Indoor positioning with Pseudolites consists of deploying a network of terrestrial transmitters which have the same function as the Global Navigation Satellite Systems (GNSS) outdoor. In this paper, we propose an algorithm that allows carrying out sub-metric position ing using precise carrier phase measurements for a dynamic rece iver. During the motion, the measured carried phases are changing according to relative position between the receiver and the transmitters. With enough transmitters, typically 4 for 2D positioning, and unless 3 measurements for each transmitters, it is thus possible to calculate the initial position of the motion. The algorithm and its limitations are explained. Fina lly, experimental results are presented to validate the previously presented concepts