A satellite orientation device

Abstract

This application is applicable to the field of positioning and orientation technology, and provides a satellite orientation device, including: a satellite orientation chip and a satellite positioning chip connected to the satellite orientation chip; the satellite orientation chip is configured to determine the first integer ambiguity and the position information of the target vector based on the first pseudorange observation, the first carrier phase observation, the second pseudorange observation, the second carrier phase observation, the first positioning information, the second positioning information, the determined third pseudorange observation, the third carrier phase observation, and the third positioning information of the satellite orientation chip relative to the first satellite, and a preset observation equation; determine the accuracy of the position information based on the first integer ambiguity and the preset integer ambiguity, and determine the direction information of the target vector based on the position information when the accuracy meets the preset requirements, thereby reducing the cost and power consumption of the satellite orientation device and improving the accuracy of orientation.

Description

Technical Field

[0001] This application belongs to the technical field of positioning and orientation, and particularly relates to a satellite orientation device. Background Art

[0002] With the continuous development of satellite positioning and orientation technology, satellite orientation devices capable of realizing satellite orientation functions are more and more widely used. Existing satellite orientation devices usually include two satellite positioning chips and a processor. The two satellite positioning chips usually receive satellite signals at the same frequency point, and respectively process the received satellite signals and then output positioning information and observables to the processor. The processor performs orientation calculations based on the positioning information and observables output by the two satellite positioning chips respectively. That is, the existing satellite positioning chips do not have orientation functions, and a processor must be included in the satellite orientation device to realize the satellite orientation function, resulting in relatively high costs and power consumption, and the orientation accuracy of existing satellite orientation methods is relatively low. Summary of the Invention

[0003] In view of this, the embodiments of this application provide a satellite orientation device to solve the technical problems of relatively high costs and power consumption of existing satellite orientation devices, and relatively low orientation accuracy.

[0004] The embodiments of this application provide a satellite orientation device, including: a satellite orientation chip and a satellite positioning chip connected to the satellite orientation chip. The satellite positioning chip is connected to a first antenna, and the satellite orientation chip is connected to a second antenna;

[0005] The satellite positioning chip is configured to receive a first satellite signal from a first satellite and a second satellite signal from a second satellite through the first antenna, and determine a first pseudorange observable, a first carrier phase observable, and first positioning information of the satellite positioning chip relative to the first satellite based on the first satellite signal, and determine a second pseudorange observable, a second carrier phase observable, and second positioning information of the satellite positioning chip relative to the second satellite based on the second satellite signal, and send the first pseudorange observable, the first carrier phase observable, the first positioning information, the second pseudorange observable, the second carrier phase observable, and the second positioning information to the satellite orientation chip;

[0006] The satellite orientation chip includes: a first determination unit, a second determination unit, and a third determination unit;

[0007] The first determination unit is configured to receive a third satellite signal from the first satellite and a fourth satellite signal from the second satellite through the second antenna, determine a third pseudo-range observation, a third carrier phase observation, and third positioning information of the satellite orientation chip relative to the first satellite based on the third satellite signal, and determine a fourth pseudo-range observation, a fourth carrier phase observation, and fourth positioning information of the satellite orientation chip relative to the second satellite based on the fourth satellite signal;

[0008] The second determination unit is configured to determine a first integer ambiguity and position information of the target vector based on the first pseudo-range observation, the first carrier phase observation, the second pseudo-range observation, the second carrier phase observation, the third pseudo-range observation, the third carrier phase observation, the fourth pseudo-range observation, the fourth carrier phase observation, the first positioning information, the second positioning information, the third positioning information, the fourth positioning information, and a preset observation equation; the target vector points from the phase center of the first antenna to the phase center of the second antenna;

[0009] The third determination unit is configured to determine the accuracy of the position information based on the first integer ambiguity and a preset integer ambiguity, and determine the direction information of the target vector based on the position information when the accuracy meets the preset requirements.

[0010] Implementing the satellite orientation device provided by the embodiments of the present application has the following beneficial effects:

[0011] For the satellite orientation device provided by the embodiments of the present application, since the orientation calculation is performed through a satellite orientation chip, the satellite orientation device can achieve orientation calculation without including other processors except the satellite orientation chip and the satellite positioning chip, thereby reducing the cost and power consumption of the satellite orientation device; in addition, since the satellite orientation chip determines the accuracy of the position information of the target vector based on the first integer ambiguity and a preset integer ambiguity, and determines the direction information of the target vector based on the position information of the target vector only when the accuracy meets the preset requirements, the accuracy of the orientation is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0013] Figure 1 It is a schematic structural diagram of a satellite orientation device provided by an embodiment of the present application;

[0014] Figure 2 Schematic diagram of a target vector provided by an embodiment of the present application;

[0015] Figure 3 Schematic structural diagram of a satellite orientation device provided by another embodiment of the present application. Detailed implementation manners

[0016] It should be noted that the terms used in the implementation manner part of the embodiments of the present application are only used to explain the specific embodiments of the present application, rather than to limit the present application. In the description of the embodiments of the present application, unless otherwise specified, " / " means "or", for example, A / B may mean A or B; "and / or" herein is only a description of the relationship between associated objects, indicating that there can be three relationships, for example, A and / or B, which can mean: A exists alone, A and B exist simultaneously, and B exists alone. In addition, in the description of the embodiments of the present application, unless otherwise specified, "a plurality of" means two or more than two, and "at least one", "one or more" mean one, two or more than two.

[0017] Hereinafter, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features.

[0018] Reference to "an embodiment" or "some embodiments" etc. described in this specification means that a specific feature, structure or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. Thus, statements such as "in an embodiment", "in some embodiments", "in other some embodiments", "in still other embodiments" etc. appearing in different places in this specification are not necessarily all referring to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "include", "comprise", "have" and their variants all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0019] An embodiment of the present application provides a satellite orientation device. Please refer to Figure 1 , Figure 1 which is a schematic structural diagram of a satellite orientation device provided by an embodiment of the present application. As Figure 1 shown, the satellite orientation device 10 may include: a satellite positioning chip 11, a first antenna 13 connected to the satellite positioning chip 11, a satellite orientation chip 12, and a second antenna 14 connected to the satellite orientation chip 12.

[0020] Among them, the satellite positioning chip 11 can receive satellite signals from satellites through the first antenna 13, and process the received satellite signals to obtain positioning information for describing the position of the satellite positioning chip 11, as well as pseudo-range observables and carrier phase observables of the satellite positioning chip 11 relative to the satellites.

[0021] The satellite orientation chip 12 can receive satellite signals from satellites through the second antenna 14, and process the received satellite signals to obtain positioning information for describing the position of the satellite orientation chip 12, as well as pseudo-range observables and carrier phase observables of the satellite orientation chip 12 relative to the satellites.

[0022] In the embodiment of the present application, the satellite positioning chip 11 is also connected to the satellite orientation chip 12. The satellite positioning chip 11 can send its positioning information, as well as its pseudo-range observables and carrier phase observables relative to the satellites, to the satellite orientation chip 12. The satellite orientation chip 12 can use the positioning information of the satellite positioning chip 11, as well as the pseudo-range observables and carrier phase observables of the satellite positioning chip 11 relative to the satellites, as orientation reference information, and perform orientation calculation based on the orientation reference information, the positioning information of the satellite orientation chip 12, and the pseudo-range observables and carrier phase observables of the satellite orientation chip 12 relative to the satellites. The purpose of the orientation calculation is to calculate the direction information of the target vector. Among them, the target vector points from the phase center of the first antenna 13 to the phase center of the second antenna 14. In specific applications, since the phase center and geometric center of the satellite antenna are designed to be very close, therefore, the geometric center of the first antenna 13 can be used as its phase center, and the geometric center of the second antenna 14 can be used as its phase center.

[0023] The direction information of the target vector can include the direction angle and elevation angle of the target vector. Exemplarily, as Figure 2 shown, assuming that A is the phase center of the first antenna 13 and B is the phase center of the second antenna 14, then the target vector points from A to B, and the direction angle and elevation angle of the target vector are the angles a and b in the local-level coordinate system (also known as the east-north-up (ENU) coordinate system), respectively.

[0024] In the embodiment of the present application, the connection manner between the satellite positioning chip 11 and the satellite orientation chip 12 can be set according to actual needs, and no special limitation is imposed here. Exemplarily, the satellite positioning chip 11 and the satellite orientation chip 12 can be connected through a serial communication bus with a relatively fast data transmission speed (for example, the Inter-Integrated Circuit (I2C) two-wire serial bus).

[0025] It should be noted that in specific applications, the satellite positioning device 10 may further include: a power supply module and a clock generator (not shown in the figure). The power supply module is used to supply power to the first positioning module 11 and the second positioning module 12. The clock generator is used to provide clock signals to the first positioning module 11 and the second positioning module 12. Among them, the first positioning module 11 and the second positioning module 12 may share the same clock signal.

[0026] In specific applications, by way of example, the clock generator may be a crystal oscillator (abbreviated as crystal).

[0027] Specifically, in the embodiments of the present application, the satellite positioning chip 11 may receive a first satellite signal from a first satellite and a second satellite signal from a second satellite through a first antenna 13, and determine the first positioning information of the satellite positioning chip 11, the first pseudorange observation and the first carrier phase observation of the satellite positioning chip 11 relative to the first satellite based on the first satellite signal, and determine the second positioning information of the satellite positioning chip 11 and the second pseudorange observation and the second carrier phase observation of the satellite positioning chip 11 relative to the second satellite based on the second satellite signal. Among them, both the first positioning information and the second positioning information are used to describe the position of the satellite positioning chip 11.

[0028] After obtaining the first pseudorange observation, the first carrier phase observation, the second pseudorange observation, the second carrier phase observation, the first positioning information and the second positioning information, the satellite positioning chip 11 may send the first pseudorange observation, the first carrier phase observation, the second pseudorange observation, the second carrier phase observation, the first positioning information and the second positioning information to the satellite orientation chip 12.

[0029] In a possible implementation manner, the satellite positioning chip 11 may actively send the first pseudorange observation, the first carrier phase observation, the second pseudorange observation, the second carrier phase observation, the first positioning information and the second positioning information to the satellite orientation chip 12. In another possible manner, the satellite orientation chip 12 may send a request for obtaining orientation reference information to the satellite positioning chip 11; after receiving the request for obtaining orientation reference information from the satellite orientation chip 12, the satellite positioning chip 11 sends the first pseudorange observation, the first carrier phase observation, the second pseudorange observation, the second carrier phase observation, the first positioning information and the second positioning information to the satellite orientation chip 12. That is to say, the satellite orientation chip 12 may actively obtain the first pseudorange observation, the first carrier phase observation, the second pseudorange observation, the second carrier phase observation, the first positioning information and the second positioning information from the satellite positioning chip 11, or passively receive the first pseudorange observation, the first carrier phase observation, the second pseudorange observation, the second carrier phase observation, the first positioning information and the second positioning information sent by the satellite positioning chip 11.

[0030] In an embodiment of the present application, the satellite orientation chip 12 may include: a first determination unit 121, a second determination unit 122, and a third determination unit 123. Among them:

[0031] The first determination unit 121 is configured to receive a third satellite signal from a first satellite and a fourth satellite signal from a second satellite, determine a third pseudorange measurement, a third carrier phase measurement, and third positioning information of the satellite orientation chip 12 relative to the first satellite based on the third satellite signal, and determine a fourth pseudorange measurement, a fourth carrier phase measurement, and fourth positioning information of the satellite orientation chip 12 relative to the second satellite based on the fourth satellite signal.

[0032] In this embodiment, the first determination unit 121 may be connected to the second antenna 14 and receive the third satellite signal from the first satellite and the fourth satellite signal from the second satellite through the second antenna 14.

[0033] It should be noted that the frequencies of the first satellite signal, the second satellite signal, the third satellite signal, and the fourth satellite signal are the same, and this frequency can be configured according to actual needs and is not particularly limited herein.

[0034] The second determination unit 122 is configured to determine a first integer ambiguity and position information of a target vector based on the first pseudorange measurement, the first carrier phase measurement, the second pseudorange measurement, the second carrier phase measurement, the third pseudorange measurement, the third carrier phase measurement, the fourth pseudorange measurement, the fourth carrier phase measurement, the first positioning information, the second positioning information, the third positioning information, the fourth positioning information, and a preset observation equation; the target vector points from the phase center of the first antenna to the phase center of the second antenna.

[0035] The third determination unit 123 is configured to determine the accuracy of the position information based on the first integer ambiguity and a preset integer ambiguity, and determine the direction information of the target vector based on the position information when the accuracy meets the preset requirements.

[0036] In an embodiment of the present application, the position information of the target vector may be represented by the coordinates of the target vector in the Earth-Centered Earth-Fixed (ECEF) coordinate system.

[0037] Exemplarily, if the coordinates of the phase center of the first antenna in the ECEF coordinate system are (x r , y r , z r ), and the coordinates of the phase center of the second antenna in the ECEF coordinate system are (x b , y b , z b ), then the coordinates x of the target vector in the ECEF coordinate systemrb It can be expressed as:

[0038]

[0039] In an embodiment of the present application, the preset observation equation may include the double-difference observation equation of the pseudo-range and the double-difference observation equation of the carrier phase. Specifically,

[0040] The double-difference observation equation of the pseudo-range may be as follows:

[0041]

[0042] Wherein, is the inter-satellite double-difference observable of the pseudo-range, is the inter-satellite double-difference observable of the station-satellite distance, is the coefficient matrix of the satellite positioning chip 11 relative to the first satellite, is the coefficient matrix of the satellite positioning chip 11 relative to the second satellite, x rb is the coordinate of the target vector in the ECEF coordinate system, is the inter-satellite double-difference observation noise of the pseudo-range.

[0043] The double-difference observation equation of the carrier phase may be as follows:

[0044]

[0045] Wherein, λ is the wavelength of the satellite signal, is the inter-satellite double-difference observable of the carrier phase, is the first integer ambiguity, is the inter-satellite double-difference observation noise of the carrier phase.

[0046] Based on this, as Figure 3 shown, the second determination unit 122 may specifically include: a pseudo-range double-difference quantity determination unit 1221, a carrier phase double-difference quantity determination unit 1222, a station-satellite distance double-difference quantity determination unit 1223, a coefficient noise determination unit 1224, and a position information determination unit 1225. Wherein:

[0047] The pseudo-range double-difference quantity determination unit 1221 is configured to determine the inter-satellite double-difference observable of the pseudo-range based on the first pseudo-range observable, the second pseudo-range observable, the third pseudo-range observable, and the fourth pseudo-range observable.

[0048] The carrier phase double-difference quantity determination unit 1222 is configured to determine the inter-satellite double-difference observable of the carrier phase based on the first carrier phase observable, the second carrier phase observable, the third carrier phase observable, and the fourth carrier phase observable.

[0049] The satellite - to - station distance double - difference quantity determination unit 1223 is used to determine the inter - satellite double - difference observable of the satellite - to - station distance based on the first positioning information, the second positioning information, the third positioning information, and the fourth positioning information.

[0050] The coefficient noise determination unit 1224 is used to determine the first coefficient matrix of the satellite positioning chip relative to the first satellite, the second coefficient matrix of the satellite positioning chip relative to the second satellite, the inter - satellite double - difference observation noise of the pseudorange, and the inter - satellite double - difference observation noise of the carrier phase.

[0051] The position information determination unit 1225 is used to determine the first integer ambiguity and the position information of the target vector based on the inter - satellite double - difference observable of the pseudorange, the inter - satellite double - difference observable of the carrier phase, the inter - satellite double - difference observable of the satellite - to - station distance, the first coefficient matrix, the second coefficient matrix, the inter - satellite double - difference observation noise of the pseudorange, the inter - satellite double - difference observation noise of the carrier phase, the wavelength of the satellite signal, the double - difference observation equation of the pseudorange, and the double - difference observation equation of the carrier phase.

[0052] In another embodiment of the present application, the satellite orientation chip 12 further includes a preset integer ambiguity determination unit 124.

[0053] The preset integer ambiguity determination unit 124 is used to calculate the preset integer ambiguity based on the inter - satellite double - difference observable of the pseudorange, the inter - satellite double - difference observable of the carrier phase, the wavelength of the satellite signal, and the integer ambiguity calculation formula; the integer ambiguity calculation formula is:

[0054]

[0055] Wherein, is the preset integer ambiguity, is the inter - satellite double - difference observable of the carrier phase, is the inter - satellite double - difference observable of the pseudorange, and λ is the wavelength of the satellite signal.

[0056] In another embodiment of the present application, the third determination unit 123 specifically includes: a distance value determination unit 1231, an error value determination unit 1232, and an accuracy judgment unit 1233. Among them:

[0057] The distance value determination unit 1231 is used to determine the distance value between the phase center of the first antenna and the phase center of the second antenna.

[0058] The error value determination unit 1232 is used to calculate the target error value based on the distance value, the wavelength of the satellite signal, the preset error value, and the target error value calculation formula; the target error value calculation formula is:

[0059]

[0060] Wherein, σ is the target error value, d 12is a distance value, λ is the wavelength of the satellite signal, and σ' is a preset error value.

[0061] The accuracy judgment unit 1233 is configured to determine that the accuracy meets the preset requirements if the absolute value of the difference between the first integer ambiguity and the preset integer ambiguity is less than the target error value.

[0062] In another embodiment of the present application, the pseudorange double-difference quantity determination unit 1221 is specifically configured to:

[0063] Determine the inter-satellite double-difference observation of the pseudorange based on the following formula:

[0064]

[0065] where is the inter-satellite double-difference observation of the pseudorange, is the first pseudorange observation, is the second pseudorange observation, is the third pseudorange observation, is the fourth pseudorange observation.

[0066] In another embodiment of the present application, the carrier phase double-difference quantity determination unit 1222 is specifically configured to:

[0067] Determine the inter-satellite double-difference observation of the carrier phase based on the following formula:

[0068]

[0069] where is the inter-satellite double-difference observation of the carrier phase, is the first carrier phase observation, is the second carrier phase observation, is the third carrier phase observation, is the fourth carrier phase observation.

[0070] In another embodiment of the present application, the station-satellite distance double-difference quantity determination unit 1223 is specifically configured to:

[0071] Determine the first station-satellite distance between the satellite positioning chip and the first satellite based on the first positioning information and the position information of the first satellite;

[0072] Determine the second station-satellite distance between the satellite positioning chip and the second satellite based on the second positioning information and the position information of the second satellite;

[0073] Determine the third station-satellite distance between the satellite orientation chip and the first satellite based on the third positioning information and the position information of the first satellite;

[0074] Determine the fourth satellite-to-station distance between the satellite orientation chip and the second satellite based on the fourth positioning information and the position information of the second satellite;

[0075] Determine the inter-satellite double-difference observable of the satellite-to-station distance based on the first satellite-to-station distance, the second satellite-to-station distance, the third satellite-to-station distance, and the fourth satellite-to-station distance.

[0076] In this embodiment, both the first position information and the second position information can be represented by the coordinates of the satellite positioning chip 11 in the ECEF coordinate system, and both the third position information and the fourth position information can be represented by the coordinates of the satellite orientation chip 12 in the ECEF coordinate system. Exemplarily, the first positioning information can be represented by the coordinates of the satellite positioning chip 11 in the ECEF coordinate system to represent the first positioning information, and the coordinates of the satellite positioning chip 11 in the ECEF coordinate system to represent the second positioning information, and the coordinates of the satellite orientation chip 12 in the ECEF coordinate system to represent the third positioning information, and the coordinates of the satellite orientation chip 12 in the ECEF coordinate system to represent the fourth positioning information.

[0077] Based on this, in a possible implementation manner, the satellite-to-station distance double-difference determination unit 1223 can determine the first satellite-to-station distance between the satellite positioning chip 11 and the first satellite based on the first positioning information and the position information of the first satellite. Among them, the position information of the first satellite can be the coordinates of the first satellite in the ECEF coordinate system. Specifically, the satellite-to-station distance double-difference determination unit 1223 can determine the first satellite-to-station distance based on the following formula:

[0078]

[0079] Among them, is the first satellite-to-station distance, (x p , y p , z p ) are the coordinates of the first satellite in the ECEF coordinate system, is the coordinate of the satellite positioning chip 11 in the ECEF coordinate system determined according to the first satellite signal.

[0080] In a possible implementation manner, the satellite-to-station distance double-difference determination unit 1223 can determine the second satellite-to-station distance between the satellite positioning chip 11 and the second satellite based on the second positioning information and the position information of the second satellite. Specifically, the satellite-to-station distance double-difference determination unit can determine the second satellite-to-station distance based on the following formula:

[0081]

[0082] Among them, is the distance between the second satellite and the station, (x q , y q , z q ) is the coordinate of the second satellite in the ECEF coordinate system, is the coordinate of the satellite positioning chip 11 in the ECEF coordinate system determined according to the second satellite signal.

[0083] In a possible implementation, the station-satellite distance double difference determination unit 1223 can determine the third station-satellite distance between the satellite orientation chip 12 and the first satellite based on the third positioning information and the position information of the first satellite. Specifically, the station-satellite distance double difference determination unit can determine the third station-satellite distance based on the following formula:

[0084]

[0085] where, is the third station-satellite distance, is the coordinate of the satellite orientation chip 12 in the ECEF coordinate system determined according to the third satellite signal.

[0086] In a possible implementation, the station-satellite distance double difference determination unit 1223 can determine the fourth station-satellite distance between the satellite orientation chip 12 and the second satellite based on the fourth positioning information and the position information of the second satellite. Specifically, the station-satellite distance double difference determination unit can determine the fourth station-satellite distance based on the following formula:

[0087]

[0088] where, is the fourth station-satellite distance, is the coordinate of the satellite orientation chip 12 in the ECEF coordinate system determined according to the fourth satellite signal.

[0089] In this embodiment, after the station-satellite distance double difference determination unit 1223 obtains the first station-satellite distance, the second station-satellite distance, the third station-satellite distance and the fourth station-satellite distance, it can determine the inter-satellite double difference observable of the station-satellite distance based on the following formula:

[0090]

[0091] where, is the inter-satellite double difference observable of the station-satellite distance, is the first station-satellite distance, is the second station-satellite distance, is the third station-satellite distance, is the fourth station-satellite distance.

[0092] In another embodiment of the present application, the coefficient noise determination unit 1224 is specifically used for:

[0093] Determine the first coefficient matrix based on the following formula:

[0094]

[0095] where, is the first coefficient matrix, (x p , y p , z p ) is used to represent the position information of the first satellite, is used to represent the first positioning information, is the first station-satellite distance.

[0096] Determine the first coefficient matrix based on the following formula:

[0097]

[0098] where, is the first coefficient matrix, (x q , y q , z q ) is used to represent the position information of the second satellite, is used to represent the second positioning information, is the second station-satellite distance;

[0099] Determine the inter-satellite double-difference observation noise of the pseudo-range based on the following formula:

[0100]

[0101] where, is the inter-satellite double-difference observation noise of the pseudo-range, is the pseudo-range observation noise of the satellite positioning chip relative to the first satellite, is the pseudo-range observation noise of the satellite orientation chip relative to the first satellite, is the pseudo-range observation noise of the satellite positioning chip relative to the second satellite, is the pseudo-range observation noise of the satellite orientation chip relative to the second satellite;

[0102] Determine the inter-satellite double-difference observation noise of the carrier phase based on the following formula:

[0103]

[0104] where, is the inter-satellite double-difference observation noise of the carrier phase, is the carrier phase observation noise of the satellite positioning chip relative to the first satellite, is the carrier phase observation noise of the satellite orientation chip relative to the first satellite, is the carrier phase observation noise of the satellite positioning chip relative to the second satellite, is the carrier phase observation noise of the satellite orientation chip relative to the second satellite.

[0105] In this embodiment, the second determination unit 122 may specifically substitute the inter-satellite double-difference observation of the pseudo-range, the inter-satellite double-difference observation of the station-satellite distance, the first coefficient matrix, the second coefficient matrix, and the inter-satellite double-difference observation noise of the pseudo-range into the double-difference observation equation of the pseudo-range (i.e., formula (1)), substitute the wavelength of the satellite signal, the inter-satellite double-difference observation of the carrier phase, the inter-satellite double-difference observation of the station-satellite distance, the first coefficient matrix, the second coefficient matrix, and the inter-satellite double-difference observation noise of the carrier phase into the double-difference observation equation of the carrier phase (i.e., formula (2)), and simultaneously solve the equations (i.e., the double-difference observation equation of the pseudo-range and the double-difference observation equation of the carrier phase), and use the least squares method and the Newton iteration method to solve the equations to obtain the floating-point solution of the position information of the target vector and the floating-point solution of the inter-satellite double-difference integer ambiguity.

[0106] Since the inter-satellite double-difference integer ambiguity has an integer property, therefore, the second determination unit 122 can use the LAMBDA method to fix the inter-satellite double-difference integer ambiguity to obtain the fixed solution of the inter-satellite double-difference integer ambiguity. And use this fixed solution Determine it as the first integer ambiguity, and then use the first integer ambiguity Substitute it into the double-difference observation equation of the carrier phase to obtain the position information of the target vector.

[0107] In another embodiment of the present application, the third determination unit 123 may further include a coordinate conversion unit 1234 and a direction information determination unit 1235.

[0108] The coordinate conversion unit 1234 is used to perform coordinate conversion on the position information to obtain the coordinates of the target vector in the local-level coordinate system.

[0109] The direction information determination unit 1235 is used to determine the direction angle and elevation angle of the target vector based on the coordinates of the target vector in the local-level coordinate system.

[0110] In this embodiment, the coordinate conversion unit 1234 may perform coordinate conversion on the position information of the target vector based on the following formula:

[0111]

[0112] where, ENU rb are the coordinates of the target vector in the local-level coordinate system, L is the longitude of the second antenna, and B is the latitude of the second antenna.

[0113] In another embodiment of the present application, the direction information determination unit 1235 may calculate the direction angle of the target vector based on the following formula:

[0114]

[0115] wherein, heading is the direction angle of the target vector in the local-vertical, local-horizontal (LVLH) coordinate system;

[0116] E rb = [-sin(L)·x rb cos(L)·x rb 0];

[0117] N rb = [-sin(B)·cos(L)·x rb -sin(B)sin(L)·x rb cos(B)·x rb ;

[0118] The direction information determination unit 1235 can calculate the pitch angle of the target vector based on the following formula:

[0119]

[0120] wherein, pitch is the pitch angle of the target vector in the LVLH coordinate system;

[0121] U rb = [cos(B)·cos(L)·x rb cos(B)sin(L)·x rb sin(B)·x rb ;

[0122] As can be seen from the above, for the satellite orientation device provided in this embodiment, since the orientation calculation is performed by the satellite orientation chip, the satellite orientation device can achieve the orientation calculation without including other processors except the satellite orientation chip and the satellite positioning chip, thereby reducing the cost and power consumption of the satellite orientation device; in addition, since the satellite orientation chip determines the accuracy of the position information of the target vector based on the first integer ambiguity and the preset integer ambiguity, and determines the direction information of the target vector based on the position information of the target vector only when the accuracy meets the preset requirements, the accuracy of the orientation is improved.

[0123] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the above-mentioned division of each functional unit and module is used as an example. In actual applications, the above functions can be assigned to different functional units and modules according to needs, that is, the internal structure of the satellite orientation chip can be divided into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiment can be integrated into a processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above integrated unit can be implemented in the form of hardware or in the form of a software functional unit. In addition, the specific names of each functional unit and module are only for the convenience of mutual distinction and do not limit the protection scope of this application. The specific working processes of the units and modules in the above system can refer to the corresponding processes in the foregoing method embodiments and will not be elaborated herein.

[0124] Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be implemented by electronic hardware, or by a combination of computer software and electronic hardware. Whether these functions are executed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of this application.

[0125] The above-described embodiments are only used to illustrate the technical solutions of this application and are not intended to limit them; although this application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included in the protection scope of this application.

Claims

1. A satellite orientation device, characterized in that, comprising: a satellite orientation chip and a satellite positioning chip connected to the satellite orientation chip, the satellite positioning chip being connected to a first antenna, and the satellite orientation chip being connected to a second antenna; the satellite positioning chip is configured to receive a first satellite signal from a first satellite and a second satellite signal from a second satellite through the first antenna, and determine a first pseudo-range observation quantity, a first carrier phase observation quantity, and a first positioning information of the satellite positioning chip relative to the first satellite based on the first satellite signal, and determine a second pseudo-range observation quantity, a second carrier phase observation quantity, and a second positioning information of the satellite positioning chip relative to the second satellite based on the second satellite signal, and send the first pseudo-range observation quantity, the first carrier phase observation quantity, the first positioning information, the second pseudo-range observation quantity, the second carrier phase observation quantity, and the second positioning information to the satellite orientation chip; the satellite orientation chip includes: a first determination unit, a second determination unit, and a third determination unit; the second determination unit includes: a pseudo-range double difference determination unit, a carrier phase double difference determination unit, a station-satellite distance double difference determination unit, a coefficient noise determination unit, and a position information determination unit; the first determination unit is configured to receive a third satellite signal from the first satellite and a fourth satellite signal from the second satellite through the second antenna, and determine a third pseudo-range observation quantity, a third carrier phase observation quantity, and a third positioning information of the satellite orientation chip relative to the first satellite based on the third satellite signal, and determine a fourth pseudo-range observation quantity, a fourth carrier phase observation quantity, and a fourth positioning information of the satellite orientation chip relative to the second satellite based on the fourth satellite signal; the pseudo-range double difference determination unit is configured to determine an inter-satellite double difference observation quantity of the pseudo-range based on the first pseudo-range observation quantity, the second pseudo-range observation quantity, the third pseudo-range observation quantity, and the fourth pseudo-range observation quantity; the carrier phase double difference determination unit is configured to determine an inter-satellite double difference observation quantity of the carrier phase based on the first carrier phase observation quantity, the second carrier phase observation quantity, the third carrier phase observation quantity, and the fourth carrier phase observation quantity; the station-satellite distance double difference determination unit is configured to determine an inter-satellite double difference observation quantity of the station-satellite distance based on the first positioning information, the second positioning information, the third positioning information, and the fourth positioning information; the coefficient noise determination unit is configured to determine a first coefficient matrix of the satellite positioning chip relative to the first satellite based on the position information of the first satellite, the first positioning information, and the first station-satellite distance, determine a second coefficient matrix of the satellite positioning chip relative to the second satellite based on the position information of the second satellite, the second positioning information, and the second station-satellite distance; and determine the inter-satellite double difference observation noise of the pseudo-range and the inter-satellite double difference observation noise of the carrier phase; the position information determination unit is configured to: Substitute the inter-satellite double difference observation quantity of the pseudorange, the inter-satellite double difference observation quantity of the station-satellite distance, the first coefficient matrix, the second coefficient matrix, and the inter-satellite double difference observation noise of the pseudorange into the double difference observation equation of the pseudorange, substitute the wavelength of the satellite signal, the inter-satellite double difference observation quantity of the carrier phase, the first coefficient matrix, the second coefficient matrix, and the inter-satellite double difference observation noise of the station-satellite distance into the double difference observation equation of the carrier phase, and establish the double difference observation equation of the pseudorange and the double difference observation equation of the carrier phase in parallel to determine the first integer ambiguity and the position information of the target vector; the target vector points from the phase center of the first antenna to the phase center of the second antenna; The double difference observation equation of the pseudorange is: ； wherein, is the inter-satellite double-difference observation of the pseudo-range, is the inter-satellite double-difference observation of the station-satellite distance, is the first coefficient matrix, is the second coefficient matrix, is the coordinate of the target vector in the ECEF coordinate system, is the inter-satellite double-difference observation noise of the pseudo-range; The double difference observation equation of the carrier phase is: ； wherein, is the wavelength of the satellite signal, is the inter-satellite double-difference observable of the carrier phase, is the first cycle ambiguity, is the inter-satellite double-difference observation noise of the carrier phase; The third determination unit is used to determine the accuracy of the position information based on the first integer ambiguity and a preset integer ambiguity, and determine the direction information of the target vector based on the position information when the accuracy meets a preset requirement.

2. The satellite orientation device according to claim 1, It is characterized in that The satellite orientation chip also includes: A preset integer ambiguity determination unit is used to calculate the preset integer ambiguity based on the inter-satellite double difference observation amount of the pseudorange, the inter-satellite double difference observation amount of the carrier phase, the wavelength of the satellite signal and an integer ambiguity calculation formula; the integer ambiguity calculation formula is: ； Wherein, is the preset integer ambiguity, is the inter-satellite double difference observable of the carrier phase, is the inter-satellite double difference observable of the pseudo-range, is the wavelength of the satellite signal.

3. The satellite orientation device according to any one of claims 1 to 2, It is characterized in that The third determining unit includes: a distance value determining unit, configured to determine a distance value between a phase center of the first antenna and a phase center of the second antenna; The error value determination unit is used to calculate the target error value based on the distance value, the wavelength of the satellite signal, the preset error value and the target error value calculation formula; the target error value calculation formula is: ； wherein, is the target error value, is the distance value, is the wavelength of the satellite signal, is the preset error value; The accuracy judgment unit is configured to determine that the accuracy meets a preset requirement if the absolute value of the difference between the first integer ambiguity and the preset integer ambiguity is smaller than the target error value.

4. The satellite orientation device according to claim 1, It is characterized in that The pseudorange double difference determination unit is specifically used for: The inter-satellite double difference observation quantity of the pseudorange is determined based on the following formula: ； Among them, is the inter-satellite double-difference observable of the pseudorange, is the first pseudorange observable, is the second pseudorange observable, is the third pseudorange observable, is the fourth pseudorange observable.

5. The satellite orientation device according to claim 1, It is characterized in that The carrier phase double difference determination unit is specifically used for: The inter-satellite double difference observation of the carrier phase is determined based on the following formula: ； Wherein, is the inter-satellite double-difference observable of the carrier phase, is the first carrier phase observable, is the second carrier phase observable, is the third carrier phase observable, is the fourth carrier phase observable.

6. The satellite orientation device according to claim 1, It is characterized in that The station-satellite distance double difference determination unit is specifically used for: Determine a first station-satellite distance between the satellite positioning chip and the first satellite based on the first positioning information and the position information of the first satellite; Determine a second station-satellite distance between the satellite positioning chip and the second satellite based on the second positioning information and the position information of the second satellite; Determine a third station-satellite distance between the satellite orientation chip and the first satellite based on the third positioning information and the position information of the first satellite; Determine a fourth satellite-station distance between the satellite orientation chip and the second satellite based on the fourth positioning information and the position information of the second satellite; Determine an inter-satellite double-difference observable of the satellite-station distances based on the first satellite-station distance, the second satellite-station distance, the third satellite-station distance, and the fourth satellite-station distance.

7. The satellite orientation device according to claim 6, wherein, the coefficient noise determination unit is specifically configured to: determine the first coefficient matrix based on the following formula: ； Among them, is the first coefficient matrix, used to represent the position information of the first satellite, used to represent the first positioning information, is the distance between the first station and the satellite; determine the first coefficient matrix based on the following formula: ； Among them, is the first coefficient matrix, used to represent the position information of the second satellite, used to represent the second positioning information, is the second satellite-station distance.

8. The satellite orientation device according to claim 1, wherein, the coefficient noise determination unit is specifically configured to: determine the inter-satellite double-difference observation noise of the pseudo-range based on the following formula: ； wherein, is the inter-satellite double-difference observation noise of the pseudo-range, is the pseudo-range observation noise of the satellite positioning chip relative to the first satellite, is the pseudo-range observation noise of the satellite orientation chip relative to the first satellite, is the pseudo-range observation noise of the satellite positioning chip relative to the second satellite, is the pseudo-range observation noise of the satellite orientation chip relative to the second satellite; determine the inter-satellite double-difference observation noise of the carrier phase based on the following formula: ； wherein, is the inter-satellite double-difference observation noise of the carrier phase, is the carrier phase observation noise of the satellite positioning chip relative to the first satellite, is the carrier phase observation noise of the satellite orientation chip relative to the first satellite, is the carrier phase observation noise of the satellite positioning chip relative to the second satellite, is the carrier phase observation noise of the satellite orientation chip relative to the second satellite.

9. The satellite orientation device according to claim 3, wherein, the direction information includes a direction angle and a pitch angle; correspondingly, the third determination unit further includes: a coordinate conversion unit configured to perform coordinate conversion on the position information to obtain the coordinates of the target vector in the local-vertical local-horizontal (LVLH) coordinate system; a direction information determination unit configured to determine the direction angle and the pitch angle of the target vector based on the coordinates of the target vector in the LVLH coordinate system.

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