This paper proposes a novel preamble design and detection method for multiuser asynchronous massive MIMO LoRa networks. Unlike existing works, which only consider the preamble detection for a single target end devices (ED), we proposed to simultaneously detect the preambles of multiple EDs that asynchronously transmit their uplink (UL) packets to a multiple-antenna gateway (GW). First we show that the preamble detection in multiuser LoRa networks with the conventional single-chirp preamble suffers from the so-called preamble resemblance effect. This means that the preamble of any single ED can resemble the preambles of all EDs in the network, and make it impossible to determine to which ED a preamble belongs. To address this problem, a novel double-chirp preamble design and a preamble assignment method are proposed, which can mitigate the preamble resemblance effect by making the preamble of each ED unique and recognizable. Next, a maximum-likelihood (ML) based detection scheme for the proposed double-chirp preamble is derived. Finally, since the proposed algorithm requires the calculation of the discrete Fourier transform (DFT) every sampling period, we proposed a low-complexity technique to calculate the DFT recursively to reduce the complexity of our proposed design. Simulation shows that the proposed preamble detection design and detection requires just about 2 dB more power to increase the number of EDs from one to 15 in the Rayleigh fading channel while achieving the same preamble detection error performance.