CN117148403B - Double-antenna orientation method based on BDS-3 five-frequency double-difference non-combination model - Google Patents

Double-antenna orientation method based on BDS-3 five-frequency double-difference non-combination model Download PDF

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CN117148403B
CN117148403B CN202311433859.7A CN202311433859A CN117148403B CN 117148403 B CN117148403 B CN 117148403B CN 202311433859 A CN202311433859 A CN 202311433859A CN 117148403 B CN117148403 B CN 117148403B
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ewl
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CN117148403A (en
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吕洪波
路寅
耿煜琛
刘季
吴穹
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707th Research Institute of CSIC
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
    • G01S19/44—Carrier phase ambiguity resolution; Floating ambiguity; LAMBDA [Least-squares AMBiguity Decorrelation Adjustment] method
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/35—Constructional details or hardware or software details of the signal processing chain
    • G01S19/37—Hardware or software details of the signal processing chain

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

Abstract

The invention relates to the field of satellite navigation, in particular to a dual-antenna orientation method based on a BDS-3 five-frequency dual-difference non-combination model, which is applied to ships, wherein the EWL/WL/N1 ambiguity is selected based on the BDS-3 five-frequency dual-difference non-combination model, the heading angle and pitch angle of a carrier are obtained through a dual-antenna orientation method based on a step-by-step ambiguity quick fixing strategy of the BDS-3 five-frequency dual-difference non-combination model. On the basis of the quick fixed solution of the ambiguity, a dual-antenna orientation result with higher precision is obtained.

Description

Double-antenna orientation method based on BDS-3 five-frequency double-difference non-combination model
Technical Field
The invention relates to the field of satellite navigation, in particular to a double-antenna orientation method based on a BDS-3 five-frequency double-difference non-combination model applied to ships.
Background
The Beidou No. three system BDS-3 satellite reserves B1I (1561.098 MHz) and B3I (1268.520 MHz) signals of the original Beidou No. two system BDS-2, and new signals such as B1C (1575.420 MHz), B2a (1176.450 MHz), B2B (1207.14 MHz) and the like are added on the basis.
The key of realizing the rapid and precise positioning and orientation of the Beidou No. three double antenna is to realize the rapid fixation of double-difference integer ambiguity based on carrier phase measurement, and only the double-difference ambiguity fixation solution with high precision is obtained, the centimeter-level and even millimeter-level relative positioning solution can be further solved. The Beidou No. three multi-frequency observation resource provides richer wavelength combination information for ambiguity resolution and provides possibility for accelerating the ambiguity fixing speed and accuracy. However, a dual-antenna orientation method does not exist in the prior art for B1I/B3I/B1C/B2a/B2B five-frequency observation signal resources broadcasted by Beidou three-number broadcasting.
Disclosure of Invention
The present invention is directed to solving at least one of the technical problems existing in the related art. Therefore, the invention provides a dual-antenna orientation method based on a BDS-3 five-frequency dual-difference non-combination model by utilizing B1I/B3I/B1C/B2a/B2B five-frequency observation signal resources broadcasted by Beidou III, and a set of step-by-step ambiguity fixing strategies are established from an ambiguity level by mainly researching an ambiguity fixing method based on the non-combination model on the basis of the dual-difference non-combination observation model, so that the orientation performance of the dual antennas is improved.
A dual-antenna orientation method based on a BDS-3 five-frequency dual-difference non-combination model, wherein BDS-3 five frequencies are B1I/B3I/B1C/B2a/B2B five-frequency observation signal resources, comprises the following steps:
s1, selecting an EWL/WL/N1 ambiguity based on a BDS-3 five-frequency double-difference non-combination model:
the method comprises the steps of observing a five-frequency observation signal resource to obtain five-frequency observation information, constructing an observation equation based on a five-frequency double-difference non-combination model by means of the five-frequency observation information, and constructing EWL/WL/N1 ambiguity at a floating ambiguity level after obtaining floating ambiguity of each frequency point by means of the double-difference observation equation;
s2, sequentially fixing the EWL/WL/N1 ambiguity on the basis of a step-by-step ambiguity rapid fixing strategy of a BDS-3 five-frequency double-difference non-combination model;
s3, the course angle and the pitch angle of the carrier are obtained through a double-antenna orientation method:
and obtaining carrier differential positioning based on five-frequency observation information by utilizing baseline calculation, carrying out coordinate conversion on the carrier differential positioning, and obtaining the angular position of the carrier coordinate system relative to a local horizontal coordinate system.
Further, in step S1, a double difference observation equation based on the non-combined model is constructed as follows:
(1)
in the superscriptNumbering for satellites, S 1 、S 2 Respectively representing two satellites; subscript->Numbering for the receiver, r 1 、r 2 Respectively representing two receivers; />Represents BDS-3 frequencies; />、/>Respectively representing double-difference pseudo-range and phase observation values; />The geometric distance between the satellite end and the antenna phase center of the receiver end is; />Is the carrier phase wavelength;for frequency->Double difference ambiguity over; />Is double-difference pseudo-range noise and non-modeling error;is phase observation noise and non-modeling error.
Further, in step S1, after the floating ambiguity of each frequency point is obtained based on the formula (1), a suitable EWL/WL/N1 ambiguity may be constructed at the ambiguity level, specifically as shown in the formula (2):
(2)
wherein the method comprises the steps ofDouble difference observations for EWL constraint, +.>For the WL constraint double difference observations,、/>、/>representing three frequencies in BDS-3, respectively.
Further, in step S1, a B1I frequency point is adopted as the N1 ambiguity; constructing WL ambiguity by using B1I-B3I, B1I-B2a and B1C-B2 a; and constructing the EWL ambiguity by adopting B2a-B3I and B2B-B3I.
Further, in step S2, the fast ambiguity fixing strategy sequentially fixes the EWL/WL/N1 ambiguities according to the principle of first-and-last-difficulty in the wavelength order.
Further, in step S2, the fast ambiguity fixing strategy includes the following steps:
s21, floating point ambiguity information on each frequency point is obtained based on a formula (1), converted into corresponding EWL ambiguity according to a formula (2), and an EWL fixed solution is obtained by using an LAMBDA method;
s22, introducing the fixed EWL ambiguity as priori constraint information into a formula (1), constructing a double-difference observation equation attached with EWL constraint, updating initial floating point ambiguity parameter information, forming WL ambiguity according to a formula (2), and obtaining a fixed solution by adopting an LAMBDA method;
s23, forming a WL constraint double-difference observation equation by using the fixed WL ambiguity on the basis of the double-difference observation equation added into the EWL constraint, adding the WL constraint double-difference observation equation into a formula (1) as constraint information, updating ambiguity parameter information, extracting N1 floating ambiguity and variance with higher precision, and then carrying out LAMBDA searching and fixing;
s24, forming an N1 constraint observation equation by using the fixed N1 ambiguity, adding the N1 constraint observation equation into the formula (1) as constraint information, updating position parameters, and finally obtaining position information based on a fixed solution.
Further, in step S22, the double difference observation equation with the added EWL constraint is expressed as:
in the method, in the process of the invention,for residual value->Is a double difference coefficient array->For the receiver to estimate the position parameter, +.>Is the variance of the virtual EWL ambiguity observations.
Further in step S23, the WL constraint observer equation is expressed as:
in the method, in the process of the invention,is the variance of the virtual WL ambiguity observed value.
Further, in step S24, the N1 constraint observation equation is expressed as:
in the method, in the process of the invention,is the variance of the virtual N1 ambiguity observations.
Further, the method comprises the steps of: the method for solving the yaw angle and the pitch angle of the first antenna and the second antenna in the longitudinal axis direction of the carrier comprises the steps that the first antenna and the second antenna form a base line vector, the first antenna is set as the origin point of a carrier coordinate system and a local horizontal coordinate system, and the position of the base line vector in the local horizontal coordinate systemThe yaw angle and the pitch angle of the carrier are expressed as follows:
wherein,and->For the carrier attitude angle determined by baseline, +.>As course angle, the projection of the longitudinal axis of the carrier on the horizontal plane forms an included angle with the meridian of the earth; />Is pitch angle, carrierIs the angle between the longitudinal axis of (c) and the local horizontal plane.
Compared with the prior art, the invention has the advantages that: the invention is based on the high-precision orientation of double antennas of BDS-3 five-frequency non-combination model as a core idea, comprehensively considers factors such as different frequency wavelengths, observation noise and the like, constructs the ambiguity of different combination wavelengths, then carries out step-by-step ambiguity fixing according to the order of first-time and last-time, considers the importance of ambiguity variance information after combination on the ambiguity fixing correctness, and fixes all the ambiguities by adopting an LAMBDA method. On the basis of the quick fixed solution of the ambiguity, a dual-antenna orientation result with higher precision is obtained.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
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In order to more clearly illustrate the invention or the technical solutions of the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the invention, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flowchart for quickly fixing BDS five-frequency ambiguity based on a non-combination model.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention. The following examples are illustrative of the invention but are not intended to limit the scope of the invention.
In the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the embodiments of the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In describing embodiments of the present invention, it should be noted that, unless explicitly stated and limited otherwise, the terms "coupled," "coupled," and "connected" should be construed broadly, and may be either a fixed connection, a removable connection, or an integral connection, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the above terms in embodiments of the present invention will be understood in detail by those of ordinary skill in the art.
In embodiments of the invention, unless expressly specified and limited otherwise, a first feature "up" or "down" on a second feature may be that the first and second features are in direct contact, or that the first and second features are in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the embodiments of the present invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
Referring to fig. 1, the embodiment of the invention provides a dual-antenna orientation method based on a BDS-3 five-frequency non-combination model by expanding and researching five-frequency observation information resources around Beidou III B1I/B3I/B1C/B2 a/B2B. Aiming at the ambiguity fixing scheme in the BDS-3 multi-frequency non-combination model, in order to fully exert the contribution of BDS-3 multi-frequency observation values to ambiguity fixing, ultra Wide lane (EWL)/Wide Lane (WL) ambiguities are formed in the ambiguity layer, the EWL/WL ambiguities at the moment not only keep integer characteristics, but also are easier to fix successfully, and once the ambiguities are fixed, the higher reliability can be used as a true value to carry out constraint to re-solve to obtain N1 ambiguities with higher precision, so that the ambiguity searching space is reduced, and the success rate of the ambiguity fixing is improved.
First, EWL/WL/N1 ambiguity selection based on BDS-3 five-frequency double-difference non-combination model.
And constructing a double-difference observation equation based on a non-combination model by means of BDS-3 five-frequency observation information. Considering that the space between the directional double antennas is short, the atmospheric delay influences on the two antennas are approximately the same, and the influence of errors such as double-difference troposphere delay, double-difference ionosphere delay and the like can be ignored when a double-difference observation equation is constructed, so that the pseudo-range and phase double-difference observation equation based on a non-combination model can be represented by the following formula (1):
(1)
in the superscriptNumbering for satellites, S 1 、S 2 Respectively representing two satellites; subscript->Numbering for the receiver, r 1 、r 2 Respectively representing two receivers; />Represents BDS-3 frequencies; />、/>Respectively representing double-difference pseudo-range and phase observation values; />The geometric distance between the satellite end and the antenna phase center of the receiver end is; />Is the carrier phase wavelength;for frequency->Double difference ambiguity over; />Is double-difference pseudo-range noise and non-modeling error;is phase observation noise and non-modeling error. The input quantity of the equation is acquired pseudo-range and phase observation information, and the +.>、/>Observed quantity, wait forThe measurement is only provided with two types of position and ambiguity parameters, the initial value of the measurement can be used as the initial value of the position parameter by using a single-point positioning solution calculated by pseudo-range observation information, and the initial value of the ambiguity parameter can be calculated by phase observation information.
After each frequency point floating ambiguity is obtained on the basis of the formula (1), a proper EWL/WL/N1 ambiguity can be constructed on the ambiguity level, specifically as shown in the formula (2):
(2)
wherein the method comprises the steps ofDouble difference observations for EWL constraint, +.>For the WL constraint double difference observations,、/>、/>representing three frequencies in BDS-3, respectively. Considering that GEO (stationary earth orbit), IGSO (inclined geosynchronous orbit) and MEO (medium earth orbit) satellites all contain B1I/B3I frequency points, the super wide term (EWL), wide term (WL) and N1 ambiguities are constructed based on BI1/B3I frequency points. Adopting a B1I frequency point as N1 ambiguity; constructing WL ambiguity by using B1I-B3I, B1I-B2a and B1C-B2 a; and constructing the EWL ambiguity by adopting B2a-B3I and B2B-B3I.
And secondly, a step-by-step ambiguity rapid fixing strategy based on a BDS-3 five-frequency double-difference non-combination model.
The quick ambiguity fixing is to sequentially fix the EWL/WL/N1 ambiguities according to the principle that the wavelength sequence is first easy and last difficult. Meanwhile, in order to fully exert the advantages of each level of ambiguity after the ambiguity is fixed, for example, after the EWL is fixed, corresponding virtual EWL observation equation is constructed by using EWL fixed solution information and is brought back into the original equation, and the initial floating point non-combination ambiguity precision is improved by configuring relatively larger priori weight, so that the correlation between the ambiguity parameters and other parameters is reduced to a certain extent, and the fixation of the next level of WL ambiguity is facilitated. Based on the original observation equation of formula (1), the double difference observation equation with the added EWL constraint can be expressed as:
(3)
in the method, in the process of the invention,for residual value->Is a double difference coefficient array->The position parameters are to be estimated for the receiver. After the WL ambiguity is fixed by adopting the same method, the virtual observation information constructed by the WL ambiguity is constrained on the basis of a formula (3), and the N1 floating ambiguity with higher precision is further obtained by calculation, wherein the corresponding WL constraint observation equation can be expressed as follows:
(4)
further solving to obtain N1 fixed ambiguity with higher precision, and bringing N1 back to the PPP observation equation in the previous step, so as to obtain BDS-3 five-frequency fixed solution, wherein the corresponding N1 constraint observation equation can be expressed as:
(5)
wherein,、/>and->As the variance of the virtual EWL/WL/N1 ambiguity observations, the variance information after fixing can be set to a number infinitely close to 0, here 1 xe -9 。
The flow of multi-frequency ambiguity fixing based on the non-combined model is shown in fig. 1.
The flow 1 is to obtain floating ambiguity information on each frequency point based on a non-combined observation equation formula (1), convert the floating ambiguity information into corresponding EWL ambiguity according to a formula (2), and obtain an EWL fixed solution by using an LAMBDA method.
The process 2 is that fixed EWL ambiguity is used as prior constraint information to be introduced into a formula (1), a double-difference observation equation formula (3) attached to EWL constraint is constructed, initial floating ambiguity parameter information is updated, WL ambiguity is formed according to the formula (2), and a LAMBDA method is adopted to obtain a fixed solution of the WL ambiguity.
The 3 flow is that based on the double-difference observation equation added into the EWL constraint, the fixed WL ambiguity is formed into a WL constraint observation equation formula (4), the WL constraint observation equation is added into the formula (1) as constraint information, the ambiguity parameter information is updated, the N1 floating ambiguity and variance with higher accuracy are extracted, and then LAMBDA searching and fixing are carried out.
And 4, forming an N1 constraint observation equation formula (5) by using the fixed N1 ambiguity as constraint information, adding the constraint information into the formula (1), updating the position parameters, and finally obtaining the position information based on the fixed solution.
And solving the course angle and the pitch angle of the carrier by a double-antenna orientation method.
The dual antenna orientation based on BDS-3 five-frequency non-combination model is generally divided into three steps: the first step, baseline calculation, namely high-precision carrier differential positioning based on BDS-3 five-frequency observation values, is a core technology of gesture measurement; secondly, coordinate transformation involves earth-centered earth-fixed (ECEF), local horizontal (local level system, LLS) and carrier (body frame system, BFS), the transformation between the different coordinate systems must be correct; thirdly, solving an attitude angle, namely solving the angular position of the carrier coordinate system relative to a local horizontal coordinate system.
In the case of dual-antenna orientation, the first antenna and the second antenna are usually mounted in the direction of the longitudinal axis of the carrier to form a base line vector, by means of which the two attitude angles, i.e. heading angles, of the carrier can be determined(angle between the projection of the longitudinal axis of the carrier on the horizontal plane and the meridian of the earth), pitch angle +.>(the angle between the longitudinal axis of the carrier and the local horizontal plane). Setting the first antenna as the origin of the carrier coordinate system and the local horizontal coordinate system by solving the position of the baseline vector in the local horizontal coordinate systemThe yaw angle and the pitch angle of the carrier can be directly determined, and the formula is as follows:
the invention is based on the core idea of high-precision orientation of double antennas of BDS-3 five-frequency non-combination model, comprehensively considers factors such as different frequency wavelengths, observation noise and the like, constructs the ambiguity of different combination wavelengths, then carries out step-by-step ambiguity fixing according to the order of first-time and last-time, considers the importance of ambiguity variance information after combination on the ambiguity fixing correctness, and fixes all the ambiguities by adopting an LAMBDA method. On the basis of the quick fixed solution of the ambiguity, a dual-antenna orientation result with higher precision is obtained.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims (8)

1. A dual-antenna orientation method based on a BDS-3 five-frequency dual-difference non-combination model is characterized by comprising the following steps that:
s1, selecting an EWL/WL/N1 ambiguity based on a BDS-3 five-frequency double-difference non-combination model:
the method comprises the steps of observing a five-frequency observation signal resource to obtain five-frequency observation information, constructing an observation equation based on a five-frequency double-difference non-combination model by means of the five-frequency observation information, and constructing EWL/WL/N1 ambiguity at a floating ambiguity level after obtaining floating ambiguity of each frequency point by means of the double-difference observation equation;
the method comprises the following steps of constructing a double-difference observation equation based on a non-combination model:
(1)
in the superscriptNumbering for satellites, S 1 、S 2 Respectively representing two satellites; subscript->Numbering for the receiver, r 1 ,r 2 Respectively representing two receivers; />Represents BDS-3 frequencies; />、/>Respectively representing double-difference pseudo-range and phase observation values; />The geometric distance between the satellite end and the antenna phase center of the receiver end is; />Is the carrier phase wavelength;for frequency->Double difference ambiguity over; />Is double-difference pseudo-range noise and non-modeling error;noise and non-modeling errors of the phase observations;
after each frequency point floating ambiguity is obtained on the basis of the formula (1), a proper EWL/WL/N1 ambiguity can be constructed on the ambiguity level, specifically as shown in the formula (2):
(2)
wherein the method comprises the steps ofDouble difference observations for EWL constraint, +.>Constraint double difference observations for WL, +.>、/>、/>Respectively representing three frequencies in BDS-3;
s2, sequentially fixing the EWL/WL/N1 ambiguity on the basis of a step-by-step ambiguity rapid fixing strategy of a BDS-3 five-frequency double-difference non-combination model;
s3, the course angle and the pitch angle of the carrier are obtained through a double-antenna orientation method:
and obtaining carrier differential positioning based on five-frequency observation information by utilizing baseline calculation, carrying out coordinate conversion on the carrier differential positioning, and obtaining the angular position of the carrier coordinate system relative to a local horizontal coordinate system.
2. The method for dual antenna orientation based on the BDS-3 five-frequency dual difference non-combination model according to claim 1, wherein in step S1, B1I frequency points are adopted as N1 ambiguities; constructing WL ambiguity by using B1I-B3I, B1I-B2a and B1C-B2 a; and constructing the EWL ambiguity by adopting B2a-B3I and B2B-B3I.
3. The method for dual antenna orientation based on BDS-3 five-frequency dual difference non-combining model according to claim 1, wherein in step S2, the ambiguity fast fixing strategy is to sequentially fix EWL/WL/N1 ambiguities according to the principle of first-come last-go according to the wavelength order thereof.
4. The method for dual antenna orientation based on the BDS-3 five-frequency dual difference non-combining model according to claim 1, wherein in step S2, the ambiguity fast fixing strategy comprises the steps of:
s21, floating point ambiguity information on each frequency point is obtained based on a formula (1), converted into corresponding EWL ambiguity according to a formula (2), and an EWL fixed solution is obtained by using an LAMBDA method;
s22, introducing the fixed EWL ambiguity as priori constraint information into a formula (1), constructing a double-difference observation equation attached with EWL constraint, updating initial floating point ambiguity parameter information, forming WL ambiguity according to a formula (2), and obtaining a fixed solution by adopting an LAMBDA method;
s23, forming a WL constraint double-difference observation equation by using the fixed WL ambiguity on the basis of the double-difference observation equation added into the EWL constraint, adding the WL constraint double-difference observation equation into a formula (1) as constraint information, updating ambiguity parameter information, extracting N1 floating ambiguity and variance with higher precision, and then carrying out LAMBDA searching and fixing;
s24, forming an N1 constraint observation equation by using the fixed N1 ambiguity, adding the N1 constraint observation equation into the formula (1) as constraint information, updating position parameters, and finally obtaining position information based on a fixed solution.
5. The method for dual antenna orientation based on BDS-3 five-frequency dual difference non-combining model according to claim 4, wherein in step S22, the dual difference observation equation with the added EWL constraint is expressed as:
in the method, in the process of the invention,for residual value->Is a double difference coefficient array->For the receiver to estimate the position parameter, +.>Is the variance of the virtual EWL ambiguity observations.
6. The method for dual antenna orientation based on the BDS-3 five-frequency dual difference non-combining model according to claim 5, wherein in step S23, WL constraint observation equation is expressed as:
in the method, in the process of the invention,is the variance of the virtual WL ambiguity observed value.
7. The method for dual antenna orientation based on the BDS-3 five-frequency dual difference non-combining model according to claim 6, wherein in step S24, the N1 constraint observation equation is expressed as:
in the method, in the process of the invention,is the variance of the virtual N1 ambiguity observations.
8. The method for dual antenna orientation based on the BDS-3 five-frequency dual difference non-combination model according to claim 1, comprising: the method for solving the yaw angle and the pitch angle of the first antenna and the second antenna in the longitudinal axis direction of the carrier comprises the steps that the first antenna and the second antenna form a base line vector, the first antenna is set as the origin point of a carrier coordinate system and a local horizontal coordinate system, and the position of the base line vector in the local horizontal coordinate systemThe yaw angle and the pitch angle of the carrier are expressed as follows:
wherein,and->For carrier pose determined by baselineAngle (S)/(S)>As course angle, the projection of the longitudinal axis of the carrier on the horizontal plane forms an included angle with the meridian of the earth; />Is the angle between the longitudinal axis of the carrier and the local horizontal plane.
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