CN114089398A - Satellite orientation method, chip and computer readable storage medium - Google Patents

Satellite orientation method, chip and computer readable storage medium Download PDF

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Publication number
CN114089398A
CN114089398A CN202111205682.6A CN202111205682A CN114089398A CN 114089398 A CN114089398 A CN 114089398A CN 202111205682 A CN202111205682 A CN 202111205682A CN 114089398 A CN114089398 A CN 114089398A
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satellite
observation
carrier phase
chip
determining
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元荣
谢胜利
王千明
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Techtotop Microelectronics Co Ltd
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Techtotop Microelectronics Co Ltd
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Priority to CN202111205682.6A priority Critical patent/CN114089398A/en
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
    • G01S19/44—Carrier phase ambiguity resolution; Floating ambiguity; LAMBDA [Least-squares AMBiguity Decorrelation Adjustment] method
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/396—Determining accuracy or reliability of position or pseudorange measurements

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The application is applicable to the technical field of positioning and orientation, and provides a satellite orientation method, a chip and a computer readable storage medium, wherein the method comprises the following steps: acquiring a first pseudo-range observed quantity, a first carrier phase observed quantity, a second pseudo-range observed quantity, a second carrier phase observed quantity, first positioning information and second positioning information from a satellite positioning chip; determining a third pseudo-range observed quantity, a third carrier phase observed quantity and third positioning information of the satellite orientation chip relative to the first satellite, and a fourth pseudo-range observed quantity, a fourth carrier phase observed quantity and fourth positioning information of the satellite orientation chip relative to the second satellite; determining a first integer ambiguity and position information of a target vector based on the pseudo-range observed quantity, the carrier phase observed quantity, the positioning information and a preset observation equation; the accuracy of the position information is determined based on the first integer ambiguity and the preset integer ambiguity, and the direction information of the target vector is determined based on the position information when the accuracy meets the preset requirement, so that the accuracy of orientation is improved.

Description

Satellite orientation method, chip and computer readable storage medium
Technical Field
The present application relates to the field of positioning and orientation technologies, and in particular, to a satellite orientation method, a chip, and a computer-readable storage medium.
Background
With the continuous development of satellite positioning and orientation technology, the application of satellite orientation devices capable of realizing satellite orientation functions is more and more extensive. The existing satellite orientation device generally comprises two satellite positioning chips and a processor, wherein the two satellite positioning chips generally receive satellite signals of the same frequency point, respectively process the received satellite signals and then output positioning information and observed quantity to the processor, and the processor performs orientation calculation based on the positioning information and the observed quantity respectively output by the two satellite positioning chips, namely the existing satellite positioning chip does not have an orientation function, the satellite orientation device can realize the satellite orientation function only by comprising the processor, the cost and the power consumption are high, and the orientation accuracy of the existing satellite orientation method is low.
Disclosure of Invention
In view of this, embodiments of the present application provide a satellite orientation method, a chip, and a computer-readable storage medium, so as to solve the technical problem of low orientation accuracy of the existing satellite orientation method.
In a first aspect, an embodiment of the present application provides a satellite orientation method, which is applied to a satellite orientation chip, where the satellite orientation chip is connected to a satellite positioning chip, the satellite positioning chip receives a satellite signal through a first antenna, and the satellite orientation chip receives the satellite signal through a second antenna; the satellite orientation method comprises the following steps:
acquiring a first pseudo-range observed quantity, a first carrier phase observed quantity, a second pseudo-range observed quantity, a second carrier phase observed quantity, first positioning information and second positioning information from the satellite positioning chip; the first pseudorange observation, the first carrier phase observation, and the first positioning information are determined by the satellite positioning chip based on a first satellite signal from a first satellite, and the second pseudorange observation, the second carrier phase observation, and the second positioning information are determined by the satellite positioning chip based on a second satellite signal from a second satellite;
receiving a third satellite signal from the first satellite and a fourth satellite signal from the second satellite, determining a third pseudorange observation, a third carrier phase observation, and third positioning information for the satellite orientation chip relative to the first satellite based on the third satellite signal, and determining a fourth pseudorange observation, a fourth carrier phase observation, and fourth positioning information for the satellite orientation chip relative to the second satellite based on the fourth satellite signal;
determining a first integer ambiguity and position information of a target vector based on the first pseudorange observation, the first carrier phase observation, the second pseudorange observation, the second carrier phase observation, the third pseudorange observation, the third carrier phase observation, the fourth pseudorange observation, the fourth carrier phase observation, the first positioning information, the second positioning information, the third positioning information, the fourth positioning information, and a preset observation equation; the target vector points from the phase center of the first antenna to the phase center of the second antenna;
determining the accuracy of the position information based on the first integer ambiguity and a preset integer ambiguity, and determining the direction information of the target vector based on the position information when the accuracy meets a preset requirement.
In a second aspect, an embodiment of the present application provides a satellite orientation chip, which is connected to a satellite positioning chip, where the satellite positioning chip receives a satellite signal through a first antenna, and the satellite orientation chip receives the satellite signal through a second antenna; the satellite orientation chip includes:
a first obtaining unit, configured to obtain a first pseudorange observed quantity, a first carrier phase observed quantity, a second pseudorange observed quantity, a second carrier phase observed quantity, first positioning information, and second positioning information from the satellite positioning chip; the first pseudorange observation, the first carrier phase observation, and the first positioning information are determined by the satellite positioning chip based on a first satellite signal from a first satellite, and the second pseudorange observation, the second carrier phase observation, and the second positioning information are determined by the satellite positioning chip based on a second satellite signal from a second satellite;
a first determination unit configured to receive a third satellite signal from the first satellite and a fourth satellite signal from the second satellite, determine a third pseudorange observation, a third carrier phase observation, and third positioning information of the satellite orientation chip with respect to the first satellite based on the third satellite signal, and determine a fourth pseudorange observation, a fourth carrier phase observation, and fourth positioning information of the satellite orientation chip with respect to the second satellite based on the fourth satellite signal;
a second determining unit configured to determine a first integer ambiguity and position information of a target vector based on the first pseudorange observation, the first carrier phase observation, the second pseudorange observation, the second carrier phase observation, the third pseudorange observation, the third carrier phase observation, the fourth pseudorange observation, the fourth carrier phase observation, the first positioning information, the second positioning information, the third positioning information, the fourth positioning information, and a preset observation equation; the target vector points from the phase center of the first antenna to the phase center of the second antenna;
and the third determining unit is used for determining the accuracy of the position information based on the first integer ambiguity and a preset integer ambiguity, and determining the direction information of the target vector based on the position information when the accuracy meets a preset requirement.
In a third aspect, an embodiment of the present application provides a satellite orientation chip, where the chip includes a processor, a memory, and a computer program stored in the memory and executable on the processor, and the processor, when executing the computer program, implements the satellite orientation method according to the first aspect.
In a fourth aspect, embodiments of the present application provide a computer-readable storage medium storing a computer program, which when executed by a processor implements the satellite orientation method according to the first aspect.
In a fifth aspect, embodiments of the present application provide a computer program product, which when run on a chip, causes the chip to perform the satellite orientation method according to the first aspect.
The implementation of the satellite orientation method, the chip, the computer readable storage medium and the computer program product provided by the embodiments of the present application has the following beneficial effects:
the satellite orientation method provided by the embodiment of the application is applied to the satellite orientation chip, namely, the satellite orientation chip is used for carrying out orientation calculation, so that the satellite orientation device can realize the orientation calculation without other processors except the satellite orientation chip and the satellite positioning chip, and the cost and the power consumption of the satellite orientation device are reduced; in addition, the satellite orientation chip determines the accuracy of the position information of the target vector based on the first integer ambiguity and the preset integer ambiguity, and determines the direction information of the target vector based on the position information of the target vector when the accuracy meets the preset requirement, so that the orientation accuracy is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is a schematic structural diagram of a satellite orientation apparatus according to an embodiment of the present disclosure;
fig. 2 is a schematic diagram of a target vector according to an embodiment of the present disclosure;
fig. 3 is a schematic flow chart of a satellite orientation method according to an embodiment of the present application;
fig. 4 is a flowchart illustrating an implementation of S33 in a satellite orientation method according to another embodiment of the present application;
fig. 5 is a schematic structural diagram of a satellite orientation chip according to an embodiment of the present disclosure;
fig. 6 is a schematic structural diagram of a satellite orientation chip according to another embodiment of the present application.
Detailed Description
It is noted that the terminology used in the description of the embodiments of the present application is for the purpose of describing particular embodiments of the present application only and is not intended to be limiting of the present application. In the description of the embodiments of the present application, "/" means "or" unless otherwise specified, for example, a/B may mean a or B; "and/or" herein is merely an associative relationship describing an association, meaning that there may be three relationships, e.g., a and/or B, may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, in the description of the embodiments of the present application, "a plurality" means two or more, and "at least one", "one or more" means one, two or more, unless otherwise specified.
In the following, the terms "first", "second" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a definition of "a first" or "a second" feature may explicitly or implicitly include one or more of the features.
Reference throughout this specification to "one embodiment" or "some embodiments," or the like, means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," or the like, in various places throughout this specification are not necessarily all referring to the same embodiment, but rather "one or more but not all embodiments" unless specifically stated otherwise. The terms "comprising," "including," "having," and variations thereof mean "including, but not limited to," unless expressly specified otherwise.
The embodiment of the application firstly provides a satellite orientation device. Referring to fig. 1, fig. 1 is a schematic structural diagram of a satellite orientation device according to an embodiment of the present disclosure. As shown in fig. 1, the satellite orientation apparatus 10 may include: the satellite positioning system comprises a satellite positioning chip 111, a first antenna 112 connected with the satellite positioning chip 111, a satellite orientation chip 121 and a second antenna 122 connected with the satellite orientation chip 121.
The satellite positioning chip 111 may receive a satellite signal from a satellite through the first antenna 112, and process the received satellite signal to obtain positioning information describing a position of the satellite positioning chip 111, and a pseudo-range observed quantity and a carrier phase observed quantity of the satellite positioning chip 111 relative to the satellite.
The satellite orientation chip 121 may receive a satellite signal from a satellite through the second antenna, and process the received satellite signal to obtain positioning information describing a position of the satellite orientation chip 121, and a pseudo-range observed quantity and a carrier phase observed quantity of the satellite orientation chip 121 with respect to the satellite.
In the embodiment of the present application, the satellite positioning chip 111 is further connected to the satellite orientation chip 121. Satellite positioning chip 111 may send its positioning information to satellite positioning chip 121 along with its pseudorange observations and carrier-phase observations relative to the satellites. The satellite orientation chip 121 may perform orientation calculation based on the orientation reference information, the positioning information of the satellite orientation chip 121, and the pseudo-range observed amount and the carrier phase observed amount of the satellite orientation chip 121 with respect to the satellite, with the positioning information of the satellite positioning chip 111 and the pseudo-range observed amount and the carrier phase observed amount of the satellite positioning chip 111 with respect to the satellite as the orientation reference information. The purpose of the orientation calculation is to calculate the directional information of the target vector. Wherein the target vector points from the phase center of the first antenna 112 to the phase center of the second antenna 122. In a specific application, since the phase center and the geometric center of the satellite antenna are designed to be close, the geometric center of the first antenna 112 can be used as its phase center, and the geometric center of the second antenna 122 can be used as its phase center.
The direction information of the target vector may include a direction angle and a pitch angle of the target vector. Illustratively, as shown in fig. 2, if a is the phase center of the first antenna 112 and B is the phase center of the second antenna 122, the target vector points to B from a, and the direction angle and the pitch angle of the target vector are respectively an angle a and an angle B in a station-centered coordinate system (also called an east-north-up (ENU) coordinate system).
It should be noted that, the specific process of the orientation calculation may refer to the related description in the subsequent embodiments of the satellite orientation method.
In the embodiment of the present application, the connection manner between the satellite positioning chip 111 and the satellite positioning chip 121 may be set according to actual requirements, and is not particularly limited herein. For example, the satellite positioning chip 111 and the satellite orientation chip 121 may be connected by a serial communication bus (e.g., an Inter-Integrated Circuit (I2C)) with a fast data transmission speed.
It should be noted that, in a specific application, the satellite positioning apparatus 10 may further include: a power module and a clock generator (not shown). The power module is used for supplying power to the first positioning module 11 and the second positioning module 12. The clock generator is used for providing clock signals for the first positioning module 11 and the second positioning module 12. The first positioning module 11 and the second positioning module 12 may share the same clock signal.
In a specific application, the clock generator may be a crystal oscillator (crystal oscillator for short) as an example.
The embodiment of the application also provides a satellite orientation method based on the satellite orientation device. Referring to fig. 3, fig. 3 is a schematic flowchart of a satellite orientation method according to an embodiment of the present disclosure. The main body of the satellite orientation method can be the satellite orientation chip 121 in the satellite orientation device 10 in fig. 1. Specifically, the satellite orientation method may include S31 to S34, which are detailed as follows:
s31: acquiring a first pseudo-range observed quantity, a first carrier phase observed quantity, a second pseudo-range observed quantity, a second carrier phase observed quantity, first positioning information and second positioning information from the satellite positioning chip; the first pseudorange observation, the first carrier phase observation, and the first positioning information are determined by the satellite positioning chip based on a first satellite signal from a first satellite, and the second pseudorange observation, the second carrier phase observation, and the second positioning information are determined by the satellite positioning chip based on a second satellite signal from a second satellite.
In this embodiment, the satellite positioning chip may receive a first satellite signal from a first satellite and a second satellite signal from a second satellite through the first antenna, and determine, based on the first satellite signal, first positioning information of the satellite positioning chip and a first pseudorange observation and a first carrier phase observation of the satellite positioning chip with respect to the first satellite, and determine, based on the second satellite signal, second position information of the satellite positioning chip and a second pseudorange observation and a second carrier phase observation of the satellite positioning chip with respect to the second satellite. And the first positioning information and the second positioning information are used for describing the position of the satellite positioning chip.
After the satellite positioning chip obtains the first pseudorange observed quantity, the first carrier phase observed quantity, the second pseudorange observed quantity, the second carrier phase observed quantity, the first positioning information and the second positioning information, the first pseudorange observed quantity, the first carrier phase observed quantity, the second pseudorange observed quantity, the second carrier phase observed quantity, the first positioning information and the second positioning information can be sent to the satellite positioning chip.
In a possible implementation manner, the satellite positioning chip may actively send the first pseudorange observed quantity, the first carrier phase observed quantity, the second pseudorange observed quantity, the second carrier phase observed quantity, the first positioning information, and the second positioning information to the satellite positioning chip. In another possible mode, the satellite orientation chip may send an orientation reference information acquisition request to the satellite positioning chip; after receiving the orientation reference information acquisition request from the satellite orientation chip, the satellite positioning chip sends a first pseudo-range observed quantity, a first carrier phase observed quantity, a second pseudo-range observed quantity, a second carrier phase observed quantity, first positioning information and second positioning information to the satellite orientation chip. That is to say, the satellite positioning chip may actively obtain the first pseudorange observed quantity, the first carrier phase observed quantity, the second pseudorange observed quantity, the second carrier phase observed quantity, the first positioning information and the second positioning information from the satellite positioning chip, or may passively receive the first pseudorange observed quantity, the first carrier phase observed quantity, the second pseudorange observed quantity, the second carrier phase observed quantity, the first positioning information and the second positioning information sent by the satellite positioning chip.
S32: receiving a third satellite signal from the first satellite and a fourth satellite signal from the second satellite, determining a third pseudorange observation, a third carrier phase observation, and third positioning information for the satellite orientation chip relative to the first satellite based on the third satellite signal, and determining a fourth pseudorange observation, a fourth carrier phase observation, and fourth positioning information for the satellite orientation chip relative to the second satellite based on the fourth satellite signal.
In this embodiment, the satellite orientation chip may receive a third satellite signal from the first satellite and a fourth satellite signal from the second satellite through the second antenna.
The frequencies of the first satellite signal, the second satellite signal, the third satellite signal and the fourth satellite signal are the same, and the frequencies may be configured according to actual requirements, and are not particularly limited herein.
It should be noted that the satellite orientation chip may perform S31 and then S32, may perform S32 and then S31, and may perform S31 and S32 at the same time, and the order of performing S31 and S32 by the satellite orientation chip is not particularly limited in this embodiment of the application.
S33: determining a first integer ambiguity and position information of a target vector based on the first pseudorange observation, the first carrier phase observation, the second pseudorange observation, the second carrier phase observation, the third pseudorange observation, the third carrier phase observation, the fourth pseudorange observation, the fourth carrier phase observation, the first positioning information, the second positioning information, the third positioning information, the fourth positioning information, and a preset observation equation.
In one embodiment of the present application, the position information of the target vector may be represented by coordinates of the target vector in an Earth-Centered Earth-Fixed (ECEF) coordinate system.
Illustratively, suppose the phase center of the first antenna has a coordinate of (x) in the ECEF coordinate systemr，yr，zr) The phase center of the second antenna has a coordinate (x) in the ECEF coordinate systemb，yb，zb) Then the coordinate x of the target vector in the ECEF coordinate systemrbCan be expressed as:
Figure BDA0003306733000000071
in one embodiment of the present application, the preset observation equations may include double-difference observation equations for pseudoranges and double-difference observation equations for carrier phases.
Specifically, the double-difference observation equation for pseudoranges may be as follows:
Figure BDA0003306733000000072
wherein the content of the first and second substances,
Figure BDA0003306733000000073
is an inter-satellite double-difference observation of pseudoranges,
Figure BDA0003306733000000074
is an inter-satellite double-difference observed quantity of the station-satellite distance,
Figure BDA0003306733000000075
is a coefficient matrix of the satellite positioning chip relative to the first satellite,
Figure BDA0003306733000000076
for the coefficient matrix, x, of the satellite positioning chip relative to the second satelliterbThe coordinates of the target vector in the ECEF coordinate system,
Figure BDA0003306733000000077
inter-satellite double-difference observation noise of pseudo-range.
The double-difference observation equation for the carrier phase may be as follows:
Figure BDA0003306733000000078
wherein, λ is the wavelength of the satellite signal,
Figure BDA0003306733000000079
is an inter-satellite double-difference observation of the carrier phase,
Figure BDA00033067330000000710
is the first integer ambiguity of the first integer,
Figure BDA00033067330000000711
the noise is observed for the inter-satellite double differences of the carrier phase.
Based on this, in an embodiment of the present application, S33 can be specifically realized by S331 to S334 shown in fig. 4, which are detailed as follows:
s331: and determining inter-satellite double-difference observations of the pseudoranges based on the first pseudorange observation, the second pseudorange observation, the third pseudorange observation and the fourth pseudorange observation.
In this embodiment, the satellite orientation chip may determine the inter-satellite double-difference observed quantity of the pseudorange by using the following formula:
Figure BDA0003306733000000081
wherein the content of the first and second substances,
Figure BDA0003306733000000082
is an inter-satellite double-difference observation of pseudoranges,
Figure BDA0003306733000000083
for a first set of pseudorange observations,
Figure BDA0003306733000000084
is the second pseudorangeThe observed quantity is measured by a computer,
Figure BDA0003306733000000085
for the third pseudorange observation,
Figure BDA0003306733000000086
is the fourth pseudorange observation.
S332: determining an inter-satellite double-difference observation of a carrier phase based on the first, second, third, and fourth carrier phase observations.
In this embodiment, the satellite orientation chip may determine the inter-satellite double-difference observed quantity of the carrier phase by using the following formula:
Figure BDA0003306733000000087
wherein the content of the first and second substances,
Figure BDA0003306733000000088
is an inter-satellite double-difference observation of the carrier phase,
Figure BDA0003306733000000089
for the first carrier-phase observation,
Figure BDA00033067330000000810
for the second carrier-phase observation,
Figure BDA00033067330000000811
as a third carrier phase observation,
Figure BDA00033067330000000812
is the fourth carrier phase observation.
S333: and determining an inter-satellite double-difference observation quantity of the station-to-satellite distance based on the first positioning information, the second positioning information, the third positioning information and the fourth positioning information.
In the present embodiment, the first position information and the second position informationThe two position information can be represented by the coordinates of the satellite positioning chip in the ECEF coordinate system, and the third position information and the fourth position information can be represented by the coordinates of the satellite positioning chip in the ECEF coordinate system. For example, the coordinates in the ECEF coordinate system can be determined by a satellite positioning chip
Figure BDA00033067330000000813
To represent the coordinates of the first positioning information in the ECEF coordinate system by the satellite positioning chip
Figure BDA00033067330000000814
To represent the coordinates of the second positioning information in the ECEF coordinate system by the satellite orientation chip
Figure BDA00033067330000000815
To represent the third positioning information and the coordinates in the ECEF coordinate system by the satellite orientation chip
Figure BDA00033067330000000816
To represent fourth positioning information.
Based on this, in one possible implementation, the satellite orientation chip may determine a first satellite-to-satellite distance between the satellite positioning chip and the first satellite based on the first positioning information and the position information of the first satellite. Wherein the position information of the first satellite can be passed through the coordinates of the first satellite in the ECEF coordinate system. Specifically, the satellite orientation chip may determine the first satellite-to-satellite distance based on the following equation:
Figure BDA00033067330000000817
wherein the content of the first and second substances,
Figure BDA00033067330000000818
is the first satellite distance, (x)p，yp，zp) Is the coordinates of the first satellite in the ECEF coordinate system,
Figure BDA0003306733000000091
the coordinates of the satellite positioning chip in the ECEF coordinate system are determined according to the first satellite signal. It should be noted that the coordinates of the first satellite in the ECEF coordinate system are used to represent the position information of the first satellite, and the position information of the first satellite is usually carried in a satellite signal (e.g., the first satellite signal or the third satellite signal) transmitted by the first satellite.
In one possible implementation, the satellite orientation chip may determine a second satellite distance between the satellite positioning chip and the second satellite based on the second positioning information and the position information of the second satellite. Specifically, the satellite orientation chip may determine the second satellite range based on the following equation:
Figure BDA0003306733000000092
wherein the content of the first and second substances,
Figure BDA0003306733000000093
is the second satellite distance, (x)q，yq，zq) Is the coordinates of the second satellite in the ECEF coordinate system,
Figure BDA0003306733000000094
the coordinates of the obtained satellite positioning chip in the ECEF coordinate system are determined according to the second satellite signal. It should be noted that the coordinates of the second satellite in the ECEF coordinate system are used to represent the position information of the second satellite, and the position information of the second satellite is usually carried in the satellite signal (e.g. the second satellite signal or the fourth satellite signal) transmitted by the second satellite.
In one possible implementation, the satellite orientation chip may determine a third satellite distance between the satellite orientation chip and the first satellite based on the third positioning information and the position information of the first satellite. Specifically, the satellite orientation chip may determine the third satellite distance based on the following equation:
Figure BDA0003306733000000095
wherein the content of the first and second substances,
Figure BDA0003306733000000096
is the third range of the satellite to the third satellite,
Figure BDA0003306733000000097
the coordinates of the obtained satellite orientation chip in the ECEF coordinate system are determined according to the third satellite signal.
In one possible implementation, the satellite orientation chip may determine a fourth satellite distance between the satellite orientation chip and the second satellite based on the fourth positioning information and the position information of the second satellite. Specifically, the satellite orientation chip may determine the fourth satellite distance based on the following equation:
Figure BDA0003306733000000098
wherein the content of the first and second substances,
Figure BDA0003306733000000099
is the fourth satellite-to-satellite distance,
Figure BDA00033067330000000910
and determining the coordinates of the obtained satellite orientation chip in the ECEF coordinate system according to the fourth satellite signal.
In this embodiment, after the satellite orientation chip obtains the first station satellite distance, the second station satellite distance, the third station satellite distance, and the fourth station satellite distance, the inter-satellite double-difference observed quantity of the station satellite distance may be determined based on the following formula:
Figure BDA00033067330000000911
wherein the content of the first and second substances,
Figure BDA00033067330000000912
is an inter-satellite double-difference observed quantity of the station-satellite distance,
Figure BDA00033067330000000913
is the first range of the satellite to the first station,
Figure BDA00033067330000000914
is the second range of the satellite to the second satellite,
Figure BDA00033067330000000915
is the third range of the satellite to the third satellite,
Figure BDA00033067330000000916
is the fourth satellite distance.
S334: and determining a first coefficient matrix of the satellite positioning chip relative to the first satellite, a second coefficient matrix of the satellite positioning chip relative to the second satellite, the double-difference satellite observation noise of the pseudo range and the double-difference satellite observation noise of the carrier phase.
In one possible implementation, the satellite orientation chip may determine the first coefficient matrix based on the position information of the first satellite, the first positioning information, and the first satellite-to-satellite distance. In particular, a first coefficient matrix
Figure BDA0003306733000000101
Can be as follows:
Figure BDA0003306733000000102
in one possible implementation, the satellite orientation chip may determine the second coefficient matrix based on the position information of the second satellite, the second positioning information, and the second satellite distance. In particular, the second coefficient matrix
Figure BDA0003306733000000103
Can be as follows:
Figure BDA0003306733000000104
in one possible implementation, the satellite orientation chip may determine the inter-satellite double-difference observation noise of the pseudorange based on the following formula:
Figure BDA0003306733000000105
wherein the content of the first and second substances,
Figure BDA0003306733000000106
is the inter-satellite double-difference observation noise of the pseudoranges,
Figure BDA0003306733000000107
for pseudorange observation noise of the satellite positioning chip with respect to the first satellite,
Figure BDA0003306733000000108
to orient the chip for pseudorange observation noise for the satellite relative to the first satellite,
Figure BDA0003306733000000109
for pseudorange observation noise of the satellite positioning chip relative to the second satellite,
Figure BDA00033067330000001010
and observing noise for the pseudo range of the satellite orientation chip relative to the second satellite.
In one possible implementation, the satellite orientation chip may determine the inter-satellite double-difference observation noise of the carrier phase based on the following formula:
Figure BDA00033067330000001011
wherein the content of the first and second substances,
Figure BDA00033067330000001012
the noise is observed for the inter-satellite double differences of the carrier phase,
Figure BDA00033067330000001013
positioning the chip relative to the satelliteNoise is observed at the carrier phase of the first satellite,
Figure BDA00033067330000001014
the noise is observed for the carrier phase of the satellite orientation chip relative to the first satellite,
Figure BDA00033067330000001015
noise is observed for the carrier phase of the satellite positioning chip relative to the second satellite,
Figure BDA00033067330000001016
the noise is observed for the carrier phase of the satellite orientation chip relative to the second satellite.
S335: and determining the first integer ambiguity and the position information of the target vector based on the inter-satellite double-difference observed quantity of the pseudo range, the inter-satellite double-difference observed quantity of the carrier phase, the inter-satellite double-difference observed quantity of the station-satellite distance, the first coefficient matrix, the second coefficient matrix, the inter-satellite double-difference observation noise of the pseudo range, the inter-satellite double-difference observation noise of the carrier phase, the wavelength of the satellite signal, the double-difference observation equation of the pseudo range and the double-difference observation equation of the carrier phase.
In this embodiment, the satellite orientation chip may substitute the inter-satellite double-difference observation quantity of the pseudo-range, the inter-satellite double-difference observation quantity of the station-satellite distance, the first coefficient matrix, the second coefficient matrix, and the inter-satellite double-difference observation noise of the pseudo-range into the double-difference observation equation of the pseudo-range (i.e., formula (1)), substitute the inter-satellite double-difference observation quantity of the satellite signal, the carrier phase, the inter-satellite double-difference observation quantity of the station-satellite distance, the first coefficient matrix, the second coefficient matrix, and the inter-satellite double-difference observation noise of the carrier phase into the double-difference observation equation of the carrier phase (i.e., formula (2)), parallel connect the sets of cubic equations (i.e., the pseudo-range double-difference observation equation of the pseudo-range and the carrier phase double-difference observation equation of the carrier phase), and solve the set of equations by using the least square method and the newton iteration method, thereby obtaining a floating point solution of the position information of the target vector and a floating point solution of the inter-satellite double-difference integer ambiguity
Figure BDA0003306733000000111
Because the double-difference integer ambiguity between the satellites has integer characteristics, the satellite orientation chip can fix the double-difference integer ambiguity between the satellites by using the LAMBDA method to obtain a fixed solution of the double-difference integer ambiguity between the satellites
Figure BDA0003306733000000112
And release the fixation
Figure BDA0003306733000000113
Determining the first integer ambiguity, and determining the first integer ambiguity
Figure BDA0003306733000000114
And substituting the two-difference observation equation of the carrier phase to obtain the position information of the target vector.
S34: determining the accuracy of the position information based on the first integer ambiguity and a preset integer ambiguity, and determining the direction information of the target vector based on the position information when the accuracy meets a preset requirement.
In this embodiment of the application, the preset integer ambiguity may be obtained by the satellite orientation chip through calculation based on an inter-satellite double-difference observation quantity of the pseudo range, an inter-satellite double-difference observation quantity of the carrier phase, a wavelength of the satellite signal, and an integer ambiguity calculation formula. The integer ambiguity calculation formula can be as follows:
Figure BDA0003306733000000115
wherein the content of the first and second substances,
Figure BDA0003306733000000116
in order to preset the integer ambiguity,
Figure BDA0003306733000000117
is an inter-satellite double-difference observation of the carrier phase,
Figure BDA0003306733000000118
double-differenced inter-satellite observations as pseudorangesThe quantity, λ, is the wavelength of the satellite signal.
In one embodiment of the present application, the satellite orientation chip may determine the accuracy of the position information based on the following steps, and determine whether the accuracy meets a preset requirement:
determining a distance value between a phase center of the first antenna and a phase center of the second antenna;
calculating a target error value based on the distance value, the wavelength of the satellite signal, a preset error value and a target error value calculation formula; the target error value calculation formula is:
Figure BDA0003306733000000119
where σ is the target error value, d12For the distance value, λ is the wavelength of the satellite signal, and σ' is the preset error value;
and if the absolute value of the difference value of the first integer ambiguity and a preset integer ambiguity is smaller than the target error value, determining that the accuracy meets a preset requirement.
In one embodiment of the present application, the satellite orientation chip may determine the directional information of the target vector based on the following steps:
performing coordinate conversion on the position information to obtain the coordinates of the target vector in a station center coordinate system;
and determining the direction angle and the pitch angle of the target vector based on the coordinates of the target vector in the station center coordinate system.
In this embodiment, the satellite orientation chip may perform coordinate conversion on the position information of the target vector based on the following formula:
Figure BDA0003306733000000121
wherein, ENUrbIs the coordinate of the target vector in the station center coordinate system, L is the longitude of the second antenna, and B is the latitude of the second antenna.
The satellite orientation chip may calculate the direction angle of the target vector based on the following formula:
Figure BDA0003306733000000122
wherein, the header is a direction angle of the target vector in the station center coordinate system;
Erb＝[-sin(L)·xrb cos(L)·xrb 0]；
Nrb＝[-sin(B)·cos(L)·xrb -sin(B)sin(L)·xrb cos(B)·xrb]。
the satellite orientation chip may calculate the pitch angle of the target vector based on the following formula:
Figure BDA0003306733000000123
wherein pitch is the pitch angle of the target vector in the station center coordinate system;
Urb＝[cos(B)·cos(L)·xrb cos(B)sin(L)·xrb sin(B)·xrb]。
as can be seen from the above, the satellite orientation method provided in this embodiment is applied to the satellite orientation chip, that is, the satellite orientation chip is used for performing the orientation calculation, so that the satellite orientation device can perform the orientation calculation without including other processors except the satellite orientation chip and the satellite positioning chip, thereby reducing the cost and power consumption of the satellite orientation device; in addition, the satellite orientation chip determines the accuracy of the position information of the target vector based on the first integer ambiguity and the preset integer ambiguity, and determines the direction information of the target vector based on the position information of the target vector when the accuracy meets the preset requirement, so that the orientation accuracy is improved.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.
Based on the satellite orientation method provided by the embodiment, the embodiment of the invention further provides an embodiment of a satellite orientation chip for realizing the method embodiment. Referring to fig. 5, fig. 5 is a schematic structural diagram of a satellite orientation chip according to an embodiment of the present disclosure. For convenience of explanation, only the portions related to the present embodiment are shown. As shown in fig. 5, the satellite orientation chip 50 may include: a first acquisition unit 51, a first determination unit 52, a second determination unit 53, and a third determination unit 54. Wherein:
the first obtaining unit 51 is configured to obtain a first pseudorange observed quantity, a first carrier phase observed quantity, a second pseudorange observed quantity, a second carrier phase observed quantity, first positioning information, and second positioning information from the satellite positioning chip; the first pseudorange observation, the first carrier phase observation, and the first positioning information are determined by the satellite positioning chip based on a first satellite signal from a first satellite, and the second pseudorange observation, the second carrier phase observation, and the second positioning information are determined by the satellite positioning chip based on a second satellite signal from a second satellite.
The first determining unit 52 is configured to receive a third satellite signal from the first satellite and a fourth satellite signal from the second satellite, determine a third pseudorange observation, a third carrier phase observation and third positioning information of the satellite orientation chip relative to the first satellite based on the third satellite signal, and determine a fourth pseudorange observation, a fourth carrier phase observation and fourth positioning information of the satellite orientation chip relative to the second satellite based on the fourth satellite signal.
A second determining unit 53 is configured to determine first integer ambiguity and position information of a target vector based on the first pseudorange observation, the first carrier phase observation, the second pseudorange observation, the second carrier phase observation, the third pseudorange observation, the third carrier phase observation, the fourth pseudorange observation, the fourth carrier phase observation, the first positioning information, the second positioning information, the third positioning information, the fourth positioning information, and a preset observation equation; the target vector is directed from the phase center of the first antenna to the phase center of the second antenna.
The third determining unit 54 is configured to determine an accuracy of the position information based on the first integer ambiguity and a preset integer ambiguity, and determine the direction information of the target vector based on the position information when the accuracy meets a preset requirement.
Optionally, the preset observation equation includes: a pseudo-range double-difference observation equation and a carrier phase double-difference observation equation; correspondingly, the second determining unit may include: the device comprises a pseudo-range double-differential-quantity determining unit, a carrier phase double-differential-quantity determining unit, a satellite-to-satellite distance double-differential-quantity determining unit, a coefficient noise determining unit and a position information determining unit. Wherein:
the pseudo-range double delta determination unit is used for determining inter-satellite double-difference observed quantities of the pseudo ranges based on the first pseudo-range observed quantity, the second pseudo-range observed quantity, the third pseudo-range observed quantity and the fourth pseudo-range observed quantity.
The carrier phase double difference determination unit is configured to determine an inter-satellite double-difference observed quantity of a carrier phase based on the first carrier phase observed quantity, the second carrier phase observed quantity, the third carrier phase observed quantity and the fourth carrier phase observed quantity.
The station-satellite distance double difference amount determining unit is used for determining an inter-satellite double difference observed amount of the station-satellite distance based on the first positioning information, the second positioning information, the third positioning information and the fourth positioning information.
The coefficient noise determining unit is used for determining a first coefficient matrix of the satellite positioning chip relative to the first satellite, a second coefficient matrix of the satellite positioning chip relative to the second satellite, inter-satellite double-difference observation noise of the pseudo range and inter-satellite double-difference observation noise of the carrier phase.
The position information determining unit is configured to determine the first integer ambiguity and the position information of the target vector based on the inter-satellite double-difference observation quantity of the pseudo-range, the inter-satellite double-difference observation quantity of the carrier phase, the inter-satellite double-difference observation quantity of the station-satellite distance, the first coefficient matrix, the second coefficient matrix, the inter-satellite double-difference observation noise of the pseudo-range, the inter-satellite double-difference observation noise of the carrier phase, the wavelength of a satellite signal, the double-difference observation equation of the pseudo-range, and the double-difference observation equation of the carrier phase.
Optionally, the satellite orientation chip further includes a preset integer ambiguity determination unit.
The preset integer ambiguity determination unit is used for calculating the preset integer ambiguity based on the inter-satellite double-difference observed quantity of the pseudo range, the inter-satellite double-difference observed quantity of the carrier phase, the wavelength of the satellite signal and an integer ambiguity calculation formula;
the integer ambiguity calculation formula is as follows:
Figure BDA0003306733000000141
wherein the content of the first and second substances,
Figure BDA0003306733000000142
for the pre-set integer ambiguity,
Figure BDA0003306733000000143
is an inter-satellite double-difference observation of the carrier phase,
Figure BDA0003306733000000144
and lambda is the wavelength of the satellite signal.
Optionally, the third determining unit specifically includes: the device comprises a distance value determining unit, an error value determining unit and an accuracy judging unit. Wherein:
the distance value determining unit is used for determining a distance value between the phase center of the first antenna and the phase center of the second antenna.
The error value determining unit is used for calculating a target error value based on the distance value, the wavelength of the satellite signal, a preset error value and a target error value calculation formula; the target error value calculation formula is:
Figure BDA0003306733000000145
where σ is the target error value, d12For the distance value, λ is the wavelength of the satellite signal, and σ' is the preset error value.
The accuracy judging unit is used for determining that the accuracy meets a preset requirement if the absolute value of the difference value of the first integer ambiguity and a preset integer ambiguity is smaller than the target error value.
Optionally, the pseudo-range double delta determination unit is specifically configured to:
determining inter-satellite double-difference observations of the pseudoranges based on the following formula:
Figure BDA0003306733000000151
wherein the content of the first and second substances,
Figure BDA0003306733000000152
is an inter-satellite double-difference observation of the pseudoranges,
Figure BDA0003306733000000153
for the first pseudorange observation, determining a first pseudorange observation,
Figure BDA0003306733000000154
for the second pseudorange observation, determining a second pseudorange observation,
Figure BDA0003306733000000155
for the third pseudorange observation,
Figure BDA0003306733000000156
is the fourth pseudorange observation;
the carrier phase double difference determining unit is specifically configured to:
determining an inter-satellite double-difference observation of the carrier phase based on the following formula:
Figure BDA0003306733000000157
wherein the content of the first and second substances,
Figure BDA0003306733000000158
is an inter-satellite double-difference observation of the carrier phase,
Figure BDA0003306733000000159
for the first carrier-phase observation,
Figure BDA00033067330000001510
for the second carrier-phase observation,
Figure BDA00033067330000001511
for the third carrier phase observation,
Figure BDA00033067330000001512
is the fourth carrier-phase observation.
Optionally, the station-to-satellite distance double difference determining unit is specifically configured to:
determining a first satellite-to-satellite distance between the satellite positioning chip and the first satellite based on the first positioning information and the position information of the first satellite;
determining a second satellite-to-satellite distance between the satellite positioning chip and the second satellite based on the second positioning information and the position information of the second satellite;
determining a third satellite distance between the satellite orientation chip and the first satellite based on the third positioning information and the position information of the first satellite;
determining a fourth satellite distance between the satellite orientation chip and the second satellite based on the fourth positioning information and the position information of the second satellite;
and determining an inter-satellite double-difference observation quantity of the station-satellite distance based on the first station-satellite distance, the second station-satellite distance, the third station-satellite distance and the fourth station-satellite distance.
Optionally, the coefficient noise determining unit is specifically configured to:
determining the first coefficient matrix based on the following equation:
Figure BDA00033067330000001513
wherein the content of the first and second substances,
Figure BDA00033067330000001514
is the first coefficient matrix, (x)p，yp，zp) For representing position information of the first satellite,
Figure BDA00033067330000001515
for representing the first positioning information and the second positioning information,
Figure BDA00033067330000001516
is the first station-to-satellite distance;
determining the first coefficient matrix based on the following equation:
Figure BDA0003306733000000161
wherein the content of the first and second substances,
Figure BDA0003306733000000162
is the first coefficient matrix, (x)q，yq，zq) For representing position information of the second satellite,
Figure BDA0003306733000000163
for representing the second positioning information,
Figure BDA0003306733000000164
is the second satellite-to-satellite distance;
determining an inter-satellite double-difference observation noise for the pseudoranges based on the following equation:
Figure BDA0003306733000000165
wherein the content of the first and second substances,
Figure BDA0003306733000000166
the inter-satellite double-difference observation noise for the pseudoranges,
Figure BDA0003306733000000167
for pseudorange observation noise of the satellite positioning chip relative to the first satellite,
Figure BDA0003306733000000168
for pseudorange observation noise of the satellite orientation chip relative to the first satellite,
Figure BDA0003306733000000169
for pseudorange observation noise of the satellite positioning chip relative to the second satellite,
Figure BDA00033067330000001610
observing noise for a pseudorange of the satellite orientation chip relative to the second satellite;
determining an inter-satellite double-difference observation noise for the carrier phase based on the following formula:
Figure BDA00033067330000001611
wherein the content of the first and second substances,
Figure BDA00033067330000001612
for the inter-satellite double-difference observation noise of the carrier phase,
Figure BDA00033067330000001613
positioning the chip for the satellite relative to the secondThe carrier phase of a satellite observes noise that,
Figure BDA00033067330000001614
observing noise for a carrier phase of the satellite orientation chip relative to the first satellite,
Figure BDA00033067330000001615
observing noise for a carrier phase of the satellite positioning chip relative to the second satellite,
Figure BDA00033067330000001616
and observing noise for the carrier phase of the satellite orientation chip relative to the second satellite.
It should be noted that, because the contents of information interaction, execution process, and the like between the modules are based on the same concept as that of the embodiment of the method of the present application, specific functions and technical effects thereof may be referred to specifically in the embodiment of the method, and are not described herein again.
It is obvious to those skilled in the art that, for convenience and simplicity of description, the foregoing functional units and modules are merely illustrated in terms of division, and in practical applications, the foregoing functional allocation may be performed by different functional units and modules as needed, that is, the internal structure of the satellite orientation chip is divided into different functional units or modules to perform all or part of the above described functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
Referring to fig. 6, fig. 6 is a schematic structural diagram of a satellite orientation chip according to another embodiment of the present application. As shown in fig. 6, the satellite orientation chip 6 provided in this embodiment may include: a processor 60, a memory 61 and a computer program 62 stored in the memory 61 and executable on the processor 60, such as a program corresponding to a satellite orientation method. The processor 60, when executing the computer program 62, implements the steps in the various satellite orientation method embodiments described above, such as S31-S34 shown in FIG. 3. Alternatively, the processor 60, when executing the computer program 62, implements the functions of the modules/units in the chip embodiments described above, such as the functions of the units 51-54 shown in FIG. 5.
Illustratively, the computer program 62 may be divided into one or more modules/units, which are stored in the memory 61 and executed by the processor 60 to accomplish the present application. One or more of the modules/units may be a series of computer program instruction segments capable of performing specific functions that describe the execution of the computer program 62 in the satellite orientation chip 6. For example, the computer program 62 may be divided into a first obtaining unit, a first determining unit, a second determining unit and a third determining unit, and the specific functions of each unit refer to the description in the embodiment corresponding to fig. 5, which is not repeated herein.
It will be appreciated by those skilled in the art that fig. 6 is merely an example of a satellite orientation chip 6 and does not constitute a limitation of the chip 6 and may include more or fewer components than shown, or some components in combination, or different components.
The processor 60 may be a Central Processing Unit (CPU), other general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 61 may be an internal storage unit of the satellite orientation chip 6, such as a hard disk or a memory of the satellite orientation chip 6. The memory 61 may also be an external storage device of the satellite orientation chip 6, such as a plug-in hard disk, a Smart Memory Card (SMC), a Secure Digital (SD) card, or a flash memory card (flash card) provided on the satellite orientation chip 6. Further, the memory 61 may also include both an internal storage unit of the satellite orientation chip 6 and an external storage device. The memory 61 is used for storing computer programs and other programs and data required by the satellite orientation chip. The memory 61 may also be used to temporarily store data that has been output or is to be output.
The embodiments of the present application further provide a computer-readable storage medium, in which a computer program is stored, and when the computer program is executed by a processor, the steps in the above-mentioned method embodiments can be implemented.
The embodiments of the present application provide a computer program product, which when running on a satellite orientation chip, enables the satellite orientation chip to implement the steps in the above method embodiments when executed.
In the above embodiments, the description of each embodiment has its own emphasis, and parts that are not described or illustrated in a certain embodiment may refer to the description of other embodiments.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.

Claims (10)

1. A satellite orientation method is characterized in that the method is applied to a satellite orientation chip, the satellite orientation chip is connected with a satellite positioning chip, the satellite positioning chip receives satellite signals through a first antenna, and the satellite orientation chip receives the satellite signals through a second antenna; the satellite orientation method comprises the following steps:
acquiring a first pseudo-range observed quantity, a first carrier phase observed quantity, a second pseudo-range observed quantity, a second carrier phase observed quantity, first positioning information and second positioning information from the satellite positioning chip; the first pseudorange observation, the first carrier phase observation, and the first positioning information are determined by the satellite positioning chip based on a first satellite signal from a first satellite, and the second pseudorange observation, the second carrier phase observation, and the second positioning information are determined by the satellite positioning chip based on a second satellite signal from a second satellite;
receiving a third satellite signal from the first satellite and a fourth satellite signal from the second satellite, determining a third pseudorange observation, a third carrier phase observation, and third positioning information for the satellite orientation chip relative to the first satellite based on the third satellite signal, and determining a fourth pseudorange observation, a fourth carrier phase observation, and fourth positioning information for the satellite orientation chip relative to the second satellite based on the fourth satellite signal;
determining a first integer ambiguity and position information of a target vector based on the first pseudorange observation, the first carrier phase observation, the second pseudorange observation, the second carrier phase observation, the third pseudorange observation, the third carrier phase observation, the fourth pseudorange observation, the fourth carrier phase observation, the first positioning information, the second positioning information, the third positioning information, the fourth positioning information, and a preset observation equation; the target vector points from the phase center of the first antenna to the phase center of the second antenna;
determining the accuracy of the position information based on the first integer ambiguity and a preset integer ambiguity, and determining the direction information of the target vector based on the position information when the accuracy meets a preset requirement.
2. The satellite orientation method of claim 1, wherein the preset observation equation comprises: a pseudo-range double-difference observation equation and a carrier phase double-difference observation equation; correspondingly, the determining a first integer ambiguity and position information of a target vector based on the first pseudorange observation, the first carrier phase observation, the second pseudorange observation, the second carrier phase observation, the third pseudorange observation, the third carrier phase observation, the fourth pseudorange observation, the fourth carrier phase observation, the first positioning information, the second positioning information, the third positioning information, the fourth positioning information, and a preset observation equation includes:
determining inter-satellite double-difference observations of pseudoranges based on the first pseudorange observation, the second pseudorange observation, the third pseudorange observation and the fourth pseudorange observation;
determining an inter-satellite double-difference observation of a carrier phase based on the first, second, third, and fourth carrier phase observations;
determining an inter-satellite double-difference observation quantity of a station-to-satellite distance based on the first positioning information, the second positioning information, the third positioning information and the fourth positioning information;
determining a first coefficient matrix of the satellite positioning chip relative to the first satellite, a second coefficient matrix of the satellite positioning chip relative to the second satellite, inter-satellite double-difference observation noise of a pseudo range and inter-satellite double-difference observation noise of a carrier phase;
and determining the first integer ambiguity and the position information of the target vector based on the inter-satellite double-difference observed quantity of the pseudo range, the inter-satellite double-difference observed quantity of the carrier phase, the inter-satellite double-difference observed quantity of the station-satellite distance, the first coefficient matrix, the second coefficient matrix, the inter-satellite double-difference observation noise of the pseudo range, the inter-satellite double-difference observation noise of the carrier phase, the wavelength of the satellite signal, the double-difference observation equation of the pseudo range and the double-difference observation equation of the carrier phase.
3. The satellite orientation method according to claim 2, wherein before the determining the accuracy of the position information based on the difference between the first integer ambiguity and a preset integer ambiguity, the satellite orientation method further comprises:
calculating the preset integer ambiguity based on the inter-satellite double-difference observed quantity of the pseudo range, the inter-satellite double-difference observed quantity of the carrier phase, the wavelength of the satellite signal and an integer ambiguity calculation formula;
the integer ambiguity calculation formula is as follows:
Figure FDA0003306732990000021
wherein the content of the first and second substances,
Figure FDA0003306732990000022
for the pre-set integer ambiguity,
Figure FDA0003306732990000023
is an inter-satellite double-difference observation of the carrier phase,
Figure FDA0003306732990000024
and lambda is the wavelength of the satellite signal.
4. The satellite orientation method according to any one of claims 1 to 3, wherein the determining the accuracy of the position information based on the difference between the first integer ambiguity and a preset integer ambiguity, and determining the direction information of the target vector based on the position information when the accuracy meets a preset requirement comprises:
determining a distance value between a phase center of the first antenna and a phase center of the second antenna;
calculating a target error value based on the distance value, the wavelength of the satellite signal, a preset error value and a target error value calculation formula; the target error value calculation formula is:
Figure FDA0003306732990000031
where σ is the target error value, d12For the distance value, λ is the wavelength of the satellite signal, and σ' is the preset error value;
and if the absolute value of the difference value of the first integer ambiguity and a preset integer ambiguity is smaller than the target error value, determining that the accuracy meets a preset requirement.
5. A method for satellite orientation as recited in claim 2, wherein said determining double-differenced pseudoranges for pseudoranges based on the first pseudorange observation, the second pseudorange observation, the third pseudorange observation, and the fourth pseudorange observation comprises:
determining inter-satellite double-difference observations of the pseudoranges based on the following formula:
Figure FDA0003306732990000032
wherein the content of the first and second substances,
Figure FDA0003306732990000033
double inter-satellite views of said pseudorangesThe measurement is carried out by measuring the temperature of the sample,
Figure FDA0003306732990000034
for the first pseudorange observation, determining a first pseudorange observation,
Figure FDA0003306732990000035
for the second pseudorange observation, determining a second pseudorange observation,
Figure FDA0003306732990000036
for the third pseudorange observation,
Figure FDA0003306732990000037
is the fourth pseudorange observation;
determining inter-satellite double-difference observations of carrier phases based on the first, second, third, and fourth carrier-phase observations, comprising:
determining an inter-satellite double-difference observation of the carrier phase based on the following formula:
Figure FDA0003306732990000038
wherein the content of the first and second substances,
Figure FDA0003306732990000039
is an inter-satellite double-difference observation of the carrier phase,
Figure FDA00033067329900000310
for the first carrier-phase observation,
Figure FDA00033067329900000311
for the second carrier-phase observation,
Figure FDA00033067329900000312
for the third carrier phase observationThe amount of the compound (A) is,
Figure FDA00033067329900000313
is the fourth carrier-phase observation.
6. The method of claim 2, wherein determining an inter-satellite double-difference observation of station-to-satellite distances based on the first positioning information, the second positioning information, the third positioning information, and the fourth positioning information comprises:
determining a first satellite-to-satellite distance between the satellite positioning chip and the first satellite based on the first positioning information and the position information of the first satellite;
determining a second satellite-to-satellite distance between the satellite positioning chip and the second satellite based on the second positioning information and the position information of the second satellite;
determining a third satellite distance between the satellite orientation chip and the first satellite based on the third positioning information and the position information of the first satellite;
determining a fourth satellite distance between the satellite orientation chip and the second satellite based on the fourth positioning information and the position information of the second satellite;
and determining an inter-satellite double-difference observation quantity of the station-satellite distance based on the first station-satellite distance, the second station-satellite distance, the third station-satellite distance and the fourth station-satellite distance.
7. The satellite orientation method of claim 6, wherein the determining a first coefficient matrix of the satellite positioning chip relative to the first satellite, a second coefficient matrix of the satellite positioning chip relative to the second satellite, an inter-satellite double difference observation noise of a pseudorange, and an inter-satellite double difference observation noise of a carrier phase comprises:
determining the first coefficient matrix based on the following equation:
Figure FDA0003306732990000041
wherein the content of the first and second substances,
Figure FDA0003306732990000042
is the first coefficient matrix, (x)p，yp，zp) For representing position information of the first satellite,
Figure FDA0003306732990000043
for representing the first positioning information and the second positioning information,
Figure FDA0003306732990000044
is the first station-to-satellite distance;
determining the first coefficient matrix based on the following equation:
Figure FDA0003306732990000045
wherein the content of the first and second substances,
Figure FDA0003306732990000046
is the first coefficient matrix, (x)q，yq，zq) For representing position information of the second satellite,
Figure FDA0003306732990000047
for representing the second positioning information,
Figure FDA0003306732990000048
is the second satellite-to-satellite distance;
determining an inter-satellite double-difference observation noise for the pseudoranges based on the following equation:
Figure FDA0003306732990000049
wherein the content of the first and second substances,
Figure FDA00033067329900000410
the inter-satellite double-difference observation noise for the pseudoranges,
Figure FDA00033067329900000411
for pseudorange observation noise of the satellite positioning chip relative to the first satellite,
Figure FDA00033067329900000412
for pseudorange observation noise of the satellite orientation chip relative to the first satellite,
Figure FDA00033067329900000413
for pseudorange observation noise of the satellite positioning chip relative to the second satellite,
Figure FDA00033067329900000414
observing noise for a pseudorange of the satellite orientation chip relative to the second satellite;
determining an inter-satellite double-difference observation noise for the carrier phase based on the following formula:
Figure FDA00033067329900000415
wherein the content of the first and second substances,
Figure FDA00033067329900000416
for the inter-satellite double-difference observation noise of the carrier phase,
Figure FDA00033067329900000417
observing noise for a carrier phase of the satellite positioning chip relative to the first satellite,
Figure FDA00033067329900000418
is the satelliteThe directional chip observes noise relative to the carrier phase of the first satellite,
Figure FDA00033067329900000419
observing noise for a carrier phase of the satellite positioning chip relative to the second satellite,
Figure FDA00033067329900000420
and observing noise for the carrier phase of the satellite orientation chip relative to the second satellite.
8. A satellite orientation chip is characterized in that the satellite orientation chip is connected with a satellite positioning chip, the satellite positioning chip receives satellite signals through a first antenna, and the satellite orientation chip receives the satellite signals through a second antenna; the satellite orientation chip includes:
a first obtaining unit, configured to obtain a first pseudorange observed quantity, a first carrier phase observed quantity, a second pseudorange observed quantity, a second carrier phase observed quantity, first positioning information, and second positioning information from the satellite positioning chip; the first pseudorange observation, the first carrier phase observation, and the first positioning information are determined by the satellite positioning chip based on a first satellite signal from a first satellite, and the second pseudorange observation, the second carrier phase observation, and the second positioning information are determined by the satellite positioning chip based on a second satellite signal from a second satellite;
a first determination unit configured to receive a third satellite signal from the first satellite and a fourth satellite signal from the second satellite, determine a third pseudorange observation, a third carrier phase observation, and third positioning information of the satellite orientation chip with respect to the first satellite based on the third satellite signal, and determine a fourth pseudorange observation, a fourth carrier phase observation, and fourth positioning information of the satellite orientation chip with respect to the second satellite based on the fourth satellite signal;
a second determining unit configured to determine a first integer ambiguity and position information of a target vector based on the first pseudorange observation, the first carrier phase observation, the second pseudorange observation, the second carrier phase observation, the third pseudorange observation, the third carrier phase observation, the fourth pseudorange observation, the fourth carrier phase observation, the first positioning information, the second positioning information, the third positioning information, the fourth positioning information, and a preset observation equation; the target vector points from the phase center of the first antenna to the phase center of the second antenna;
and the third determining unit is used for determining the accuracy of the position information based on the first integer ambiguity and a preset integer ambiguity, and determining the direction information of the target vector based on the position information when the accuracy meets a preset requirement.
9. A satellite orientation chip comprising a processor, a memory and a computer program stored in the memory and executable on the processor, the processor implementing the satellite orientation method according to any one of claims 1 to 7 when executing the computer program.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the satellite orientation method according to any one of claims 1 to 7.
CN202111205682.6A 2021-10-15 2021-10-15 Satellite orientation method, chip and computer readable storage medium Pending CN114089398A (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116125371A (en) * 2022-12-30 2023-05-16 泰斗微电子科技有限公司 Satellite orientation method and device, satellite navigation chip and storage medium
CN116660959A (en) * 2023-08-02 2023-08-29 银河航天(北京)网络技术有限公司 Method, device and storage medium for double-difference positioning by utilizing target satellite

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116125371A (en) * 2022-12-30 2023-05-16 泰斗微电子科技有限公司 Satellite orientation method and device, satellite navigation chip and storage medium
CN116660959A (en) * 2023-08-02 2023-08-29 银河航天(北京)网络技术有限公司 Method, device and storage medium for double-difference positioning by utilizing target satellite
CN116660959B (en) * 2023-08-02 2023-09-26 银河航天(北京)网络技术有限公司 Method, device and storage medium for double-difference positioning by utilizing target satellite

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