CN116953746B

CN116953746B - Method and device for orienting satellite navigation antenna based on single phase distortion

Info

Publication number: CN116953746B
Application number: CN202311221599.7A
Authority: CN
Inventors: 李加琪; 靳文鑫; 李琳
Original assignee: Beijing Ligong Navigation Technology Co ltd
Current assignee: Beijing Ligong Navigation Technology Co ltd
Priority date: 2023-09-21
Filing date: 2023-09-21
Publication date: 2023-12-22
Anticipated expiration: 2043-09-21
Also published as: CN116953746A

Abstract

The embodiment of the invention provides a method and a device for orienting a satellite navigation antenna based on single phase distortion, wherein the method comprises the following steps: acquiring satellite observables, determining a plurality of antenna direction estimated values, correcting phase center deviations in a first carrier phase observables and a second carrier phase observables based on the antenna direction estimated value, a first antenna phase pattern of a target antenna and a second antenna phase pattern of a reference station antenna for each antenna direction estimated value to obtain a first correction observables and a second correction observables, performing relative positioning by using the first pseudo-range observables, the second pseudo-range observables, the first correction observables and the second correction observables, and calculating a first reliability estimated value of the antenna direction estimated value; and determining the optimal antenna direction estimated value as a target antenna direction based on each first reliability estimated value. By applying the scheme of the invention, the function of orientation by using one satellite navigation antenna with obvious phase distortion is realized.

Description

Method and device for orienting satellite navigation antenna based on single phase distortion

Technical Field

The invention relates to the technical field of satellite navigation, in particular to a method and a device for orienting a satellite navigation antenna based on single-station phase distortion.

Background

Global satellite navigation system (Global Navigation Satellite System, GNSS) orientation is a technique that uses satellite navigation receivers to measure satellite observations of one or more satellite navigation antennas and to solve for carrier direction. The GNSS orientation method can be classified into a pseudo-range orientation method and a carrier phase orientation method according to the type of satellite observance used.

In the related art, a dual-antenna carrier phase orientation method is used for realizing GNSS orientation, the method utilizes carrier phase observables to construct dual-difference observables, and utilizes carrier phase relative positioning technology to calculate a baseline vector between two satellite navigation antennas so as to deduce a baseline direction and further determine a carrier direction. In application, the limitation of the dual-antenna carrier phase orientation method is that the quality requirement on the carrier phase observed quantity is high, and the phase center deviation of the satellite navigation antenna is required not to be large.

In recent years, with the continuous expansion of GNSS related applications, the demand for high-precision orientation has also increased. However, in practical applications, phase distortion antennas are widely used in pseudo-range single-point positioning, and such antennas have phase center deviations with larger amplitudes and asymmetric spatial distribution. Such as low cost patch antennas, array antennas for anti-interference applications, etc., the antenna phase center offset is typically not controlled in a specific manner due to cost constraints or requirements of the primary design objective, such that the phase center offset may be as much as several centimeters. For such low-cost antennas for pseudo-range single-point positioning, the measured carrier phase observables are poor in quality due to large deviation of the antenna phase center, so that the antennas are difficult to be used in high-precision applications based on carrier phase observables, such as GNSS orientation.

Disclosure of Invention

The embodiment of the invention aims to provide a method and a device for orienting a satellite navigation antenna based on single phase distortion, so that an orientation function is realized by using a satellite navigation antenna with obvious phase distortion at low cost. The specific technical scheme is as follows:

in a first aspect, an embodiment of the present invention provides a method for orienting a satellite navigation antenna based on single phase distortion, where the method includes:

obtaining a satellite observance quantity, the satellite observance quantity comprising: the target antenna is used for observing a first carrier phase and a first pseudo-range of a plurality of satellites, and the reference station antenna is used for observing a second carrier phase and a second pseudo-range of the plurality of satellites; the target antenna is a satellite navigation antenna with phase distortion;

determining a candidate set of antenna directions, the candidate set comprising a plurality of antenna direction estimates, the antenna directions characterizing directions in which antenna reference points of the target antennas are pointing;

for each antenna direction estimated value, correcting the phase center deviation in the first carrier phase observed quantity and the second carrier phase observed quantity based on the antenna direction estimated value, a first antenna phase pattern of the target antenna and a second antenna phase pattern of the reference station antenna respectively to obtain a first correction observed quantity and a second correction observed quantity;

For each antenna direction estimated value, performing relative positioning by using the first pseudo-range observed quantity, the second pseudo-range observed quantity, the first correction observed quantity and the second correction observed quantity, and calculating a first reliability estimated value of the antenna direction estimated value;

and determining an antenna direction optimal estimated value from the candidate set based on each of the first reliability estimated values, and determining the antenna direction optimal estimated value as a target antenna direction.

In one possible implementation manner, the calculating, for each of the antenna direction estimated values, a first reliability estimated value of the antenna direction estimated value by performing relative positioning using the first pseudo-range observed quantity, the second pseudo-range observed quantity, the first correction observed quantity, and the second correction observed quantity includes:

for each antenna direction estimated value, performing ambiguity resolution based on the first pseudo-range observed quantity, the second pseudo-range observed quantity, the first correction observed quantity and the second correction observed quantity to obtain a fixed solution of whole-cycle ambiguity;

for each of the antenna direction estimates, calculating a first reliability estimate for the antenna direction estimate based on the first and second correction observations, the antenna direction estimate, a posterior satellite-receiver antenna geometry distance, a carrier phase wavelength, and a fixed solution for the integer ambiguity; wherein the posterior satellite-receiver antenna geometry is determined based on the target antenna-to-target satellite geometry and the reference station antenna-to-target satellite geometry.

In one possible embodiment, the acquiring satellite observables includes: acquiring satellite observables of a plurality of epochs; the satellite observables include: a first carrier phase observed quantity and a first pseudo-range observed quantity of a target antenna aiming at a plurality of satellites in each epoch, and a second carrier phase observed quantity and a second pseudo-range observed quantity of a reference station antenna aiming at the plurality of satellites;

the correcting, for each antenna direction estimation value, the phase center deviation in the first carrier phase observed quantity and the second carrier phase observed quantity based on the antenna direction estimation value, the first antenna phase pattern of the target antenna, and the second antenna phase pattern of the reference station antenna, to obtain a first correction observed quantity and a second correction observed quantity, includes: for each antenna direction estimated value, correcting the phase center deviation in the first carrier phase observed quantity and the second carrier phase observed quantity in each epoch based on the antenna direction estimated value, the first antenna phase pattern of the target antenna and the second antenna phase pattern of the reference station antenna, so as to obtain a first correction observed quantity and a second correction observed quantity of each epoch;

For each antenna direction estimated value, performing relative positioning by using the first pseudo-range observed quantity, the second pseudo-range observed quantity, the first correction observed quantity and the second correction observed quantity, and calculating a first reliability estimated value of the antenna direction estimated value, including: and for each antenna direction estimated value, performing relative positioning by using the first pseudo-range observed quantity, the second pseudo-range observed quantity, the first correction observed quantity and the second correction observed quantity of each epoch, and calculating a first reliability estimated value of the antenna direction estimated value.

In one possible implementation manner, the calculating, for each of the antenna direction estimated values, a first reliability estimated value of the antenna direction estimated value by performing relative positioning using the first pseudo-range observed quantity, the second pseudo-range observed quantity, the first correction observed quantity, and the second correction observed quantity of each epoch includes:

for each antenna direction estimated value, performing ambiguity resolution based on the first pseudo-range observed quantity, the second pseudo-range observed quantity, the first correction observed quantity and the second correction observed quantity of each epoch respectively to obtain the distance between an integer ambiguity vector and a floating ambiguity vector of each epoch;

For each antenna direction estimated value, calculating a first reliability estimated value of the antenna direction estimated value based on the antenna direction estimated value, the number of epochs, the distance between the optimal integer ambiguity vector and the floating solution ambiguity vector for each epoch, and the distance between the suboptimal integer ambiguity vector and the floating solution ambiguity vector for each epoch.

In one possible embodiment, the method further comprises:

updating the candidate set of the antenna direction according to the target antenna direction to obtain an updated candidate set; the updated candidate set comprises a plurality of candidate antenna direction estimated values;

for each candidate antenna direction estimation value, correcting the phase center deviation in the first carrier phase observed quantity and the second carrier phase observed quantity of the current epoch respectively based on the candidate antenna direction estimation value, the first antenna phase pattern of the target antenna and the second antenna phase pattern of the reference station antenna to obtain a third correction observed quantity and a fourth correction observed quantity;

for each candidate antenna direction estimated value, performing relative positioning by using a first pseudo-range observed quantity, a second pseudo-range observed quantity, the third correction observed quantity and the fourth correction observed quantity of the current epoch, and calculating a second reliability estimated value of the candidate antenna direction estimated value;

And determining a candidate antenna direction optimal estimated value from the updated candidate set based on each of the second reliability estimated values, and determining the candidate antenna direction optimal estimated value as a final antenna direction.

In one possible embodiment, the method further comprises:

determining whether the final antenna direction meets a preset condition;

and returning to the step of executing the satellite observables of a plurality of epochs until the final antenna direction meets the preset condition under the condition that the final antenna direction does not meet the preset condition.

In a possible implementation manner, the updating the candidate set of the antenna direction according to the target antenna direction to obtain an updated candidate set includes:

determining a spatial domain search range of candidate antenna directions based on the target antenna directions;

and dividing the space domain searching range according to a preset step length to obtain an updating candidate set.

In a second aspect, an embodiment of the present invention provides a single-phase distortion-based satellite navigation antenna orientation device, where the device includes:

the observed quantity acquisition module is used for acquiring satellite observed quantity, and the satellite observed quantity comprises: the target antenna is used for observing a first carrier phase and a first pseudo-range of a plurality of satellites, and the reference station antenna is used for observing a second carrier phase and a second pseudo-range of the plurality of satellites; the target antenna is a satellite navigation antenna with phase distortion;

A candidate set determining module, configured to determine a candidate set of antenna directions, where the candidate set includes a plurality of antenna direction estimation values, and the antenna directions represent directions in which antenna reference points of the target antennas point;

the observed quantity correction module is used for correcting phase center deviation in the first carrier phase observed quantity and the second carrier phase observed quantity respectively according to each antenna direction estimated value and based on the antenna direction estimated value, a first antenna phase pattern of the target antenna and a second antenna phase pattern of the reference station antenna, so as to obtain a first correction observed quantity and a second correction observed quantity;

the reliability evaluation module is used for carrying out relative positioning by using the first pseudo-range observed quantity, the second pseudo-range observed quantity, the first correction observed quantity and the second correction observed quantity aiming at each antenna direction estimated value, and calculating a first reliability estimated value of the antenna direction estimated value;

and an antenna orientation module, configured to determine an antenna direction optimal estimation value from the candidate set based on each of the first reliability evaluation values, and determine the antenna direction optimal estimation value as a target antenna direction.

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 a processor for implementing any of the above-described method steps when executing a program stored on the memory.

In a fourth aspect, embodiments of the present invention provide a computer-readable storage medium having a computer program stored therein, which when executed by a processor, implements any of the above-described method steps.

The embodiment of the invention has the beneficial effects that:

according to the method and the device for orienting the satellite navigation antenna based on single phase distortion, provided by the embodiment of the invention, the antenna direction estimated values are set, each antenna direction estimated value is traversed, the phase center deviation in the acquired carrier phase observed quantity is corrected by utilizing the antenna direction estimated values and the antenna phase pattern, so as to try to eliminate the phase center deviation in the carrier phase observed quantity, the reliability of each antenna direction estimated value is evaluated, and then the optimal antenna direction estimated value is determined to be the target antenna direction according to the set evaluation standard. In the process, because the target antenna is the satellite navigation antenna with phase distortion, namely, the adverse factor of phase distortion of the low-cost antenna is overcome, compared with the existing GNSS orientation which needs to use the satellite navigation antenna with high cost and high quality (smaller deviation of the phase center), the satellite navigation antenna with obvious phase distortion has the function of orientation by using one satellite navigation antenna with low cost, and the satellite navigation hardware equipment with one phase distortion antenna can have orientation capability.

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 a schematic diagram of an orientation system of a satellite navigation antenna based on single phase distortion according to an embodiment of the present invention;

fig. 2 is a schematic flow chart of a method for orienting a satellite navigation antenna based on single phase distortion according to an embodiment of the present invention;

fig. 3 is a schematic flow chart of another method for orienting a satellite navigation antenna based on single phase distortion according to an embodiment of the present invention;

fig. 4 is an exemplary diagram of an antenna phase pattern according to an embodiment of the present invention;

FIG. 5 is an exemplary diagram of phase center offset correction provided by an embodiment of the present invention;

fig. 6 is a schematic flow chart of a method for orienting a satellite navigation antenna based on single phase distortion according to an embodiment of the present invention;

Fig. 7 is a schematic flow chart of a method for orienting a satellite navigation antenna based on single phase distortion according to an embodiment of the present invention;

fig. 8 is a schematic structural diagram of a single phase distortion-based orientation device for a satellite navigation antenna according to an embodiment of the present invention;

fig. 9 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 invention 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 invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by the person skilled in the art based on the present invention are included in the scope of protection of the present invention.

In order to solve the technical problem of realizing the orientation function by using one satellite navigation antenna with obvious phase distortion at low cost, the embodiment of the invention provides an orientation method and an orientation device of the satellite navigation antenna based on single phase distortion. The method and the device for orienting the satellite navigation antenna based on single phase distortion can be applied to antenna orientation in a static scene and also can be applied to antenna orientation in a dynamic scene. The phase-distorted satellite navigation antenna refers to a satellite navigation antenna with a large amplitude and asymmetric phase center deviation of spatial distribution, that is, a phase-distorted satellite navigation antenna, that is, a satellite navigation antenna with a large phase center deviation.

Fig. 1 is a schematic diagram of a satellite navigation antenna orientation system based on single phase distortion according to an embodiment of the present invention. The user platform is provided with only one satellite navigation antenna (the user antenna in fig. 1) with phase distortion, by respectively acquiring satellite observables (such as carrier phase observables and pseudo-range observables) of the user antenna and the reference station antenna for a plurality of satellites, and then utilizing the acquired satellite observables to perform relative positioning between the user antenna and the reference station, the orientation of the user antenna, that is, the antenna direction of the directional user antenna, is realized, and the antenna direction of the user antenna can be defined as the direction in which an antenna reference point points, for example, in fig. 1, the antenna reference point points point to the north direction of the reference point. The coordinate system shown in fig. 1 is a northeast day coordinate system, wherein, the day represents the zenith direction, the east represents the northwest direction, and the north represents the northwest direction. Reference stations typically use high quality antennas, otherwise known as relatively ideal antennas, with very little phase center offset.

Fig. 2 is a schematic flow chart of a method for orienting a satellite navigation antenna based on single phase distortion according to an embodiment of the present invention, where the method includes the following steps:

S201, acquiring satellite observables, wherein the satellite observables comprise: the target antenna is for a first carrier phase observation and a first pseudorange observation of a plurality of satellites, and the reference station antenna is for a second carrier phase observation and a second pseudorange observation of a plurality of satellites.

The target antenna is a satellite navigation antenna with phase distortion.

S202, determining a candidate set of antenna directions, wherein the candidate set comprises a plurality of antenna direction estimated values.

The antenna direction characterizes the direction in which the antenna reference point of the target antenna is pointing.

S203, for each antenna direction estimated value, correcting the phase center deviation in the first carrier phase observed quantity and the second carrier phase observed quantity based on the antenna direction estimated value, the first antenna phase pattern of the target antenna and the second antenna phase pattern of the reference station antenna, respectively, to obtain a first correction observed quantity and a second correction observed quantity.

S204, for each antenna direction estimated value, performing relative positioning by using the first pseudo-range observed quantity, the second pseudo-range observed quantity, the first correction observed quantity and the second correction observed quantity, and calculating a first reliability estimated value of the antenna direction estimated value.

S205, determining an antenna direction optimal estimated value from the candidate set based on each first reliability estimated value, and determining the antenna direction optimal estimated value as the target antenna direction.

By applying the orientation method of the satellite navigation antenna based on single phase distortion provided by the embodiment of the invention, through setting a plurality of antenna direction estimated values and traversing each antenna direction estimated value, the phase center deviation in the acquired carrier phase observed quantity is corrected by utilizing the antenna direction estimated values and the antenna phase pattern so as to try to eliminate the phase center deviation in the carrier phase observed quantity, the reliability of each antenna direction estimated value is estimated, and then the optimal antenna direction estimated value is determined as the target antenna direction according to the set evaluation standard. In the process, because the target antenna is the satellite navigation antenna with phase distortion, namely, the adverse factor of phase distortion of the low-cost antenna is overcome, compared with the existing GNSS orientation which needs to use the satellite navigation antenna with high cost and high quality (smaller deviation of the phase center), the satellite navigation antenna with obvious phase distortion has the function of orientation by using one satellite navigation antenna with low cost, and the satellite navigation hardware equipment with one phase distortion antenna can have orientation capability.

In another embodiment, referring to fig. 3, fig. 3 is another flow chart of a method for orienting a satellite navigation antenna based on single phase distortion according to an embodiment of the present invention, the method includes the following steps:

S301, acquiring satellite observables, wherein the satellite observables comprise: the target antenna is for a first carrier phase observation and a first pseudorange observation of a plurality of satellites, and the reference station antenna is for a second carrier phase observation and a second pseudorange observation of a plurality of satellites.

In one example, satellite observables for the same plurality of satellites by the target antenna and the reference station antenna may be obtained, for example, assuming that the target antenna and the reference station antenna can both observe satellite 1-satellite N, satellite observables for each of satellite 1-satellite N by the target antenna and the reference station antenna may be obtained, respectively. The target antenna is a satellite navigation antenna with phase distortion.

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.

The satellite observables of the target antenna and the reference station antenna for a plurality of satellites can be obtained in each epoch, and the antenna direction of the target antenna can be calculated by using the orientation method of the satellite navigation antenna based on single phase distortion provided by the embodiment of the invention for the satellite observables obtained in any epoch. In the embodiment of the present invention, taking one epoch as an example, the implementation process of step S301 to step S306 is illustrated, so as to implement the orientation of the antenna direction based on the search of the spatial domain under one epoch.

S302, determining a candidate set of antenna directions, wherein the candidate set comprises a plurality of antenna direction estimated values.

In the embodiment of the invention, the antenna direction is defined as the direction pointed by the antenna reference point, namely, the antenna direction represents the direction pointed by the antenna reference point of the target antenna. The method comprises the steps of setting a search range and a step length of a space domain in one epoch to determine estimated values of a plurality of antenna directions, taking the estimated values of the plurality of antenna directions as candidate sets of the antenna directions, correcting phase center deviation in antenna carrier phase observed quantity on the basis of the candidate sets of the antenna directions, evaluating reliability of the estimated values of each antenna direction in the candidate sets, and accordingly orienting a target antenna.

The embodiment of the invention is not limited to a specific manner of determining the candidate set of antenna directions, and as an example, an antenna direction interval or step size may be predeterminedThe candidate sets of antenna directions are determined in an equally spaced manner, for example, 5 ° as the antenna direction interval, in the spatial angle range (i.e., spatial domain search range)/(5 °)>And determining an estimated value of the antenna direction every 5 degrees, and obtaining a candidate set of the antenna direction.

As another example, a predetermined one may be setIndividual angle value intervals as spatial domain search rangesThe candidate sets of antenna directions are determined in an equally spaced manner within this spatial domain search range.

S303, for each antenna direction estimated value, correcting the phase center deviation in the first carrier phase observed quantity and the second carrier phase observed quantity based on the antenna direction estimated value, the first antenna phase pattern of the target antenna and the second antenna phase pattern of the reference station antenna, so as to obtain a first correction observed quantity and a second correction observed quantity.

In the embodiment of the invention, the phase center deviations of the target antenna and the reference station antenna need to be calibrated in advance, and the calibration mode of the phase center deviations can refer to the content in the related technology.

The spatial distribution of the phase center bias of the satellite navigation antenna can be described by a phase pattern, as shown in fig. 4, and fig. 4 is an exemplary diagram of the phase pattern of the antenna according to the embodiment of the present invention. The angle range of 0-360 deg. at the outermost periphery in fig. 4 represents the azimuth angle range of the antenna, the angle range of 30-60 deg. in fig. 4 represents the zenith angle range, -8 to 8 represent the phase center deviation of each spatial position, the unit is cm, and the specific size of the phase center deviation is represented by the darkness of the color in the antenna phase pattern shown in fig. 4.

The obtained first carrier phase observed quantity of the target antenna aiming at a plurality of satellites and the obtained second carrier phase observed quantity of the reference station antenna aiming at a plurality of satellites are specifically: the carrier phase observations containing the phase center deviations, while the spatial distribution of the phase center deviations can be described by a phase pattern, i.e. the antenna phase pattern can characterize the spatial distribution of the phase center deviations. Based on this, for each antenna direction estimation value, the antenna direction estimation value and the first antenna phase pattern of the target antenna may be used to correct the phase center deviation in the first carrier phase observed quantity of the target antenna, so as to eliminate the phase center deviation in the first carrier phase observed quantity of the target antenna, and obtain the corrected first carrier phase observed quantity, i.e. the first corrected observed quantity. And for each antenna direction estimated value, correcting the phase center deviation in the second carrier phase observed quantity of the reference station antenna by using the antenna direction estimated value and the second antenna phase pattern of the reference station antenna so as to eliminate the phase center deviation in the second carrier phase observed quantity of the reference station antenna and obtain a corrected second carrier phase observed quantity, namely a second correction observed quantity. The first antenna phase pattern of the target antenna and the second antenna phase pattern of the reference station antenna are determined when the target antenna and the reference station antenna are determined, and are known in the phase center deviation correction process.

The phase direction diagram records the phase center deviation of the antenna in different directions, the phase center deviation in the carrier phase observed quantity is corrected by using the antenna direction estimated value and the phase direction diagram, and if the antenna direction estimated value is closer to the real antenna direction, namely the antenna direction estimated value is more accurate, the effect of eliminating the phase center deviation in the carrier phase observed quantity is better, and the relative positioning result is better. Exemplary, as shown in fig. 5, fig. 5 is an exemplary diagram of phase center deviation correction according to an embodiment of the present invention. Alignment of antenna direction estimates by rotating the phase pattern in fig. 5And the direction of the phase pattern +.>And the elimination of the phase center deviation in the carrier phase observed quantity is realized.

Therefore, for each antenna direction estimated value, the carrier phase observed quantity corrected by the target antenna and the reference station antenna, namely the first correction observed quantity and the second correction observed quantity, can be obtained.

S304, for each antenna direction estimated value, performing ambiguity resolution based on the first pseudo-range observed quantity, the second pseudo-range observed quantity, the first correction observed quantity and the second correction observed quantity to obtain a fixed solution of the integer ambiguity.

S305, for each antenna direction estimated value, calculating a first reliability estimated value of the antenna direction estimated value based on the first correction observed quantity and the second correction observed quantity, the antenna direction estimated value, the posterior satellite-receiver antenna geometric distance, the carrier phase wavelength and the fixed solution of the whole-cycle ambiguity.

In the process of calculating the first reliability evaluation value of the antenna direction estimation value, ambiguity solution can be performed on the basis of the acquired first pseudo-range observed quantity, second pseudo-range observed quantity, and first correction observed quantity and second correction observed quantity obtained by correcting phase center deviation in the first carrier phase observed quantity and the second carrier phase observed quantity, so as to obtain a fixed solution of the whole-cycle ambiguity, and then the first reliability evaluation value of the antenna direction estimation value can be calculated on the basis of the fixed solutions of the first correction observed quantity and the second correction observed quantity, the antenna direction estimation value, the satellite-receiver antenna geometric distance of a posterior, the carrier phase wavelength and the whole-cycle ambiguity.

And performing ambiguity resolution based on the first pseudo-range observed quantity, the second pseudo-range observed quantity, the first correction observed quantity and the second correction observed quantity to obtain a specific implementation process of a fixed solution of the whole-cycle ambiguity, wherein the specific implementation process can refer to the content in the related technology. The geometrical distance between the satellite and the receiver antenna of the posterior is determined according to the geometrical distance between the target antenna and the target satellite and the geometrical distance between the reference station antenna and the target satellite, and the specific determination method can refer to the content in the related technology.

In the embodiment of the invention, the first reliability evaluation value of the antenna direction evaluation value is represented by the square sum of residual errors of the double-difference carrier phase observables. Of course, the first reliability evaluation value of the antenna direction evaluation value may also be characterized by using the residual error of the dual-difference carrier phase observance amount or the like.

In one possible implementation, the following expression may be used to calculate the first reliability estimate of the antenna direction estimate based on the first and second correction observations, the antenna direction estimate, the a-priori satellite-receiver antenna geometry distance, the carrier phase wavelength, and a fixed solution of the integer ambiguity:

；

wherein,sum of squares of residuals representing double difference carrier phase observations, +.>Indicate->Estimated value of each antenna direction,/>Representing inter-station and inter-satellite double difference operator, < ->Representing corrected carrier phase observations, determined from the first correction observations and the second correction observations,/->Satellite-receiver antenna geometrical distance representing a posterior,/->Representing carrier phase wavelength, ">Representing a fixed solution to the integer ambiguity. For example, the specific implementation procedure of determining the corrected carrier phase observed quantity from the first correction observed quantity and the second correction observed quantity may refer to the content in the related art.

S306, determining an antenna direction optimal estimated value from the candidate set based on each first reliability estimated value, and determining the antenna direction optimal estimated value as a target antenna direction.

Corresponding to the above estimated value of each antenna direction, a set of carrier phase observables corrected by the target antenna and the reference station antenna, that is, the first correction observables and the second correction observables, can be obtained, then, for each estimated value of the antenna direction, a first reliability estimated value can be calculated, and the magnitude of the first reliability estimated value can represent the accuracy of the estimated value of the antenna direction.

In one possible implementation, the first reliability evaluation value is a sum of squares of residuals of the dual-difference carrier phase observables, and thus the antenna direction estimation value corresponding to the minimum first reliability evaluation value may be determined as the antenna direction optimal estimation value. In one example, the following expression may be used to determine the antenna direction optimal estimate from the candidate set:

；

wherein,represents the optimal estimated value of the antenna direction obtained by searching based on the space domain under one epoch,representing a spatial domain search range, i.e., a spatial angle range.

By applying the orientation method of the satellite navigation antenna based on single phase distortion provided by the embodiment of the invention, under one epoch, by setting a plurality of antenna direction estimated values and traversing each antenna direction estimated value, the phase center deviation in the acquired carrier phase observed quantity is corrected by utilizing the antenna direction estimated values and the antenna phase pattern so as to try to eliminate the phase center deviation in the carrier phase observed quantity, the reliability of each antenna direction estimated value is evaluated, and then the optimal antenna direction estimated value is determined as the target antenna direction according to the set evaluation standard. In the process, because the target antenna is the satellite navigation antenna with phase distortion, the adverse factor of the phase distortion of the low-cost antenna is overcome, compared with the existing GNSS orientation which needs to use the satellite navigation antenna with high cost and high quality (smaller deviation of the phase center), the satellite navigation antenna with obvious phase distortion has the function of orientation based on the space domain under one epoch, and the satellite navigation hardware equipment provided with only one phase distortion antenna has orientation capability, and simultaneously, the requirement of the satellite navigation orientation technology on the antenna quality is relaxed.

In another embodiment, referring to fig. 6, fig. 6 is a schematic flow chart of a method for orienting a satellite navigation antenna based on single phase distortion according to an embodiment of the present invention, the method includes the following steps:

s601, acquiring satellite observables of a plurality of epochs.

Wherein, satellite observables include: the target antenna in each epoch is directed to a first carrier phase observation and a first pseudorange observation of a plurality of satellites, and the reference station antenna is directed to a second carrier phase observation and a second pseudorange observation of a plurality of satellites.

Specifically, the implementation process of acquiring satellite observables of multiple epochs may refer to the implementation process of step S301, which is not described herein.

In the embodiment of the present invention, taking a plurality of epochs as an example, the implementation process of step S601 to step S605 is exemplarily described, and the antenna direction is oriented based on the search of the time domain under the plurality of epochs. The plurality of calendar elements may be continuous or not, and the number of the plurality of calendar elements may be set according to actual needs, for example, may be 3, 5 or 10, etc.

S602, determining a candidate set of antenna directions, wherein the candidate set comprises a plurality of antenna direction estimated values.

Specifically, the implementation process of determining the candidate set of antenna directions may refer to the implementation process of step S302, and the determined antenna direction estimated value may be the same as or different from the antenna direction estimated value determined in step S302, in other words, the spatial angle range for which the candidate set of antenna directions is determined in this stepAnd step size->The spatial angle range for the candidate set of antenna directions can be determined in step S302 above>And step size->The same or different.

S603, for each antenna direction estimated value, based on the antenna direction estimated value, the first antenna phase pattern of the target antenna and the second antenna phase pattern of the reference station antenna, correcting the phase center deviation in the first carrier phase observed quantity and the second carrier phase observed quantity in each epoch respectively, so as to obtain a first correction observed quantity and a second correction observed quantity of each epoch.

Specifically, the implementation process of correcting the phase center deviation in the first carrier phase observed quantity and the second carrier phase observed quantity in each epoch in this step may refer to the implementation process of step S303, and the embodiments of the present invention are not described herein again. The difference between this step and step S303 is that step S303 is to correct the phase center deviation in the carrier phase observables in a single epoch for each antenna direction estimation value, and the step is to correct the phase center deviation in the carrier phase observables in a plurality of epochs for each antenna direction estimation value.

S604, for each antenna direction estimated value, the first reliability estimated value of the antenna direction estimated value is calculated by using the first pseudo-range observed quantity, the second pseudo-range observed quantity, the first correction observed quantity and the second correction observed quantity of each epoch to perform relative positioning.

In one possible implementation manner, step S604 performs, for each antenna direction estimated value, relative positioning using the first pseudo-range observed quantity, the second pseudo-range observed quantity, the first correction observed quantity, and the second correction observed quantity of each epoch, and calculates a first reliability estimated value of the antenna direction estimated value, which may include:

for each antenna direction estimated value, respectively carrying out ambiguity resolution based on a first pseudo-range observed quantity, a second pseudo-range observed quantity, a first correction observed quantity and a second correction observed quantity of each epoch to obtain the distance between an integer ambiguity vector and a floating point solution ambiguity vector of each epoch;

for each antenna direction estimate, a first reliability estimate for the antenna direction estimate is calculated based on the antenna direction estimate, the number of epochs, the distance of the optimal integer ambiguity vector for each epoch from the floating solution ambiguity vector, and the distance of the suboptimal integer ambiguity vector for each epoch from the floating solution ambiguity vector.

The ambiguity resolution is performed based on the first pseudo-range observed quantity, the second pseudo-range observed quantity, the first correction observed quantity and the second correction observed quantity of each epoch, so as to obtain a specific implementation process of the distance between the integer ambiguity vector and the floating ambiguity vector of each epoch, which can refer to the content in the related art.

In the embodiment of the invention, the first reliability evaluation value of the antenna direction evaluation value is represented by the square sum of the continuous multiple epoch ratio test values. Of course, the first reliability estimate of the antenna direction estimate may also be characterized using a continuous plurality of epoch ratio test values, or the like.

In one possible implementation, the following expression may be used to calculate the first reliability estimate of the antenna direction estimate based on the antenna direction estimate, the number of epochs, the distance of the optimal integer ambiguity vector from the floating solution ambiguity vector for each epoch, and the distance of the suboptimal integer ambiguity vector from the floating solution ambiguity vector for each epoch:

；

wherein,flat representing successive multiple epoch ratio valuesSquare and (I) of->Indicate->Estimated value of each antenna direction,/>Indicate->Personal epoch->Representing the number of consecutive epochs +. >Representing epoch +.>Distance of optimal integer ambiguity vector from floating solution ambiguity vector, +.>Representing epoch +.>Is the distance of the suboptimal integer ambiguity vector from the floating solution ambiguity vector.

S605, based on each first reliability evaluation value, an antenna direction optimal evaluation value is determined from the candidate set, and the antenna direction optimal evaluation value is determined as the target antenna direction.

Corresponding to the above estimated value for each antenna direction, the carrier phase observed quantity corrected by the target antenna and the reference station antenna of each epoch, that is, the first corrected observed quantity and the second corrected observed quantity of each epoch, can be obtained, and the first reliability estimated value is obtained by performing relative positioning calculation on the pseudo-range observed quantity and the carrier phase observed quantity of a plurality of epochs, so that, for each antenna direction estimated value, a first reliability estimated value can also be calculated, and the magnitude of the first reliability estimated value can represent the accuracy of the antenna direction estimated value.

In one possible implementation, the first reliability evaluation value is a sum of squares of successive epoch ratio test values, and thus the antenna direction evaluation value to which the first reliability evaluation value corresponds most may be determined as the antenna direction optimal evaluation value. In one example, the following expression may be used to determine the antenna direction optimal estimate from the candidate set:

；/>

Wherein,represents the optimal estimated value of the antenna direction obtained by searching based on the time domain under a plurality of epochs,representing the time domain search range, i.e., the spatial angle range under the time domain.

By applying the orientation method of the satellite navigation antenna based on single phase distortion provided by the embodiment of the invention, under a plurality of calendar elements, by setting a plurality of antenna direction estimated values and traversing each antenna direction estimated value, the phase center deviation in the acquired carrier phase observed quantity of each calendar element is corrected by utilizing the antenna direction estimated values and the antenna phase pattern so as to try to eliminate the phase center deviation in the carrier phase observed quantity, the reliability of each antenna direction estimated value is evaluated, and then the optimal antenna direction estimated value is determined as the target antenna direction according to the set evaluation standard. In the process, because the target antenna is the satellite navigation antenna with phase distortion, the adverse factors of the phase distortion of the low-cost antenna are overcome, compared with the existing GNSS orientation which needs to use the satellite navigation antenna with high cost and high quality (smaller deviation of the phase center), the satellite navigation antenna with obvious phase distortion has the function of orientation based on time domain under a plurality of epochs, the satellite navigation hardware equipment provided with only one phase distortion antenna can have orientation capability, simultaneously, the requirement of the satellite navigation orientation technology on the antenna quality is relaxed, and the orientation accuracy is improved.

In another embodiment, referring to fig. 7, fig. 7 is a schematic flow chart of a method for orienting a satellite navigation antenna based on single phase distortion according to an embodiment of the present invention, the method includes the following steps:

s701, acquiring satellite observables of a plurality of epochs.

The acquired satellite observables of the plurality of epochs may include: the target antenna in each epoch is directed to a first carrier phase observation and a first pseudorange observation of a plurality of satellites, and the reference station antenna is directed to a second carrier phase observation and a second pseudorange observation of a plurality of satellites.

In the embodiment of the present invention, taking a plurality of epochs as an example, the implementation process of steps S701 to S709 is exemplarily described, so that the antenna direction is oriented based on the search of the time domain under a plurality of epochs, and the antenna direction is oriented based on the orientation result and then based on the search of the space domain under one epoch. The plurality of epochs may be a preset number of epochs before the current epoch, for example, 3 epochs, 5 epochs, 10 epochs, or the like, or may be a preset number of epochs including the current epoch.

S702, determining a candidate set of antenna directions, wherein the candidate set comprises a plurality of antenna direction estimated values.

The implementation process of determining the candidate set of antenna directions in this step may refer to the implementation process of step S602 described above, where the antenna directions represent the directions in which the antenna reference points of the target antennas are pointing.

In one possible implementation, the spatial angle range for which the candidate set is directed may beAnd step size->Set to a large value in order to accurately orient the antenna direction over a large spatial angle range. Exemplary, spatial angular range +.>And step size->Can be set to +.>Further according to step->For spatial angle range->And performing equidistant division to obtain a plurality of antenna direction estimated values.

S703, for each antenna direction estimated value, based on the antenna direction estimated value, the first antenna phase pattern of the target antenna and the second antenna phase pattern of the reference station antenna, correcting the phase center deviation in the first carrier phase observed quantity and the second carrier phase observed quantity in each epoch, respectively, to obtain a first correction observed quantity and a second correction observed quantity of each epoch.

Specifically, the implementation process of this step may refer to the implementation process of step S603, which is not described herein.

S704, for each antenna direction estimated value, the first reliability estimated value of the antenna direction estimated value is calculated by performing relative positioning by using the first pseudo-range observed quantity, the second pseudo-range observed quantity, the first correction observed quantity and the second correction observed quantity of each epoch.

In one possible implementation manner, step S704 performs, for each antenna direction estimated value, relative positioning using the first pseudo-range observed quantity, the second pseudo-range observed quantity, the first correction observed quantity, and the second correction observed quantity of each epoch, and calculates a first reliability estimated value of the antenna direction estimated value, which may include:

for each antenna direction estimate, a first reliability estimate of the antenna direction estimate is calculated based on the antenna direction estimate, the number of epochs, the distance of the optimal integer ambiguity vector for each epoch from the floating solution ambiguity vector, and the distance of the suboptimal integer ambiguity vector for each epoch from the floating solution ambiguity vector.

Specifically, the implementation process of this step may refer to the implementation process of step S604, which is not described herein.

S705, based on each first reliability evaluation value, determining an antenna direction optimal evaluation value from the candidate set, and determining the antenna direction optimal evaluation value as a target antenna direction.

Specifically, the implementation process of this step may refer to the implementation process of step S605, which is not described herein.

S706, updating the candidate set of the antenna direction according to the target antenna direction to obtain an updated candidate set.

Wherein the updated candidate set includes a plurality of candidate antenna direction estimates.

In a possible implementation manner, step S706 updates the candidate set of antenna directions according to the target antenna direction, to obtain an updated candidate set, which may include:

determining a spatial domain search range of the candidate antenna direction based on the target antenna direction;

In the steps S701-S705, the antenna direction is oriented by using the search based on the time domain under a plurality of epochs, and after the target antenna direction is obtained, the candidate set is redetermined according to the target antenna direction, the spatial angle range for which the candidate set is aimed is reduced, and the antenna direction estimated value is updated, so that the precise angle search is performed again, and more precise orientation is realized. Preferably, the spatial angle range for which the candidate set is updated can be determinedAnd step size->To a small value to facilitate further fine angle searching.

In one example, the target antenna direction may be taken as a center point, and a set angle may be extended to two sides to determine a spatial domain search range of the candidate antenna direction, and then the spatial domain search range is divided at equal intervals according to a preset step length, so as to obtain an updated candidate set including a plurality of candidate antenna direction estimated values.

For example, the target antenna direction may be expressed asThe spatial domain search range of the determined candidate antenna direction is expressed as +.>The preset step size is expressed as +.>Spatial domain search range of candidate antenna direction +.>Preset step sizeCan be set to +.>。/>

S707, for each candidate antenna direction estimation value, correcting the phase center deviation in the first carrier phase observed quantity and the second carrier phase observed quantity of the current epoch based on the candidate antenna direction estimation value, the first antenna phase pattern of the target antenna and the second antenna phase pattern of the reference station antenna, respectively, to obtain a third correction observed quantity and a fourth correction observed quantity.

Specifically, the implementation process of this step may refer to the implementation process of step S303, and the embodiment of the present invention is not described herein again.

S708, for each candidate antenna direction estimated value, performing relative positioning by using the first pseudo-range observed quantity, the second pseudo-range observed quantity, the third correction observed quantity and the fourth correction observed quantity of the current epoch, and calculating a second reliability estimated value of the candidate antenna direction estimated value.

In one possible implementation, for each candidate antenna direction estimate, ambiguity resolution may be performed based on the first pseudorange observance, the second pseudorange observance, the third correction observance, and the fourth correction observance of the current epoch, to obtain a fixed solution for the whole-cycle ambiguity, and further, based on the third correction observance and the fourth correction observance, the candidate antenna direction estimate, the posterior satellite-receiver antenna geometry distance, the carrier phase wavelength, and the fixed solution for the whole-cycle ambiguity, a second reliability estimate for the candidate antenna direction estimate may be calculated. For a specific implementation procedure, reference may be made to the implementation procedures of step S304 to step S305.

S709, determining a candidate antenna direction optimal estimation value from the updated candidate set based on each second reliability evaluation value, and determining the candidate antenna direction optimal estimation value as a final antenna direction.

The implementation process of this step may refer to the implementation process of step S306, and the embodiments of the present invention are not described herein again.

In the embodiment of the present invention, in step S701-step S705, the orientation of the antenna direction based on the search of the time domain under a plurality of epochs is realized, and the target antenna direction is obtained, and the target antenna direction is used as a rough antenna direction estimated value. Further, in step S706-step S709, based on the search result based on the time domain under the multiple epochs, that is, the target antenna direction is more precisely oriented by the search method based on the spatial domain under one epoch, so that the real-time accurate orientation of the antenna direction under the current epoch can be realized.

In one possible embodiment, the method may further include the steps of:

determining whether the final antenna direction meets a preset condition;

and under the condition that the final antenna direction does not meet the preset condition, returning to the step of executing the satellite observables of a plurality of epochs until the final antenna direction meets the preset condition.

The preset condition may be set according to actual needs, for example, may be one or more preset angle ranges, or may be whether the difference between the final antenna direction and the target antenna direction is within a set threshold, or the like. And under the condition that the final antenna direction does not meet the preset condition, returning to the step S701 to acquire satellite observables of a plurality of epochs until the final antenna direction meets the preset condition so as to realize accurate orientation of the target antenna.

By applying the method for orienting the satellite navigation antenna based on single phase distortion provided by the embodiment of the invention, firstly, under a plurality of calendar elements, a plurality of antenna direction estimated values are set, each antenna direction estimated value is traversed, the antenna direction estimated value and an antenna phase pattern are utilized to correct the phase center deviation in the acquired carrier phase observed quantity of each calendar element so as to try to eliminate the phase center deviation in the carrier phase observed quantity, the reliability of each antenna direction estimated value is evaluated, and then, according to the set evaluation standard, the optimal antenna direction estimated value is determined to be the target antenna direction. Further, on the basis of determining the target antenna direction, updating a candidate set of antenna directions by taking the target antenna direction as a reference to obtain an updated candidate set comprising a plurality of candidate antenna direction estimated values, traversing each candidate antenna direction estimated value under the current epoch, correcting the phase center deviation in the carrier phase observed quantity of the current epoch by utilizing the candidate antenna direction estimated value and the antenna phase pattern to try to eliminate the phase center deviation in the carrier phase observed quantity, evaluating the reliability of each candidate antenna direction estimated value, and then determining the optimal estimated value of the candidate antenna direction as the final antenna direction according to the set evaluation standard.

In the process, because the target antenna is the satellite navigation antenna with phase distortion, the adverse factor of the phase distortion of the low-cost antenna is overcome, compared with the existing GNSS orientation which needs to use the satellite navigation antenna with high cost and high quality (smaller deviation of the phase center), the satellite navigation antenna with obvious phase distortion has the function of orientation based on time domain under a plurality of epochs, and the satellite navigation hardware equipment provided with only one phase distortion antenna has orientation capability, and simultaneously, the requirement of the satellite navigation orientation technology on the antenna quality is relaxed. And determining a rough antenna direction estimated value, namely a target antenna direction, by firstly orienting the antenna direction based on time domain search under a plurality of epochs, and further more precisely orienting the target antenna direction based on space domain search under one epoch (current epoch), thereby realizing real-time accurate orientation of the antenna direction under the current epoch.

Referring to fig. 8, fig. 8 is a schematic structural diagram of a single-phase distortion-based orientation device for a satellite navigation antenna according to an embodiment of the present invention, where the device includes:

The observed quantity acquisition module 801 is configured to acquire a satellite observed quantity, where the satellite observed quantity includes: the target antenna is used for observing a first carrier phase and a first pseudo-range of a plurality of satellites, and the reference station antenna is used for observing a second carrier phase and a second pseudo-range of a plurality of satellites; the target antenna is a satellite navigation antenna with phase distortion;

a candidate set determining module 802, configured to determine a candidate set of antenna directions, where the candidate set includes a plurality of antenna direction estimation values, and the antenna directions characterize directions in which antenna reference points of the target antennas point;

the observed quantity correction module 803 is configured to, for each antenna direction estimation value, correct a phase center deviation in the first carrier phase observed quantity and the second carrier phase observed quantity based on the antenna direction estimation value, the first antenna phase pattern of the target antenna, and the second antenna phase pattern of the reference station antenna, to obtain a first correction observed quantity and a second correction observed quantity;

the reliability evaluation module 804 is configured to, for each antenna direction estimated value, perform relative positioning by using the first pseudo-range observed quantity, the second pseudo-range observed quantity, the first correction observed quantity and the second correction observed quantity, and calculate a first reliability estimated value of the antenna direction estimated value;

An antenna orientation module 805 configured to determine an antenna direction optimal estimated value from the candidate set based on each of the first reliability evaluation values, and determine the antenna direction optimal estimated value as a target antenna direction.

By using the orientation device of the satellite navigation antenna based on single phase distortion, provided by the embodiment of the invention, the phase center deviation in the acquired carrier phase observed quantity is corrected by setting a plurality of antenna direction estimated values and traversing each antenna direction estimated value and utilizing the antenna direction estimated values and the antenna phase pattern, so as to try to eliminate the phase center deviation in the carrier phase observed quantity, evaluate the reliability of each antenna direction estimated value, and then determine the optimal antenna direction estimated value as the target antenna direction according to the set evaluation standard. In the process, as the target antenna is the satellite navigation antenna with phase distortion, namely, the adverse factors of phase distortion of the low-cost antenna are overcome, the function of utilizing one satellite navigation antenna with obvious phase distortion with low cost to orient is realized, and the satellite navigation hardware equipment only provided with one phase distortion antenna can have orientation capability.

In one possible implementation, the reliability evaluation module 804 is specifically configured to:

For each antenna direction estimated value, performing ambiguity resolution based on the first pseudo-range observed quantity, the second pseudo-range observed quantity, the first correction observed quantity and the second correction observed quantity to obtain a fixed solution of the whole-cycle ambiguity;

for each antenna direction estimate, calculating a first reliability estimate for the antenna direction estimate based on the first and second correction observations, the antenna direction estimate, a fixed solution for a posterior satellite-receiver antenna geometry distance, carrier phase wavelength, and integer ambiguity; wherein the posterior satellite-receiver antenna geometry is determined based on the target antenna-to-target satellite geometry and the reference station antenna-to-target satellite geometry.

In one possible implementation manner, the observation quantity acquisition module 801 is specifically configured to acquire satellite observation quantities of multiple epochs; the satellite observables include: a first carrier phase observed quantity and a first pseudo-range observed quantity of the target antenna aiming at a plurality of satellites in each epoch, and a second carrier phase observed quantity and a second pseudo-range observed quantity of the reference station antenna aiming at a plurality of satellites;

the observed quantity correction module 803 is specifically configured to, for each antenna direction estimation value, correct a phase center deviation in a first carrier phase observed quantity and a second carrier phase observed quantity in each epoch based on the antenna direction estimation value, a first antenna phase pattern of a target antenna, and a second antenna phase pattern of a reference station antenna, so as to obtain a first corrected observed quantity and a second corrected observed quantity of each epoch;

The reliability evaluation module 804 is specifically configured to calculate, for each antenna direction estimated value, a first reliability estimated value of the antenna direction estimated value by performing relative positioning using a first pseudo-range observed quantity, a second pseudo-range observed quantity, a first correction observed quantity, and a second correction observed quantity of each epoch.

In one possible embodiment, the apparatus further includes:

the candidate set updating module is used for updating the candidate set of the antenna direction according to the target antenna direction to obtain an updated candidate set; updating the candidate set to comprise a plurality of candidate antenna direction estimated values;

The deviation correction module is used for correcting the phase center deviation in the first carrier phase observed quantity and the second carrier phase observed quantity of the current epoch respectively based on the candidate antenna direction estimated value, the first antenna phase pattern of the target antenna and the second antenna phase pattern of the reference station antenna to obtain a third correction observed quantity and a fourth correction observed quantity;

the evaluation module is used for carrying out relative positioning on each candidate antenna direction estimated value by utilizing the first pseudo-range observed quantity, the second pseudo-range observed quantity, the third correction observed quantity and the fourth correction observed quantity of the current epoch, and calculating a second reliability estimated value of the candidate antenna direction estimated value;

and the direction determining module is used for determining a candidate antenna direction optimal estimated value from the updated candidate set based on each second reliability estimated value and determining the candidate antenna direction optimal estimated value as a final antenna direction.

In one possible embodiment, the apparatus further includes:

the condition determining module is used for determining whether the final antenna direction meets a preset condition;

and the triggering module is used for triggering the observed quantity acquisition module 801 to execute the acquisition of satellite observed quantity of a plurality of epochs until the final antenna direction meets the preset condition under the condition that the final antenna direction does not meet the preset condition.

In a possible implementation manner, the candidate set updating module is specifically configured to:

The embodiment of the present invention also provides an electronic device, as shown in fig. 9, including a processor 901, a communication interface 902, a memory 903, and a communication bus 904, where the processor 901, the communication interface 902, and the memory 903 perform communication with each other through the communication bus 904,

a memory 903 for storing a computer program;

the processor 901 is configured to implement any of the above-described methods for orienting satellite navigation antennas based on single phase distortion when executing the program stored in the memory 903, so as to achieve the same technical effects.

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 still another embodiment of the present invention, a computer readable storage medium is provided, and a computer program is stored in the computer readable storage medium, where the computer program is executed by a processor to implement the method for orienting a satellite navigation antenna based on single phase distortion, so as to achieve the same technical effect.

In yet another embodiment of the present invention, a computer program product containing instructions, which when executed on a computer, causes the computer to perform any of the above-mentioned method for orienting a satellite navigation antenna based on single phase distortion, so as to achieve the same technical effect.

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 the apparatus/electronics embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, with reference to the description of the method embodiments in part.

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 method for orienting a satellite navigation antenna based on single phase distortion, the method comprising:

2. The method of claim 1, wherein for each of the antenna direction estimates, calculating a first reliability estimate for the antenna direction estimate using the first pseudorange observations, the second pseudorange observations, the first correction observations, and the second correction observations for relative positioning, comprises:

3. The method of claim 1, wherein the acquiring satellite observables comprises: acquiring satellite observables of a plurality of epochs; the satellite observables include: a first carrier phase observed quantity and a first pseudo-range observed quantity of a target antenna aiming at a plurality of satellites in each epoch, and a second carrier phase observed quantity and a second pseudo-range observed quantity of a reference station antenna aiming at the plurality of satellites;

the correcting, for each antenna direction estimation value, the phase center deviation in the first carrier phase observed quantity and the second carrier phase observed quantity based on the antenna direction estimation value, the first antenna phase pattern of the target antenna, and the second antenna phase pattern of the reference station antenna, to obtain a first correction observed quantity and a second correction observed quantity, includes:

for each antenna direction estimated value, correcting the phase center deviation in the first carrier phase observed quantity and the second carrier phase observed quantity in each epoch based on the antenna direction estimated value, the first antenna phase pattern of the target antenna and the second antenna phase pattern of the reference station antenna, so as to obtain a first correction observed quantity and a second correction observed quantity of each epoch;

For each antenna direction estimated value, performing relative positioning by using the first pseudo-range observed quantity, the second pseudo-range observed quantity, the first correction observed quantity and the second correction observed quantity, and calculating a first reliability estimated value of the antenna direction estimated value, including:

and for each antenna direction estimated value, performing relative positioning by using the first pseudo-range observed quantity, the second pseudo-range observed quantity, the first correction observed quantity and the second correction observed quantity of each epoch, and calculating a first reliability estimated value of the antenna direction estimated value.

4. The method of claim 3, wherein said calculating a first reliability estimate for each of said antenna direction estimates using said first pseudorange observations, said second pseudorange observations, said first correction observations, and said second correction observations for said respective epoch relative positioning comprises:

5. The method according to claim 4, wherein the method further comprises:

6. The method of claim 5, wherein the method further comprises:

determining whether the final antenna direction meets a preset condition;

7. The method of claim 5, wherein updating the candidate set of antenna directions based on the target antenna direction to obtain an updated candidate set comprises:

8. A single-phase distortion-based satellite navigation antenna orientation device, the device comprising:

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 1-7 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 1-7.