# A New Hybrid Positioning Method by Fusion of BDS and 5G Signal Using the Particle Swarm Method
## 5 Conclusions  
This paper proposes a new solution model based on TOA measurements of BDS satellites and TDOA measurements of 5G base stations. The solution efficiency of the model is improved by using a multiobjective particle filter algorithm, which provides a new method (MOPSO-TOA/TDOA) for data fusion of BDS-5G signals. Compared with the traditional Kalman filtering fusion algorithm, the BDS-5G signal fusion method based on the MOP-SO-TOA/TDOA algorithm can effectively improve the positioning accuracy and convergence time of the system and determine the target position in real-time in complex environments. The MOPSO-TOA/TDOA algorithm and KF algorithm perform real-time location calculations in complex urban environments. The convergence times of the MOPSO-TOA/TDOA algorithm and KF algorithm are 0.124 s and 0.165 s, respectively. The MOPSO-TOA/TDOA algorithm reduces the time by 24.8%, the positioning accuracies of the algorithm are 2.65 m and 3.27 m, respectively, and the positioning accuracy of the MOPSO-TOA/TDOA algorithm is improved by 18.9%. We also compared the performance of the MOPSO-TOA/TDOA algorithm and separated the BDS into three complex environments. The average errors of the MOPSO-TOA/TDOA algorithm and single BDS algorithm were 5.63 m and 16.43 m, respectively, with an overall increase of 65.7%.  
To build a seamless indoor and outdoor positioning system, the BDS network should be more closely integrated with the 5G communication network under construction. Through the introduction of a 5G communication network, the BDS is used for positioning in outdoor open areas, BDS-5G is used for fusion positioning in complex environments or indoor and outdoor boundaries, and 5G signal positioning is used indoor areas where it is difficult to receive satellite signals. Under the condition of ensuring the regular switching of the positioning signal, the BDS-5G fusion positioning system can achieve the effect of uninterrupted accurate positioning, thus providing the essential support of entire scene high-precision space-time perception for future intelligent society. In this regard, it is necessary to further carry out BDS-5G signal integration technology tests in different industry application scenarios, analyze and optimize the performance of BDS-5G signal technology under various conditions, and lay the foundation for the comprehensive promotion of BDS-5G signal technology.  
Conceptualization, J.L. and E.H.; methodology, E.H.; software, W.D.; validation, J.W., W.W. and W.D.; formal analysis, E.H.; investigation, J.L.; resources, J.L.; data curation, E.H. and E.H.; writing--original draft preparation, W.D.; writing--review and editing, J.W. and E.H.; visualization, W.W.; supervision, J.L.; project administration, E.H. All authors have read and agreed to the published version of the manuscript.  
This research was supported by the National Key R&D Program of China (2022 YFB3904702) and the National Natural Science Foundation of China (6220020330).  
Not applicable.  
Informed Consent Statement: Informed consent was obtained from all subjects involved in the study.  
\begin{table}
\begin{tabular}{c c c} \hline \hline
**Complex Scenes** & **Conditions** & **Error** \\ \hline \multirow{2}{*}{canyon} & Single BDS & 12.3993 \\ \cline{2-3}  & BDS–5G & 3.1342 \\ \hline \multirow{2}{*}{Unilateral building} & Single BDS & 30.816 \\ \cline{2-3}  & BDS–5G & 10.0659 \\ \hline \multirow{2}{*}{Under the bridge} & Single BDS & 6.0791 \\ \cline{2-3}  & BDS–5G & 3.7049 \\ \hline \hline \end{tabular}
\end{table}
Table 1: Outdoor BDS–5G signals joint positioning test results/m (1\(\sigma\)).