供连续可靠的定位结果，应用于微弱信号环境；基于组合FDE的RAIM算法能够增加定位结果可用率，解决室内卫星信号存在的非视距传播和互相关效应的问题。基于粗时段导航与RAIM算法的A-GNSS定位技术能够应用于室内定位，仿真定位结果水平方向RMS在10m以内。

英文摘要：

For the existing problem of GNSS receiver in the indoor environment facing for strong signal attenuation, the NLOS propagation and cross correlation effects, this text proposes a coarse time nav- igation and RAIM algorithm to solve the problem of AGNSS indoor positioning and use BDS data to verify the reliability of the method. The experiment showed that the coarse time navigation algorithm is able to provide successive and reliable positioning results. It can also be used in weak signal envi- ronments. RAIM algorithm based on a combination FDE can increase the availability of the positio- ning result and solve the problems of NLOS propagation and cross correlation effects of indoor satellite signals. The AGNSS technology based on coarse time navigation and RAIM algorithm can be applied to indoor positioning, and its simulation result of horizontal RMS is less than 10 m.