Accurate indoor positioning services have become increasingly important in modern applications. Various new indoor positioning methods have been developed. Among them, visual–inertial odometry (VIO)-based techniques are notably limited by lighting conditions, while ultrawideband (UWB)-based algorithms are highly susceptible to environmental interference. To address these limitations, this study proposes a hybrid indoor positioning algorithm that combines UWB and VIO. The method first utilizes a tightly coupled UWB/inertial measurement unit (IMU) fusion algorithm based on a sliding-window factor graph to obtain initial position estimates. These estimates are then combined with VIO outputs to formulate the system’s motion and observation models. Finally, an extended Kalman filter (EKF) is applied for data fusion to achieve optimal state estimation. The proposed hybrid positioning algorithm is validated on a self-developed mobile platform in an indoor environment. Experimental results show that, in indoor environments, the proposed method reduces the root mean square error (RMSE) by 67.6% and the maximum error by approximately 67.9% compared with the standalone UWB method. Compared with the stereo VIO model, the RMSE and maximum error are reduced by 55.4% and 60.4%, respectively. Furthermore, compared with the UWB/IMU fusion model, the proposed method achieves a 50.0% reduction in RMSE and a 59.1% reduction in maximum error.

In complex urban electromagnetic environments, wireless positioning signals are subject to various types of interference, including narrowband, chirp, and pulse jamming. Traditional generic suppression methods struggle to achieve global optimization tailored to specific interference mechanisms. This paper proposes a classification-driven differentiated jamming suppression (CDDJ) method, which adaptively selects the optimal mitigation strategy by pre-identifying interference types and integrating classification confidence levels. First, the theoretical bounds of the output carrier-to-noise ratio ($C/N_{0_{out}}$) under typical interference scenarios are derived, characterizing the performance distribution of anti-jamming efficiency ($\mathsf{\Gamma }$). Then, a mapping relationship between interference categories and their corresponding suppression strategies is established, along with decision criteria for strategy switching based on signal quality evaluation metrics. Finally, an OpenMax-Lite rejection layer is designed to handle low-confidence inputs, identify unknown jamming using the Weibull distribution, and implement a broadband conservative suppression policy. Simulation results demonstrate that the proposed method exhibits significant advantages across different interference types. Under high JSR conditions, the signal recovery rate improves by over 10% and 8% compared to that of the WPT and KLT methods, respectively. In terms of SINR performance, the proposed approach outperforms the AFF, TDPB, and FDPB methods by 1.5 dB, 1.1 dB, and 5.3 dB, respectively, thereby enhancing the reliability of wireless positioning in complex environments.

To enhance positioning capability and reliability within existing Communication Navigation Fusion Systems (CNFSs), this paper proposes an Asymmetric Double-Sideband Composite Localization Signal (ADCLS) and a dual-carrier aggregation dual-code loop tracking mechanism with fuzzy control. By organically integrating an embedded signal into the original positioning signal, the code loop is optimized via fuzzy control, while the ADCLS signal is processed as an asymmetric double-sideband signal for joint signal extraction. Experimental validation employs the 5G New Radio (NR) Time-Delay Line (TDL) channel model to simulate multipath propagation effects. The results show that this method improves the tracking accuracy of the code loop and the main carrier loop, thereby enhancing the ranging accuracy.

High-precision indoor positioning technology is increasingly prominent in its application value in emerging fields such as the Industrial Internet of Things, smart cities, and autonomous driving. 5G networks can transmit large-bandwidth signals and have the capability to transmit and receive signals with multiple antennas, enabling the simultaneous acquisition of angle and distance observation information, providing a solution for high-precision positioning. Differences in the types and quantities of observation information in complex environments lead to positioning scenarios having a multimodal nature; how to propose an effective observation model that covers multimodal scenarios for high-precision robust positioning is an urgent problem to be solved. This paper proposes a three-stage time–frequency synchronization method based on group peak time sequence tracing. Timing coarse synchronization is performed through a group peak accumulation timing coarse synchronization algorithm for multi-window joint estimation, frequency offset estimation is based on cyclic prefixes, and finally, fine timing synchronization based on the primary synchronization signal (PSS) sliding cross-correlation is used to synchronize 5G signals to chip-level accuracy. Then, a tracking loop is used to track the Positioning Reference Signal (PRS) to within-chip accuracy, obtaining accurate distance information. After obtaining distance and angle information, a high-precision positioning method for multimodal scenarios based on 5G heterogeneous measurement combination is proposed. Using high-precision angle observation values as intermediate variables, this algorithm can still solve a closed-form positioning solution under sparse observation conditions, enabling the positioning system to achieve good positioning performance even with limited redundant observation information.