The service performance of the Global Navigation Satellite System (GNSS) has significantly decreased in complex environments such as tunnels, indoor and urban canyons. In this challenging environment, pseudolites can be used to generate and transmit signals similar to GNSS systems, providing users with uninterrupted navigation information such as location and speed in GNSS rejection environments. In addition, the pseudolite system can be modulated to be consistent with GNSS, and the user receiver can achieve synchronous reception of pseudolites/GNSS. Through integrated navigation with GNSS and inertial navigation systems, GNSS navigation and positioning enhancement in complex environments can be achieved, which is expected to play an important role in fields such as autonomous driving, indoor navigation, and automatic robots.