“…The acquisition of high-precision navigation observation information through signal of opportunity (SOP) is a method to assist GNSS for high precision positioning. At present, WiFi (Shu et al, 2016, Yan et al, 2018, Gao et al, 2021, Bluetooth (Chen et al, 2013, Faragher and Harle, 2015, Zhuang et al, 2018 and cellular network signals (Driusso et al, 2017, Liu et al, 2023b, Shamaei and Kassas, 2021, Liu et al, 2023a are the widely used signals of opportunity in wireless positioning technology. Although WiFi and Bluetooth have the advantages of low-cost and lowpower consumption, they cannot provide high-precision LBSs to a large number of users under a wide area because of the limited coverage area of the base station (BS).…”