Satellite navigation signals can’t achieve seamless indoor and outdoor positioning due to obstruction, interference, and other factors. Erecting pseudo-satellite signals in specific areas can overcome the shortcomings of satellite navigation signals. The purpose of this chapter is to introduce how to design a software receiver for pseudo-satellite signals, which includes three modules: signal generation, signal acquisition, and signal tracking. In terms of signal generation, this chapter not only explains the special signal structure of pseudolite signal, but also puts forward the technology of two-way time synchronization, rewrites the frame format of pseudolite signal subframe according to the technical principle, and calculates the data accuracy and data transmission time according to the new subframe structure. In terms of signal capture, this chapter introduces the basic signal system of pseudo-satellite signals and also elaborates on the influence of far and near effects on pseudo-satellite signal capture. Based on the FFT capture method, a capture scheme suitable for the special signal system of pseudo-satellites is introduced, which is used as a basis to demonstrate the capture process of pseudo-satellite signals. In terms of signal tracking, this chapter studies Costas loop and incoherent delay locked loop, realizes the tracking of pseudolite signal according to these two tracking loops, and completes the design of pseudolite software receiver.