High-precision indoor positioning method based on frame round-trip-time and time-of-arrival ranging technology

The invention provides a high-precision indoor positioning method based on the frame round-trip-time and time-of-arrival ranging technology. By adopting the TOA differential measurement method, a system scheme meeting the requirement for high-precision positioning of mobile terminal devices is provided. Based on frame round-trip measurement information, the differential measurement method is adopted for time information to reduce the frame processing time delay error by embedding the time information of frame transmission. Because the high-precision indoor positioning method based on the frame round-trip-time and time-of-arrival ranging technology is adopted, the time synchronization problem is effectively solved through the frame round-trip-time and time-of-arrival ranging technology besides achieving the traditional indoor positioning function, and the phase error and the frequency error of the node clock and the standard clock are eliminated by using the differential measurement method for ranging.