CN116840876A

CN116840876A - Double-antenna orientation method and device suitable for phase distortion satellite navigation antenna

Info

Publication number: CN116840876A
Application number: CN202310367858.0A
Authority: CN
Inventors: 靳文鑫; 李琳
Original assignee: Beijing Ligong Navigation Technology Co ltd
Current assignee: Beijing Ligong Navigation Technology Co ltd
Priority date: 2023-04-07
Filing date: 2023-04-07
Publication date: 2023-10-03
Anticipated expiration: 2043-04-07
Also published as: CN116840876B

Abstract

The embodiment of the invention provides a double-antenna orientation method and a double-antenna orientation device for a satellite navigation antenna suitable for phase distortion, which are used for acquiring satellite observables, and correcting phase center deviation in a first carrier phase observables and phase center deviation in a second carrier phase observables aiming at each baseline direction estimated value; based on the first correction observed quantity and the second correction observed quantity, performing integer ambiguity resolution to obtain a base line length fixed solution and a base line direction fixed solution between the first antenna and the second antenna, and calculating a reliability evaluation value of the base line direction evaluation value; based on the reliability evaluation value, a baseline direction optimal estimation value is determined from the candidate set, and a baseline direction fixed solution obtained by resolving based on the baseline direction optimal estimation value is determined. The dual-antenna orientation can be realized by utilizing two low-cost satellite navigation antennas with obvious phase distortion characteristics, the cost of the dual-antenna orientation is greatly reduced, and the accuracy of the dual-antenna orientation is ensured.

Description

Double-antenna orientation method and device suitable for phase distortion satellite navigation antenna

Technical Field

The invention relates to the technical field of satellite navigation, in particular to a double-antenna orientation method and device suitable for a phase-distorted satellite navigation antenna.

Background

Global satellite navigation system (Global Navigation Satellite System, GNSS) dual antenna orientation is a technique that uses satellite navigation receivers to measure satellite observations of two satellite navigation antennas and to solve for a baseline direction.

GNSS dual antenna orientation typically uses a carrier phase orientation method to solve for the baseline direction, which uses carrier phase observables to construct dual difference observables, and carrier phase relative positioning techniques to solve for the baseline vector between the two antennas, deriving the baseline direction.

In terms of application, the limitation of the dual-antenna carrier phase orientation method is that the quality requirement on the carrier phase observables is high, so that the carrier phase observables cannot contain large phase deviation.

Phase distortion antennas are widely used in single-point pseudo-range positioning, and have phase center deviations with large amplitude and asymmetric spatial distribution. Taking a low cost patch antenna as an example, such antennas are typically not designed to take special techniques to control antenna phase center offset due to cost limitations or requirements of major design objectives. This results in low cost antennas, typically patch antennas, being difficult to use for GNSS high accuracy applications such as dual antenna orientation that rely on high quality carrier phase observations.

In addition, the phase distortion antenna has poor carrier phase observed quantity precision, and on the other hand, many low-cost antennas represented by patch antennas are single-frequency antennas and can only receive navigation satellite signals of one frequency point, so that the strength of a relative positioning model is weak when the phase distortion antenna is applied to a dual-antenna carrier phase orientation method.

Disclosure of Invention

The embodiment of the invention aims to provide a double-antenna orientation method and device suitable for a phase-distorted satellite navigation antenna, so that double-antenna orientation is realized by using two low-cost satellite navigation antennas with obvious phase distortion characteristics, the cost of double-antenna orientation is greatly reduced, and the accuracy of double-antenna orientation is ensured. The specific technical scheme is as follows:

in a first aspect, an embodiment of the present invention provides a dual antenna orientation method for a satellite navigation antenna with phase distortion, the method including:

acquiring satellite observables, wherein the satellite observables comprise a first carrier phase observables and a first pseudo-range observables of a first antenna aiming at a plurality of satellites, and a second carrier phase observables and a second pseudo-range observables of a second antenna aiming at the plurality of satellites;

Determining a candidate set of baseline directions, the candidate set comprising a plurality of baseline direction estimates, the baseline directions characterizing a horizontal direction between the first antenna and the second antenna;

for each baseline direction estimated value, respectively correcting the phase center deviation in the first carrier phase observed quantity and the phase center deviation in the second carrier phase observed quantity based on a first antenna phase pattern of the first antenna and a second antenna phase pattern of the second antenna to obtain a first correction observed quantity and a second correction observed quantity; performing integer ambiguity resolution based on the first correction observed quantity and the second correction observed quantity to obtain a base line length fixed solution and a base line direction fixed solution between the first antenna and the second antenna, and calculating a reliability evaluation value of the base line direction estimated value based on a residual error of a double-difference pseudo-range observed quantity, a residual error of a double-difference carrier phase observed quantity, a first difference value between the base line direction fixed solution and the base line direction estimated value and a second difference value between the base line length fixed solution and a base line length priori measured value; the double-difference pseudorange observables are determined based on the first pseudorange observables and the second pseudorange observables, and the double-difference carrier phase observables are determined based on the first carrier phase observables and the second carrier phase observables;

And determining a baseline direction optimal estimated value from the candidate set based on the reliability estimated value, and determining a baseline direction fixed solution obtained by resolving based on the baseline direction optimal estimated value.

Optionally, the step of performing integer ambiguity resolution based on the first correction observed quantity and the second correction observed quantity to obtain a baseline length fixed solution and a baseline direction fixed solution between the first antenna and the second antenna includes:

performing ambiguity resolution based on the first correction observed quantity and the second correction observed quantity to obtain an ambiguity vector floating solution, and determining an ambiguity search space based on the ambiguity vector floating solution;

taking the prior measurement value of the baseline length and the baseline direction estimation value as constraints, and taking the integer ambiguity vector in the ambiguity search space as a candidate solution, and carrying out integer ambiguity solution to obtain an ambiguity vector fixed solution;

the baseline length fixed solution and the baseline direction fixed solution are calculated based on the ambiguity vector fixed solution.

Optionally, the step of performing integer ambiguity resolution with the prior measurement value of the baseline length and the estimated value of the baseline direction as constraints and the integer ambiguity vector in the ambiguity search space as a candidate solution to obtain an ambiguity vector fixed solution includes:

Calculating the ambiguity vector fixed solution based on an optimized objective function;

wherein y represents the difference value of the double-difference carrier observed quantity and the double-difference pseudo-range observed quantity and the geometrical distance of the star and the earth respectively, l represents the prior measured value of the baseline length, and h ^′ Representing the baseline direction estimate, Q _yy Representing the variance-covariance matrix of y, II ² A represents the modular aspect of the vector, a represents the ambiguity vector fixed solution, B represents the baseline vector, A and B are coefficient matrices, each comprising a unit vector of carrier-phase wavelength and satellite observation direction, B _E And b _N Representing the components of the baseline vector in the forward eastern and north directions respectively,representing the variance of the baseline length a priori measurements,/->Representing the variance of the baseline direction estimate, aε Z ⁿ The representation a belongs to an n-dimensional integer space, b epsilon R ³ The characterization belongs to the three-dimensional real space.

Optionally, after performing the step of performing an ambiguity resolution based on the first correction-observed quantity and the second correction-observed quantity to obtain an ambiguity vector floating solution, and determining an ambiguity search space based on the ambiguity vector floating solution, the method further includes:

and judging whether the size of the ambiguity search space is in a preset range, if so, executing the step of taking the prior measurement value of the baseline length and the baseline direction estimation value as constraints, taking the integer ambiguity vector in the ambiguity search space as a candidate solution, and carrying out integer ambiguity solution to obtain an ambiguity vector fixed solution.

Optionally, the step of calculating the reliability evaluation value based on the residual error of the double-difference pseudo-range observables, the residual error of the double-difference carrier phase observables, the first difference between the baseline direction fixed solution and the baseline direction estimated value, and the second difference between the baseline length fixed solution and the prior measured value of the baseline length includes:

the reliability evaluation value is calculated based on the following formula:

wherein r is _DD (h ^′ ) Representing the reliability evaluation value, h ^′ Representing the baseline direction estimate;sum of squares of residuals representing said carrier phase observations, +.>Representing the sum of squares of the residuals of said pseudorange observations, l representing an a priori measure of said baseline length, +>The representation is based on h ^′ A fixed solution of the base line length obtained by the solution, < >>The representation is based on h ^′ A fixed solution of the base line direction obtained by the solution, < >>Representing the variance of the double difference carrier phase observables,/->Representing the variance of said double difference pseudo-range observables,/->Variance of a priori measurement representing the length of the baseline,/->Representing the variance of the baseline direction estimate.

In a second aspect, an embodiment of the present invention provides a dual antenna directional device for a phase-distorted satellite navigation antenna, the device comprising:

The system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring satellite observables, and the satellite observables comprise a first carrier phase observables and a first pseudo-range observables of a first antenna aiming at a plurality of satellites, and a second carrier phase observables and a second pseudo-range observables of a second antenna aiming at the plurality of satellites;

a first determining module for determining a candidate set of baseline directions, the candidate set comprising a plurality of baseline direction estimates, the baseline directions characterizing a horizontal direction between the first antenna and the second antenna;

the calculation module is used for correcting the phase center deviation in the first carrier phase observed quantity and the phase center deviation in the second carrier phase observed quantity respectively on the basis of a first antenna phase pattern of the first antenna and a second antenna phase pattern of the second antenna according to each baseline direction estimated value to obtain a first correction observed quantity and a second correction observed quantity; performing integer ambiguity resolution based on the first correction observed quantity and the second correction observed quantity to obtain a base line length fixed solution and a base line direction fixed solution between the first antenna and the second antenna, and calculating a reliability evaluation value of the base line direction estimated value based on a residual error of a double-difference pseudo-range observed quantity, a residual error of a double-difference carrier phase observed quantity, a first difference value between the base line direction fixed solution and the base line direction estimated value and a second difference value between the base line length fixed solution and a base line length priori measured value; the double-difference pseudorange observables are determined based on the first pseudorange observables and the second pseudorange observables, and the double-difference carrier phase observables are determined based on the first carrier phase observables and the second carrier phase observables;

And the second determining module is used for determining a baseline direction optimal estimated value from the candidate set based on the reliability estimated value and determining a baseline direction fixed solution obtained by resolving based on the baseline direction optimal estimated value.

Optionally, the computing module includes:

the first resolving unit is used for resolving the ambiguity based on the first correction observed quantity and the second correction observed quantity to obtain an ambiguity vector floating point solution, and determining an ambiguity search space based on the ambiguity vector floating point solution;

the second resolving unit is used for resolving the integer ambiguity by taking the prior measured value of the baseline length and the baseline direction estimated value as constraints and taking the integer ambiguity vector in the ambiguity search space as a candidate solution to obtain an ambiguity vector fixed solution;

and the determining unit is used for calculating the baseline length fixed solution and the baseline direction fixed solution based on the ambiguity vector fixed solution.

Optionally, the second resolving unit is specifically configured to:

In a third aspect, an embodiment of the present invention provides an electronic device, including a processor, a communication interface, a memory, and a communication bus, where the processor, the communication interface, and the memory complete communication with each other through the communication bus;

a memory for storing a computer program;

and the processor is used for implementing any one of the dual-antenna orientation methods applicable to the phase-distorted satellite navigation antenna when executing the program stored in the memory.

The embodiments of the present invention also provide a computer program product comprising instructions which, when run on a computer, cause the computer to perform any of the above-described dual antenna orientation methods for a phase-distorted satellite navigation antenna.

The embodiment of the invention has the beneficial effects that:

by applying the dual-antenna orientation method and device for the satellite navigation antenna suitable for phase distortion, provided by the embodiment of the invention, a plurality of baseline direction estimated values are firstly set, each baseline direction estimated value is traversed, each baseline direction estimated value is sequentially evaluated, and the optimal baseline direction estimated value is determined according to the set evaluation standard. In the process of evaluating any baseline direction estimated value, firstly, correcting carrier phase observed quantity of two antennas by utilizing the baseline direction estimated value and combining antenna phase patterns of the two antennas, and then, calculating whole-cycle ambiguity by utilizing the corrected carrier phase observed quantity to obtain a baseline length fixed solution and a baseline direction fixed solution. Further, the baseline direction estimated value is estimated by using the residual error of the double-difference pseudo-range observed quantity, the residual error of the double-difference carrier phase observed quantity, the first difference value between the baseline direction fixed solution and the baseline direction estimated value and the second difference value between the baseline length fixed solution and the baseline length priori measured value, so that the reliability of the baseline direction estimated value can be accurately estimated, the optimal baseline direction estimated value is further determined, and the baseline direction fixed solution obtained by calculating based on the optimal baseline direction estimated value is the dual-antenna orientation result.

Therefore, the dual-antenna orientation can be realized by using two low-cost satellite navigation antennas with obvious phase distortion characteristics, the cost of the dual-antenna orientation is greatly reduced, and the use of the low-cost phase distortion satellite navigation antennas for orientation plays an important role in popularization of GNSS high-precision technology. And by setting a plurality of baseline direction estimated values and evaluating the baseline direction estimated values one by one based on a residual error of the double-difference pseudo-range observed quantity, a residual error of the double-difference carrier phase observed quantity, a first difference value between a baseline direction fixed solution and the baseline direction estimated value and a second difference value between a baseline length fixed solution and a baseline length prior measured value, the baseline direction estimated values with larger deviation can be effectively removed, the baseline direction optimal estimated value, namely the baseline direction estimated value with highest accuracy, is determined, and double-antenna orientation is performed based on the baseline direction optimal estimated value, so that the accuracy of double-antenna orientation is not obviously reduced due to larger antenna phase center deviation.

Of course, it is not necessary for any one product or method of practicing the invention to achieve all of the advantages set forth above at the same time.

Drawings

In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the invention, and other embodiments may be obtained according to these drawings to those skilled in the art.

Fig. 1 is an exemplary diagram of a dual antenna directional system provided by an embodiment of the present invention;

fig. 2 is a flow chart of a dual-antenna orientation method suitable for a phase-distorted satellite navigation antenna according to an embodiment of the present invention;

fig. 3 is an exemplary diagram of an antenna phase pattern provided by an embodiment of the present invention;

FIG. 4 is a schematic flow chart of resolving a baseline length fixed solution and a baseline direction fixed solution provided by an embodiment of the present invention;

fig. 5 is a schematic diagram of a dual antenna orientation method suitable for a phase-distorted satellite navigation antenna according to an embodiment of the present invention;

fig. 6 is a schematic structural diagram of a dual-antenna directional device suitable for a phase-distorted satellite navigation antenna according to an embodiment of the present invention;

fig. 7 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.

Detailed Description

The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. Based on the embodiments of the present application, all other embodiments obtained by the person skilled in the art based on the present application are included in the scope of protection of the present application.

In order to solve the technical problem that a low-cost phase distortion antenna is difficult to be used for GNSS high-precision application depending on high-quality carrier phase observables, such as dual-antenna orientation, the embodiment of the application provides a dual-antenna orientation method and a device suitable for a phase distortion satellite navigation antenna, and the dual antennas involved in the method are called a first antenna and a second antenna. Dual antenna orientation, i.e., determining the direction of a baseline between a first antenna and a second antenna.

Fig. 1 is an exemplary diagram of a dual antenna directional system according to an embodiment of the present application, and for convenience of understanding, the dual antenna directional system according to the embodiment of the present application will be described with reference to fig. 1.

As shown in fig. 1, two satellite navigation antennas, namely an antenna 1 and an antenna 2, are installed on the user platform, and the positions between the antenna 1 and the antenna 2 are relatively fixed. The line connecting the centers of the two antennas, i.e. the base line, is shown in fig. 1 between the antennas 1 and 2, the base line length being in particular l, the base line direction of the base line being defined as the angle between the vector directed by the antenna 1 towards the antenna 2 and the north direction, i.e. h shown in fig. 1.

In the dual antenna directional system shown in fig. 1, satellite observables of the antenna 1 and the antenna 2 for a plurality of satellites can be acquired, for example, in the direction of the satellite i shown in fig. 1, satellite observables of the antenna 1 and the antenna 2 for the satellite i can be acquired. Wherein in FIG. 1Characterizing the altitude of satellite i relative to antenna 1, < >>Characterizing the azimuth angle of satellite i with respect to antenna 1, < >>Characterization of satellitesi height angle relative to the antenna 2, +.>Characterizing the azimuth of satellite i relative to antenna 2. The dual-antenna orientation method suitable for the phase-distorted satellite navigation antenna can be used for calculating the direction of the base line between the antenna 1 and the antenna 2 based on the satellite observables.

Fig. 2 is a flow chart of a dual-antenna orientation method for a satellite navigation antenna with phase distortion according to an embodiment of the present invention, referring to fig. 2, the method specifically includes the following steps:

step S201: the method comprises the steps of obtaining satellite observables, wherein the satellite observables comprise a first carrier phase observables and a first pseudo-range observables of a first antenna aiming at a plurality of satellites, and a second carrier phase observables and a second pseudo-range observables of a second antenna aiming at a plurality of satellites.

The first antenna and the second antenna may refer to any two satellite navigation antennas on the user platform, and positions between the first antenna and the second antenna are relatively fixed. The first antenna and the second antenna can be determined based on actual orientation requirements, and the direction of a base line between the first antenna and the second antenna is determined by applying the dual-antenna orientation method suitable for the satellite navigation antenna with phase distortion provided by the embodiment of the invention.

In the embodiment of the invention, the satellite observables of the first antenna and the second antenna for the same plurality of satellites can be obtained, for example, if the first antenna and the second antenna can both observe the satellite 1-satellite n, the satellite observables of the first antenna and the second antenna for each satellite in the satellite 1-satellite n can be obtained.

The antenna may specifically include carrier phase observations and pseudorange observations for each satellite.

The carrier phase observed quantity is theoretically an instantaneous carrier phase value of the GNSS signal at the receiving point, and generally refers to a phase difference between the satellite signal and the receiver reference signal in practical application. The pseudorange observations are observations of the distance between the satellite and the antenna. For the specific acquisition modes of the carrier phase observables and the pseudo-range observables, reference may be made to the contents in the related art.

It is worth noting that, in each epoch, satellite observables of the first antenna and the second antenna for a plurality of satellites can be obtained, and for satellite observables obtained in any epoch, the baseline direction can be calculated by using the dual-antenna orientation method of the satellite navigation antenna suitable for phase distortion provided by the embodiment of the invention. In the embodiment of the present invention, only one epoch is taken as an example, and the steps S201 to S204 are exemplarily described.

Step S202: a candidate set of baseline directions is determined, the candidate set comprising a plurality of baseline direction estimates, the baseline directions characterizing a horizontal direction between the first antenna and the second antenna.

As an example, for convenience of description of the baseline direction, the baseline direction may be defined as an angle between a vector of the first antenna pointing to the second antenna and the north direction, taking fig. 1 as an example, if the first antenna is the antenna 1, the second antenna is the antenna 2, and the baseline direction is h shown in fig. 1.

In the embodiment of the present invention, it is necessary to determine the estimated values of the plurality of baseline directions as the candidate set of the baseline directions first, and execute the subsequent steps S203 to S204 on the basis of the candidate set of the baseline directions.

The embodiment of the present invention is not limited to a specific manner of determining the candidate set of the baseline direction, and as an example, one baseline direction interval may be predetermined, the candidate set of the baseline direction may be determined in an equally spaced manner, for example, 5 ° may be used as the baseline direction interval, and an estimated value of the baseline direction may be determined every 5 ° in a spatial angle range, so as to obtain the candidate set of the baseline direction.

As another example, an angle value interval may be set in advance as a spatial domain search range in which candidate sets of the base line direction are determined at equal intervals.

Step S203: for each baseline direction estimation value, respectively correcting the phase center deviation in the first carrier phase observed quantity and the phase center deviation in the second carrier phase observed quantity based on a first antenna phase pattern of the first antenna and a second antenna phase pattern of the second antenna to obtain a first correction observed quantity and a second correction observed quantity; based on the first correction observed quantity and the second correction observed quantity, carrying out integer ambiguity resolution to obtain a base line length fixed solution and a base line direction fixed solution between the first antenna and the second antenna, and calculating a reliability evaluation value of the base line direction estimated value based on a residual error of the double-difference pseudo-range observed quantity, a residual error of the double-difference carrier phase observed quantity, a first difference value between the base line direction fixed solution and the base line direction estimated value and a second difference value between the base line length fixed solution and the base line length priori measured value; the double-difference pseudorange observables are determined based on the first pseudorange observables and the second pseudorange observables, and the double-difference carrier phase observables are determined based on the first carrier phase observables and the second carrier phase observables.

In the embodiment of the invention, the phase center deviations of the first antenna and the second antenna need to be calibrated in advance, and the calibration mode of the phase center deviations can refer to the content in the related art.

In particular, the spatial distribution of the phase center deviation can be characterized by an antenna phase pattern. Fig. 3 is an exemplary diagram of an antenna phase pattern provided by the embodiment of the present invention, in which an angle range of 0 ° -360 ° at the outermost periphery in fig. 3 represents a range of azimuth angles of an antenna, an angle range of 30 ° -60 ° in the diagram represents a range of zenith angles, -8-8 represents a phase center deviation of each spatial position, the unit is cm, and in the antenna phase pattern shown in fig. 3, a specific magnitude of the phase center deviation is represented by a shade of color.

The carrier phase observables acquired in the aforementioned step S201 are specifically carrier phase observables containing phase center deviations, and it has been mentioned that the antenna phase pattern can characterize the distribution of the phase center deviations in space. Therefore, in this step, for each baseline direction estimated value, the phase center deviation in the carrier phase observed quantity of the first antenna may be eliminated by using the antenna phase pattern of the first antenna, so as to obtain a corrected first carrier phase observed quantity, i.e., a first corrected observed quantity. And aiming at each baseline direction estimated value, eliminating the phase center deviation in the carrier phase observed quantity of the second antenna by utilizing the antenna phase pattern of the second antenna to obtain a corrected second carrier phase observed quantity, namely a second correction observed quantity.

It should be appreciated that the closer the baseline direction estimate is to the true baseline direction, the better the cancellation is when the phase center bias in the carrier phase observation is cancelled based on the baseline direction estimate.

Therefore, for each baseline direction estimated value, a group of carrier phase observed quantities after the correction of the first antenna and the second antenna, namely, a first correction observed quantity and a second correction observed quantity, can be obtained, and based on the first correction observed quantity and the second correction observed quantity, a baseline length fixed solution and a baseline direction fixed solution between the first antenna and the second antenna can be calculated.

The baseline length and the baseline direction are values which can be calculated based on the integer ambiguity, and the baseline length fixed solution and the baseline direction fixed solution respectively represent the baseline length and the baseline direction which are calculated based on the fixed solution of the integer ambiguity. The fixed solution of the integer ambiguity is an integer, and specifically characterizes the integer unknown corresponding to the first observed value of the phase difference between the satellite carrier signal received by the antenna and the receiver reference signal. Regarding a specific method of calculating the baseline length fixed solution and the baseline direction fixed solution based on the fixed solution of the integer ambiguity, reference may be made to the content in the related art.

As an example, the integer ambiguity may be initially solved for the observation equations of the plurality of satellites through the first antenna and the second antenna based on the first correction observed quantity and the second correction observed quantity, where the integer ambiguity obtained by the initial solution is typically a floating point number or may also be referred to as a floating point solution of the integer ambiguity. After the floating solution of the integer ambiguity is obtained, the fixed solution of the integer ambiguity can be solved on the basis, so that the baseline vector is calculated based on the fixed solution of the integer ambiguity, and the fixed solution of the baseline vector can be obtained, namely the baseline length fixed solution and the baseline direction fixed solution can be obtained. For the specific content of this section, reference may be made to the content in the related art, and detailed description of this embodiment of the present invention will not be given.

In addition, a dual-differential pseudorange observation may be determined based on the first pseudorange observation and the second pseudorange observation, and a dual-differential carrier phase observation may be determined based on the first correction observation and the second correction observation.

Regarding the determination of the double-difference pseudo-range observables and the double-difference carrier-phase observables, reference may be made to the content in the related art, and the following will be briefly described by taking the double-difference pseudo-range observables as an example only.

Based on the foregoing description, it can be seen that the device can acquire the first pseudo-range observed quantity and the second pseudo-range observed quantity for a plurality of satellites, and based on the first pseudo-range observed quantity and the second pseudo-range observed quantity for any two satellites, difference is performed between the satellites and the stations respectively, so that a double-difference pseudo-range observed quantity can be determined.

Taking as an example a first pseudorange observation for satellite a and satellite b for a first antenna and a second pseudorange observation for satellite a and satellite b for a second antenna. The method comprises the steps of performing inter-satellite difference on first pseudo-range observables of a first antenna aiming at a satellite a and a satellite b to obtain single-difference pseudo-range observables, performing inter-satellite difference on second pseudo-range observables of a second antenna aiming at the satellite a and the satellite b to obtain another single-difference pseudo-range observables, and performing difference on the two single-difference pseudo-range observables to obtain double-difference pseudo-range observables. The determination method of the double-difference carrier phase observed quantity is the same.

By determining the double difference observables, clock errors, atmospheric errors and the like contained in the originally acquired satellite observables can be eliminated.

For each baseline direction estimation value in step S202, a set of first correction observables and second correction observables can be determined, that is, for each baseline direction estimation value, a set of baseline length fixed solutions and baseline direction fixed solutions can be determined.

After the baseline length fixed solution and the baseline direction fixed solution are obtained, for each baseline direction estimated value, a reliability estimated value of the baseline direction estimated value can be calculated based on a residual error of the double-difference pseudo-range observed quantity, a residual error of the double-difference carrier phase observed quantity, a first difference value between the baseline direction fixed solution and the baseline direction estimated value, and a second difference value between the baseline length fixed solution and the prior measured value of the baseline length. The prior measurement value of the baseline length is obtained in advance, and the linear distance between the first antenna and the second antenna is accurately measured.

The reliability evaluation value may be understood as an index for evaluating the accuracy of the baseline direction estimation value, specifically, if the baseline direction estimation value has a smaller difference from the actual baseline direction, that is, the baseline direction estimation value has a higher accuracy, the residual error of the double-difference pseudo-range observed quantity corresponding to the baseline direction estimation value, the residual error of the double-difference carrier phase observed quantity, the first difference between the baseline direction fixed solution and the baseline direction estimation value, and the second difference between the baseline length fixed solution and the prior measurement value of the baseline length should be smaller.

As an example, the reliability evaluation value may be a weighted square sum of the residual of the double-difference pseudorange observables, the residual of the double-difference carrier-phase observables, the first difference value, and the second difference value.

Step S204: based on the reliability evaluation value, a baseline direction optimal estimation value is determined from the candidate set, and a baseline direction fixed solution obtained by resolving based on the baseline direction optimal estimation value is determined.

In the foregoing, a reliability evaluation value can be calculated for each baseline direction estimation value, and the reliability evaluation value can represent the accuracy of the baseline direction estimation value. Therefore, based on the magnitude of the reliability evaluation value of each baseline direction evaluation value, one baseline direction evaluation value from the candidate set of the baseline direction can be selected as the baseline direction optimal evaluation value, and the accuracy of the baseline direction optimal evaluation value is the highest.

As an example, if the reliability evaluation value is the sum of squares of the residual of the double-difference pseudo-range observables, the residual of the double-difference carrier-phase observables, the first difference value, and the second difference value, then the baseline direction estimated value with the smallest reliability evaluation value is the baseline direction optimal estimated value.

In the aforementioned step S203, one baseline direction fixed solution is calculated for each baseline direction estimated value. In this step, after the baseline direction optimal estimated value is obtained, a baseline direction fixed solution corresponding to the baseline direction optimal estimated value is regarded as a baseline direction calculation result, that is, the baseline direction fixed solution, that is, the baseline direction between the first antenna and the second antenna.

By applying the dual-antenna orientation method suitable for the phase distortion satellite navigation antenna, a plurality of baseline direction estimated values are set first, each baseline direction estimated value is traversed, each baseline direction estimated value is evaluated in sequence, and the optimal baseline direction estimated value is determined according to the set evaluation standard. In the process of evaluating any baseline direction estimated value, firstly, correcting carrier phase observed quantity of two antennas by utilizing the baseline direction estimated value and combining antenna phase patterns of the two antennas, and then, calculating whole-cycle ambiguity by utilizing the corrected carrier phase observed quantity to obtain a baseline length fixed solution and a baseline direction fixed solution. Further, the baseline direction estimated value is estimated by using the residual error of the double-difference pseudo-range observed quantity, the residual error of the double-difference carrier phase observed quantity, the first difference value between the baseline direction fixed solution and the baseline direction estimated value and the second difference value between the baseline length fixed solution and the baseline length priori measured value, so that the reliability of the baseline direction estimated value can be accurately estimated, the optimal baseline direction estimated value is further determined, and the baseline direction fixed solution obtained by calculating based on the optimal baseline direction estimated value is the dual-antenna orientation result.

Fig. 4 is a schematic flow chart of resolving a baseline length fixed solution and a baseline direction fixed solution provided by an embodiment of the present invention, referring to fig. 4, in an embodiment of the present invention, the step of performing integer ambiguity resolution based on a first correction observed quantity and a second correction observed quantity to obtain a baseline length fixed solution and a baseline direction fixed solution between a first antenna and a second antenna specifically includes:

Step S401: and performing ambiguity resolution based on the first correction observed quantity and the second correction observed quantity to obtain an ambiguity vector floating solution, and determining an ambiguity search space based on the ambiguity vector floating solution.

The ambiguity herein, i.e. the whole-cycle ambiguity, mentioned above, may be obtained for satellite observations of the first antenna and the second antenna for a plurality of satellites, and thus the ambiguity herein may be understood as an ambiguity vector. Each element in the ambiguity vector should theoretically be an integer, but in the process of initially resolving the ambiguity vector based on the first correction observables and the second correction observables, an integer solution is generally not obtained, and thus, the initially resolved solution is an ambiguity vector floating point solution.

As an example, the ambiguity vector floating solution may be calculated based on the first correction observables and the second correction observables in combination with the observation equations of the first antenna and the second antenna for the plurality of satellites.

The above-mentioned manner of performing ambiguity resolution based on the dual-antenna observables to obtain the ambiguity vector floating solution may refer to the related art, and this will not be described in detail in the embodiments of the present invention.

After obtaining the ambiguity vector floating solution, an ambiguity search space may be determined based on the ambiguity vector floating solution. The specific manner of determining the ambiguity search space may refer to the content in the related art, and the embodiment of the present invention is not limited thereto. As one example, an ambiguity search space may be determined based on a numerical feature of an ambiguity vector floating solution.

Step S402: and taking the prior measurement value of the baseline length and the baseline direction estimation value as constraints, taking the integer ambiguity vector in the ambiguity search space as a candidate solution, and carrying out integer ambiguity solution to obtain an ambiguity vector fixed solution.

The process of searching the ambiguity vector fixed solution from the ambiguity search space can be understood as determining a plurality of integer values from the ambiguity search space as candidate solutions of integer ambiguity vectors, analyzing and calculating the candidate solutions of each integer ambiguity vector, and determining an ambiguity vector meeting the condition as the ambiguity vector fixed solution.

As one example, all integer values in the ambiguity search space can be enumerated as candidate solutions for the integer ambiguity vector.

And evaluating the candidate solution by taking the prior value of the baseline length and the estimated value of the baseline direction as constraints for each candidate solution of the integer ambiguity vector, and searching an optimal candidate solution of the integer ambiguity vector from the candidate solution as an ambiguity vector fixed solution.

In connection with the foregoing description, it should be appreciated that one ambiguity vector floating solution may be solved for each baseline direction estimate, and that a baseline vector floating solution may be calculated from the ambiguity vector floating solution.

Based on the ambiguity vector floating solution, an ambiguity search space corresponding to each baseline direction estimated value can be determined, and for each integer ambiguity vector candidate solution in the ambiguity search space, a baseline vector fixed solution can be calculated based on the integer ambiguity vector candidate solution to obtain a baseline length fixed solution and a baseline direction fixed solution.

Taking the prior value of the baseline length and the baseline direction estimated value as constraints can be understood as taking the prior value of the baseline length and the baseline direction estimated value as constraint conditions additionally on the basis of searching by adopting a scheme in the related technology in the process of searching the ambiguity vector fixed solution.

It should be appreciated that the difference between the calculated baseline length and baseline direction for the baseline direction estimates and the prior value of the baseline length and the baseline direction estimates should be small. As an example, in searching for the ambiguity vector fixed solution, the difference between the a priori value of the base line length and the base line length floating solution, and the difference between the base line direction estimated value and the base line direction floating solution may be evaluated, the estimated value for evaluating the accuracy of the candidate solution for integer ambiguity is calculated by the modified constraint condition, and the integer ambiguity vector fixed solution is determined from the candidate solutions according to the magnitudes of the estimated values.

The specific form of the constraint condition may be selected based on actual requirements, and the embodiment of the present invention is not limited thereto.

Step S403: a baseline length fixed solution and a baseline direction fixed solution are calculated based on the ambiguity vector fixed solution.

In step S402, an ambiguity vector stationary solution has been determined, on the basis of which a base line length stationary solution and a base line direction stationary solution can be calculated.

Therefore, in the embodiment of the invention, in the process of carrying out integer ambiguity resolution based on the corrected carrier phase observed quantity, the baseline direction estimated value and the prior baseline length are fully utilized as constraint conditions, so that the strength of a relative positioning model and the integer ambiguity fixing rate are improved, and the success rate of the dual-antenna orientation method based on the phase distortion antenna is improved.

In one embodiment of the present invention, the step of obtaining the ambiguity vector fixed solution by performing integer ambiguity resolution with the prior measurement value of the baseline length and the baseline direction estimation value as constraints and the integer ambiguity vector in the ambiguity search space as a candidate solution specifically includes:

calculating an ambiguity vector fixed solution based on the following optimization function:

wherein y represents the difference value between the double-difference carrier observed quantity and the satellite-ground geometric distance, l represents the prior measured value of the baseline length, and h ^′ Represents a baseline direction estimate, Q _yy Representing the variance-covariance matrix of y, II ² A represents the modular aspect of the vector, a represents the ambiguity vector fixed solution, B represents the baseline vector, A and B are coefficient matrices, each comprising a unit vector of carrier phase wavelength and satellite observation direction, B _E And b _N Representing the components of the baseline vector in the forward eastern and north directions respectively,representing the variance of the a priori measurement of the baseline length, +.>Representing the variance of the baseline direction estimate, aε Z ⁿ The representation a belongs to an n-dimensional integer space, b epsilon R ³ The characterization belongs to the three-dimensional real space.

Referring to the description of steps S401 to S403 above, the floating solution of the ambiguity vector may be solved based on the first correction observance amount and the second correction observance amount, and it should be understood that the base line vector is specifically a function of the ambiguity vector, and thus, the floating solution of the base line vector may be calculated based on the floating solution of the ambiguity vector.

After the floating solutions of the ambiguity vectors are obtained, an ambiguity vector search space may be determined, a plurality of candidate solutions of integer ambiguity vectors may be determined from the ambiguity search space, and a fixed solution for the baseline direction may be calculated based on each of the candidate solutions.

As an example, the baseline vector is not constrained by the condition that it is an integer value, and in searching for the fixed value of the ambiguity vector based on the above formula, b may be taken as a floating solution of the baseline vector for ease of calculation.

Based on the candidate solution a of each integer ambiguity vector, one can be calculated Based on the above equation, it can be seen that the solution candidate for the integer ambiguity vector, i.e., the integer ambiguity vector fixed solution, is made the smallest value.

Based on the determination of the integer ambiguity vector fixed solution, a baseline vector fixed solution can be calculated according to the integer ambiguity vector fixed solution, a baseline length fixed solution and a baseline direction fixed solution can be obtained, and the specific calculation mode of the part can refer to the content in the related technology.

In the embodiment of the invention, in the process of carrying out integer ambiguity resolution based on corrected carrier phase observed quantity, the prior measured value of the base line length and the base line direction estimated value are taken as constraints, an optimization objective function is constructed, the integer ambiguity resolution process is converted into searching for an ambiguity vector in an ambiguity vector searching space, the process of optimizing the objective function is minimized, the calculation complexity of the integer ambiguity resolution is reduced, the base line direction estimated value and the prior base line length are fully utilized as constraint conditions, the strength of a relative positioning model and the integer ambiguity fixing rate are improved, and the success rate of the dual-antenna orientation method based on the phase distortion antenna is improved.

In one embodiment of the present invention, after executing the foregoing S401, the dual antenna orientation method for a satellite navigation antenna suitable for phase distortion provided in the embodiment of the present invention further includes:

and judging whether the size of the ambiguity search space is in a preset range, if so, executing the step of taking the prior measurement value of the baseline length and the baseline direction estimated value as constraints, taking the integer ambiguity vector in the ambiguity search space as a candidate solution, and carrying out integer ambiguity solution to obtain an ambiguity vector fixed solution.

It should be appreciated that a set of first and second correction observations can be obtained based on each baseline direction estimate, and a floating solution for the ambiguity vector is calculated based on the first and second correction observations, and an ambiguity search space corresponding to the baseline direction estimate is determined based on the floating solution for the ambiguity vector.

In the embodiment of the invention, a preset range is set, a smaller ambiguity search space is screened out, and for the smaller ambiguity search space, the steps of taking the prior measurement value of the base line length and the estimated value of the base line direction as constraints, taking the integer ambiguity vector in the ambiguity search space as a candidate solution, and carrying out integer ambiguity solution to obtain an ambiguity vector fixed solution are executed. The preset range can be determined according to actual requirements.

It can be seen that the foregoing steps correspond to screening out a portion of the baseline direction estimates from the candidate set of baseline directions, the screened out baseline direction estimates corresponding to a smaller ambiguity search space. Based on the steps S203 to S204, the base line direction optimal estimated value may be searched out from the base line direction estimated value and the base line direction fixed solution obtained by resolving the base line direction optimal estimated value may be determined.

According to the dual-antenna orientation method suitable for the satellite navigation antenna with phase distortion, after a first correction observed quantity and a second correction observed quantity corresponding to a base line direction estimated value are used for resolving an ambiguity vector floating solution, and an ambiguity search space is determined, whether the size of the ambiguity search space is in a preset range is judged, for the ambiguity search space in the preset range, a step of taking a priori measured value of a base line length and the base line direction estimated value as constraints and taking a whole-cycle ambiguity vector in the ambiguity search space as a candidate solution is executed, and a whole-cycle ambiguity resolving is carried out, so that an ambiguity vector fixed solution is obtained. The method is equivalent to screening out the baseline direction estimated value corresponding to the smaller ambiguity search space from the candidate set of the baseline direction, and the baseline direction estimated value with larger deviation can be removed, so that when the baseline direction optimal estimated value is searched out based on the screened baseline direction estimated value, and the baseline direction fixed solution obtained by resolving the baseline direction optimal estimated value is determined, the calculation efficiency can be improved, and the accuracy of the obtained baseline direction fixed value is higher.

In one embodiment of the present invention, the step of calculating the reliability evaluation value based on the residual error of the double-difference pseudo-range observables, the residual error of the double-difference carrier phase observables, the first difference between the baseline direction fixed solution and the baseline direction estimated value, and the second difference between the baseline length fixed solution and the prior measured value of the baseline length specifically includes:

calculating a reliability evaluation value based on the following formula:

wherein r is _DD (h ') represents a reliability evaluation value, h' represents a baseline direction evaluation value;sum of squares of residuals representing carrier phase observations, +.>Representing the sum of squares of the residuals of the pseudorange observations, l representing a priori measure of the baseline length, ++>Representing a baseline length fixed solution based on the h' solution,>indicating a baseline orientation fixed solution based on the h' solution,>representing the variance of the observed quantity of the double difference carrier phase, +.>Representing double-difference pseudo-range observablesVariance of->Variance of a priori measurement representing baseline length, +.>Representing the variance of the baseline direction estimate.

In particular, in connection with the previous embodiments of the present invention, based on a baseline direction estimate h', a corresponding integer ambiguity fixed solution can be calculated,it is understood that the baseline length fixed solution calculated based on this whole-week ambiguity fixed solution, It is understood that the baseline orientation fix solution is calculated based on this whole-week ambiguity fix solution. Illustratively, the integer ambiguity fix solution may be calculated based on the following equation:

in the embodiment of the present invention, the smaller the value of the reliability evaluation value is, the higher the accuracy of the corresponding baseline direction evaluation value can be considered, so that the baseline direction evaluation value corresponding to the reliability evaluation value with the smallest value, namely, the baseline direction optimal evaluation value, can be understood as the following formula:

it can be seen that the baseline direction optimal estimate h ^′′ I.e. so that r _DD (h ^′ ) H with minimum value ^′ 。

As an example, in determining the baseline direction estimated value based on step S202, it is also possible toTo set a space domain searching range omega _h At Ω _h The baseline direction estimated value is internally determined, the calculated amount in the process of searching the optimal baseline direction estimated value is reduced, and in this case, the baseline direction optimal estimated value can be understood as the following formula:

for ease of understanding, fig. 5 is a schematic diagram of a dual antenna orientation method for a satellite navigation antenna with phase distortion according to an embodiment of the present invention.

As shown in fig. 5, in the dual-antenna orientation method for a satellite navigation antenna with phase distortion provided by the embodiment of the invention, satellite observables of two antennas in one epoch, namely GNSS observables, are collected first. And setting a base line direction search range omega _h The baseline direction candidate value within the baseline direction search range, that is, the baseline direction estimated value in the foregoing is listed.

For each baseline direction candidate, determining an initial size of the ambiguity search space, screening a portion of the baseline direction candidates from the initial size, and requiring the baseline direction candidates to correspond to a smaller ambiguity search spaceRegarding the determination of the ambiguity search space, reference may be made to the description in the foregoing embodiments of the present invention.

After the screening of the baseline direction candidate values is completed, sequentially evaluating the screened baseline direction estimated values h ¹ -h ⁿ From which the optimal baseline direction estimate h "is searched.

When evaluating the screened baseline direction estimated values, the antenna phase center deviation needs to be corrected for each tested baseline direction estimated value h'. Specifically, for each baseline direction estimation value, the antenna phase patterns of the first antenna and the second antenna are facilitated, the first carrier phase observed quantity and the second carrier phase observed quantity are corrected, and the first correction observed quantity and the second correction observed quantity are obtained.

After the first correction observed quantity and the second correction observed quantity are obtained, a ambiguity-floating solution is calculated based on the first correction observed quantity and the second correction observed quantity, and no constraint condition is added in the process.

Obtaining ambiguity resolutionAnd obtaining a baseline vector floating solution +.>The ambiguity resolution then calculates a fixed solution and uses the baseline direction, length, and specifically the baseline direction estimate and a priori measure of the baseline length as constraints in this process.

Obtaining a floating point solutionAnd->Then, to solve the ambiguity fixed solution, it is specifically necessary to base the floating point solution +.>And->First determining the size of the initial ambiguity search space +.>In the above, when screening the baseline direction candidate, it is necessary to screen based on the size of the ambiguity search space, and therefore, after determining the ambiguity search space, it is judged whether or not the current evaluation is being performed +.>If yes, return->Screening the candidate value of the base line direction, if not, enumerating the ambiguity search space +.>The ambiguity candidate vector in (a) is the candidate solution of the ambiguity vector in the previous text.

After the ambiguity candidate vector is determined, searching for an ambiguity vector minimizing the objective function F (a) as an ambiguity vector fixed valueAnd calculating a baseline vector fixed value +.based on the ambiguity vector fixed value>Then return +.>And->The screened baseline direction estimates are then evaluated.

Wherein, the objective function F (a) can be expressed specifically as the following formula:

when resolving the ambiguity fixed solution, judging whether to obtain the fixed solution for each baseline direction estimated value h ', if not, discarding h', if so, calculating r _DD (h ^′ ) Based on r _DD (h ^′ ) The magnitude of the value of (2) is used to search the optimal estimated value h' of the baseline direction from the estimated values of the baseline direction which can obtain a fixed solution.

Wherein r is _DD (h ^′ ) Can satisfy the following：

After searching out the optimal baseline direction estimated value h', a baseline direction fixed solution is calculated based on the optimal baseline direction estimated valueI.e. as the baseline direction between the first antenna and the second antenna, thereby achieving a dual antenna orientation. />

Obtaining a baseline direction fixed solution for a current epochThereafter, for the next epoch, a baseline orientation fix solution may be calculated based on the same.

There is further provided in accordance with an embodiment of the present invention a dual antenna directional device for a phase-distorted satellite navigation antenna, as shown in fig. 6, the device including:

an acquisition module 601, configured to acquire satellite observables, where the satellite observables include a first carrier phase observables and a first pseudo-range observables for a plurality of satellites by a first antenna, and a second carrier phase observables and a second pseudo-range observables for a plurality of satellites by a second antenna;

A first determining module 602, configured to determine a candidate set of baseline directions, where the candidate set includes a plurality of baseline direction estimates, and the baseline directions characterize a horizontal direction between the first antenna and the second antenna;

a calculation module 603, configured to correct, for each of the baseline direction estimated values, a phase center deviation in the first carrier phase observed quantity and a phase center deviation in the second carrier phase observed quantity based on a first antenna phase pattern of the first antenna and a second antenna phase pattern of the second antenna, to obtain a first correction observed quantity and a second correction observed quantity; based on the first correction observed quantity and the second correction observed quantity, carrying out integer ambiguity resolution to obtain a base line length fixed solution and a base line direction fixed solution between the first antenna and the second antenna, and calculating a reliability evaluation value of the base line direction estimated value based on a residual error of the double-difference pseudo-range observed quantity, a residual error of the double-difference carrier phase observed quantity, a first difference value between the base line direction fixed solution and the base line direction estimated value and a second difference value between the base line length fixed solution and the base line length priori measured value; the double-difference pseudo-range observance is determined based on the first pseudo-range observance and the second pseudo-range observance, and the double-difference carrier phase observance is determined based on the first carrier phase observance and the second carrier phase observance;

A second determining module 604, configured to determine a baseline direction optimal estimated value from the candidate set based on the reliability evaluation value, and determine a baseline direction fixed solution obtained by resolving based on the baseline direction optimal estimated value.

By applying the dual-antenna orientation device suitable for the phase-distorted satellite navigation antenna, a plurality of baseline direction estimated values are firstly set, each baseline direction estimated value is traversed, each baseline direction estimated value is sequentially evaluated, and the optimal baseline direction estimated value is determined according to the set evaluation standard. In the process of evaluating any baseline direction estimated value, firstly, correcting carrier phase observed quantity of two antennas by utilizing the baseline direction estimated value and combining antenna phase patterns of the two antennas, and then, calculating whole-cycle ambiguity by utilizing the corrected carrier phase observed quantity to obtain a baseline length fixed solution and a baseline direction fixed solution. Further, the baseline direction estimated value is estimated by using the residual error of the double-difference pseudo-range observed quantity, the residual error of the double-difference carrier phase observed quantity, the first difference value between the baseline direction fixed solution and the baseline direction estimated value and the second difference value between the baseline length fixed solution and the baseline length priori measured value, so that the reliability of the baseline direction estimated value can be accurately estimated, the optimal baseline direction estimated value is further determined, and the baseline direction fixed solution obtained by calculating based on the optimal baseline direction estimated value is the dual-antenna orientation result.

In one embodiment of the invention, the computing module 603 includes:

and the determining unit is used for calculating a base line length fixed solution and a base line direction fixed solution based on the ambiguity vector fixed solution.

In one embodiment of the present invention, the second resolving unit is specifically configured to:

calculating an ambiguity vector fixed solution based on the following optimization objective function;

wherein y represents the difference value between the double-difference carrier observed quantity and the geometrical distance between the double-difference pseudo-range observed quantity and the satellite-ground, and l represents the baselineA priori measurement of length, h ^′ Represents a baseline direction estimate, Q _yy Representing the variance-covariance matrix of y, II ² A represents the modular aspect of the vector, a represents the ambiguity vector fixed solution, B represents the baseline vector, A and B are coefficient matrices, each comprising a unit vector of carrier phase wavelength and satellite observation direction, B _E And b _N Representing the components of the baseline vector in the forward eastern and north directions respectively,representing the variance of the a priori measurement of the baseline length, +.>Representing the variance of the baseline direction estimate, aε Z ⁿ The representation a belongs to an n-dimensional integer space, b epsilon R ³ The characterization belongs to the three-dimensional real space.

In one embodiment of the present invention, the computing module 603 further includes:

and the judging unit is used for judging whether the size of the ambiguity search space is in a preset range, if so, the second resolving unit is instructed to execute the step of taking the prior measured value of the base line length and the base line direction estimated value as constraints, taking the integer ambiguity vector in the ambiguity search space as a candidate solution, and resolving the integer ambiguity to obtain an ambiguity vector fixed solution.

In one embodiment of the invention, the computing module 603 includes:

a calculation unit for calculating a reliability evaluation value based on:

wherein r is _DD (h ^′ ) Represents a reliability evaluation value, h ^′ Representing a baseline direction estimate;sum of squares of residuals representing carrier phase observations, +.>Representing the sum of squares of the residuals of the pseudorange observations, l representing a priori measure of the baseline length, ++>The representation is based on h ^′ A fixed solution of the base line length obtained by the solution, < >>The representation is based on h ^′ A fixed solution of the base line direction obtained by the solution, < >>Representing the variance of the observed quantity of the double difference carrier phase, +.>Representing the variance of the double difference pseudo-range observables, +.>Variance of a priori measurement representing baseline length, +. >Representing the variance of the baseline direction estimate.

The embodiment of the present invention further provides an electronic device, as shown in fig. 7, including a processor 701, a communication interface 702, a memory 703 and a communication bus 704, where the processor 701, the communication interface 702, and the memory 703 perform communication with each other through the communication bus 704,

a memory 703 for storing a computer program;

the processor 701 is configured to execute the program stored in the memory 703, and implement the following steps:

acquiring satellite observables, wherein the satellite observables comprise a first carrier phase observables and a first pseudo-range observables of a first antenna aiming at a plurality of satellites, and a second carrier phase observables and a second pseudo-range observables of a second antenna aiming at a plurality of satellites;

for each baseline direction estimation value, respectively correcting the phase center deviation in the first carrier phase observed quantity and the phase center deviation in the second carrier phase observed quantity based on a first antenna phase pattern of the first antenna and a second antenna phase pattern of the second antenna to obtain a first correction observed quantity and a second correction observed quantity; based on the first correction observed quantity and the second correction observed quantity, carrying out integer ambiguity resolution to obtain a base line length fixed solution and a base line direction fixed solution between the first antenna and the second antenna, and calculating a reliability evaluation value of the base line direction estimated value based on a residual error of the double-difference pseudo-range observed quantity, a residual error of the double-difference carrier phase observed quantity, a first difference value between the base line direction fixed solution and the base line direction estimated value and a second difference value between the base line length fixed solution and the base line length priori measured value; the double-difference pseudo-range observance is determined based on the first pseudo-range observance and the second pseudo-range observance, and the double-difference carrier phase observance is determined based on the first carrier phase observance and the second carrier phase observance;

Based on the reliability evaluation value, a baseline direction optimal estimation value is determined from the candidate set, and a baseline direction fixed solution obtained by resolving based on the baseline direction optimal estimation value is determined.

The communication bus mentioned above for the electronic devices may be a peripheral component interconnect standard (Peripheral Component Interconnect, PCI) bus or an extended industry standard architecture (Extended Industry Standard Architecture, EISA) bus, etc. The communication bus may be classified as an address bus, a data bus, a control bus, or the like. For ease of illustration, the figures are shown with only one bold line, but not with only one bus or one type of bus.

The communication interface is used for communication between the electronic device and other devices.

The Memory may include random access Memory (Random Access Memory, RAM) or may include Non-Volatile Memory (NVM), such as at least one disk Memory. Optionally, the memory may also be at least one memory device located remotely from the aforementioned processor.

The processor may be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU), a network processor (Network Processor, NP), etc.; but also digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), field programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

In yet another embodiment of the present invention, a computer readable storage medium is provided, in which a computer program is stored, the computer program implementing the steps of any of the above-mentioned dual antenna orientation methods for a phase-distorted satellite navigation antenna when executed by a processor.

In yet another embodiment of the present invention, a computer program product comprising instructions that, when run on a computer, cause the computer to perform any of the above embodiments of a dual antenna orientation method for a phase-distorted satellite navigation antenna is also provided.

In the above embodiments, it may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, produces a flow or function in accordance with embodiments of the present invention, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable apparatus. The computer instructions may be stored in or transmitted from one computer-readable storage medium to another, for example, by wired (e.g., coaxial cable, optical fiber, digital Subscriber Line (DSL)), or wireless (e.g., infrared, wireless, microwave, etc.). The computer readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. that contains an integration of one or more available media. The usable medium may be a magnetic medium (e.g., floppy Disk, hard Disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid State Disk (SSD)), etc.

It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

In this specification, each embodiment is described in a related manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for a dual antenna directional device, electronic device and computer readable storage medium embodiment suitable for a phase-distorted satellite navigation antenna, the description is relatively simple as it is substantially similar to the method embodiment, and the relevant points are referred to in the partial description of the method embodiment.

The foregoing description is only of the preferred embodiments of the present invention and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. A dual antenna orientation method for a phase-distorted satellite navigation antenna, the method comprising:

2. The method of claim 1, wherein the step of performing a whole-cycle ambiguity resolution based on the first correction observance amount and the second correction observance amount to obtain a base-line length fixed solution and a base-line direction fixed solution between the first antenna and the second antenna comprises:

3. The method of claim 2, wherein the step of performing a whole-cycle ambiguity resolution with the a priori measurement of the baseline length and the baseline direction estimate as constraints and the whole-cycle ambiguity vector in the ambiguity search space as a candidate solution to obtain an ambiguity vector fixed solution comprises:

wherein y represents the difference value of the double-difference carrier observed quantity and the double-difference pseudo-range observed quantity and the geometrical distance of the star and the earth respectively, l represents the prior measured value of the baseline length, h' represents the estimated value of the baseline direction, and Q _yy Representing the variance-covariance matrix of y, II ² Form of vector, table aThe ambiguity vector fixed solution is shown, B represents a baseline vector, A and B are coefficient matrices, and each comprises a unit vector of carrier phase wavelength and satellite observation direction, B _E And b _N Representing the components of the baseline vector in the forward eastern and north directions respectively,representing the variance of the baseline length a priori measurements,/->Representing the variance of the baseline direction estimate, aε Z ⁿ The representation a belongs to an n-dimensional integer space, b epsilon R ³ The representation b belongs to the three-dimensional real space.

4. The method of claim 2, wherein after performing the steps of performing an ambiguity resolution based on the first correction-observed quantity and the second correction-observed quantity, obtaining an ambiguity vector floating solution, and determining an ambiguity search space based on the ambiguity vector floating solution, the method further comprises:

5. The method of claim 1, wherein the step of calculating a reliability estimate based on the residual of the double-difference pseudorange observables, the residual of the double-difference carrier-phase observables, the first difference between the baseline direction stationary solution and the baseline direction estimate, and the second difference between the baseline length stationary solution and the a priori measure of baseline length comprises:

the reliability evaluation value is calculated based on the following formula:

wherein r is _DD (h ') represents the reliability evaluation value, h' represents the baseline direction evaluation value;sum of squares of residuals representing said carrier phase observations, +.>Representing the sum of squares of the residuals of said pseudorange observations, l representing an a priori measure of said baseline length, +>Representing a baseline length fixed solution based on the h' solution,>indicating a baseline orientation fixed solution based on the h' solution, >Representing the variance of the double difference carrier phase observables,/->Representing the variance of said double difference pseudo-range observables,/->Variance of a priori measurement representing the length of the baseline,/->Representing the variance of the baseline direction estimate.

6. A dual antenna directional device for a phase-distorted satellite navigation antenna, comprising:

7. The apparatus of claim 6, wherein the computing module comprises:

8. The apparatus according to claim 7, wherein the second resolving unit is specifically configured to:

Wherein y represents the difference value of the double-difference carrier observed quantity and the double-difference pseudo-range observed quantity and the geometrical distance of the star and the earth respectively, l represents the prior measured value of the baseline length, h' represents the estimated value of the baseline direction, and Q _yy Representing the variance-covariance matrix of y, II ² A represents the modular aspect of the vector, a represents the ambiguity vector fixed solution, B represents the baseline vector, A and B are coefficient matrices, each comprising a unit vector of carrier-phase wavelength and satellite observation direction, B _E And b _N Representing the components of the baseline vector in the forward eastern and north directions respectively,representing the variance of the baseline length a priori measurements,/->Representing the variance of the baseline direction estimate, aε Z ⁿ The representation a belongs to an n-dimensional integer space, b epsilon R ³ The representation b belongs to the three-dimensional real space.

9. The electronic equipment is characterized by comprising a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory are communicated with each other through the communication bus;

a memory for storing a computer program;

a processor for carrying out the method steps of any one of claims 1-5 when executing a program stored on a memory.

10. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored therein a computer program which, when executed by a processor, implements the method steps of any of claims 1-5.