城市建设正朝着多维空间利用开发的方向发展，复杂系数不断升级的城区建筑环境给导航定位带来了新的难题。与此同时，城区空间的多维发展对于公共安全提出新的要求，城区复杂建筑环境的位置服务难题作为公共安全的重要工作亟待解决。本项目以GNSS、UWB、INS和机会信号为主要传感器源进行数据信息采集，通过协同作业模式，针对城区复杂建筑环境在“环境差异”、“信号干扰”、“观测分化”和“评估检核”等方面存在的关键问题，系统研究城区复杂建筑区域环境差异度辨识模型，基于惯性连续信息的中断信号补偿修复模型，顾及环境因素的分层观测信息多重滤波模型以及基于机会信号时变特性的定位可信度动态评价模型。项目紧密围绕“复杂环境”的特殊问题，重点实现“连续定位”目标，形成城区复杂建筑环境下GNSS/UWB/INS/机会信号协同定位作业模式。项目的研究可为解决高精度、高可靠性的城区复杂建筑区域连续定位提供有效的技术和理论。

With the development of urban construction, multi-dimensional utilization scheme is adopted more and more. Navigation and positioning in the complex building environment of urban area becomes a new problem. At the same time, multi-dimensional development of urban architecture has raised new demand for public safety. It is a basic work to obtain high-precision and high-reliability position information in the complex building environment of urban area for public safety. So the problem is an important issue that must be solved. In order to solve the key problems about environmental deviation, signal interference, observation differentiation and assessment, the sensors including global navigation satellite system, ultra-wide band, inertial navigation system and signals of opportunity are used to collect data in collaborative mode. The identification model is constructed to distinguish the region difference in the complex building environment of urban area. The repair algorithm of interrupt signal is formed with the continuous IMU (inertial measurement unit) observation. The sorting algorithms for observation is built to realize multiple filter according to environmental factors. The dynamic reliability model is constructed to assess the position result based on the time-variation characteristic for signals of opportunity. The research object is to realize continuous positioning of GNSS/UWB/INS/SOOP integration for the complex building environment of urban area. The research work is able to provide technical support and theoretical guidance for high-precision and high-reliability positioning in the complex building environment of urban area.