Satellite orientation method, chip and computer readable storage medium

Abstract

This application is applicable to the field of positioning and orientation technology, and provides a satellite orientation method, a chip, and a computer-readable storage medium. The method includes: obtaining a first pseudo-range observation, a first carrier phase observation, a second pseudo-range observation, a second carrier phase observation, a first positioning information, and a second positioning information from a satellite positioning chip; determining a third pseudo-range observation, a third carrier phase observation, and a third positioning information of the satellite orientation chip relative to the first satellite, and a fourth pseudo-range observation, a fourth carrier phase observation, and a fourth positioning information relative to the second satellite; determining a first integer ambiguity and the position information of the target vector based on the pseudo-range observation, the carrier phase observation, the positioning information, and a preset observation equation; determining the accuracy of the position information based on the first integer ambiguity and a preset integer ambiguity, and determining the direction information of the target vector based on the position information when the accuracy meets the preset requirements, thereby 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 method, a chip, and a computer-readable storage medium. Background Art

[0002] With the continuous development of satellite positioning and orientation technology, satellite orientation devices capable of realizing satellite orientation functions are increasingly 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 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, existing satellite positioning chips do not have an orientation function, 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, embodiments of this application provide a satellite orientation method, a chip, and a computer-readable storage medium to solve the technical problem of relatively low orientation accuracy of existing satellite orientation methods.

[0004] In a first aspect, an embodiment of this application provides a satellite orientation method, which is applied to a satellite orientation chip. The satellite orientation chip is connected to a satellite positioning chip. The satellite positioning chip receives satellite signals through a first antenna, and the satellite orientation chip receives satellite signals through a second antenna. The satellite orientation method includes:

[0005] Obtain a first pseudorange observable, a first carrier phase observable, a second pseudorange observable, a second carrier phase observable, a first positioning information, and a second positioning information from the satellite positioning chip. The first pseudorange observable, the first carrier phase observable, and the first positioning information are determined by the satellite positioning chip based on a first satellite signal from a first satellite, and the second pseudorange observable, the second carrier phase observable, and the second positioning information are determined by the satellite positioning chip based on a second satellite signal from a second satellite;

[0006] Receive a third satellite signal from the first satellite and a fourth satellite signal from the second satellite, determine a third pseudorange observable, a third carrier phase observable, 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 pseudorange observable, a fourth carrier phase observable, and a fourth positioning information of the satellite orientation chip relative to the second satellite based on the fourth satellite signal;

[0007] 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 third pseudorange observation, the third carrier phase observation, the fourth pseudorange observation, the fourth carrier phase observation, the first positioning information, the second positioning information, the third positioning information, the fourth positioning information, and a preset observation equation; the target vector points from the phase center of the first antenna to the phase center of the second antenna;

[0008] 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.

[0009] In a second aspect, an embodiment of the present application provides a satellite orientation chip, which is connected to a satellite positioning chip. The satellite positioning chip receives satellite signals through a first antenna, and the satellite orientation chip receives satellite signals through a second antenna; the satellite orientation chip includes:

[0010] A first acquisition unit, configured to acquire a first pseudorange observation, a first carrier phase observation, a second pseudorange observation, a second carrier phase observation, a first positioning information, and a second positioning information from the satellite positioning chip; the first pseudorange observation, the first carrier phase observation, and the first positioning information are determined by the satellite positioning chip based on a first satellite signal from a first satellite, and the second pseudorange observation, the second carrier phase observation, and the second positioning information are determined by the satellite positioning chip based on a second satellite signal from a second satellite;

[0011] A first determination unit, configured to receive a third satellite signal from the first satellite and a fourth satellite signal from the second satellite, determine a third pseudorange observation, a third carrier phase observation, and a third positioning information of the satellite orientation chip relative to the first satellite based on the third satellite signal, and determine a fourth pseudorange observation, a fourth carrier phase observation, and a fourth positioning information of the satellite orientation chip relative to the second satellite based on the fourth satellite signal;

[0012] A second determination unit, configured to determine a first integer ambiguity and position information of a target vector based on the first pseudorange observation, the first carrier phase observation, the second pseudorange observation, the second carrier phase observation, the third pseudorange observation, the third carrier phase observation, the fourth pseudorange observation, the fourth carrier phase observation, the first positioning information, the second positioning information, the third positioning information, the fourth positioning information, and a preset observation equation; the target vector points from the phase center of the first antenna to the phase center of the second antenna;

[0013] A third determination unit, 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 a preset requirement.

[0014] In a third aspect, an embodiment of the present application provides a satellite orientation chip, which includes a processor, a memory, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the satellite orientation method described in the first aspect is implemented.

[0015] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium storing a computer program, and when the computer program is executed by a processor, the satellite orientation method described in the first aspect is implemented.

[0016] In a fifth aspect, an embodiment of the present application provides a computer program product, which, when running on a chip, causes the chip to execute the satellite orientation method described in the first aspect above.

[0017] Implementing the satellite orientation method, chip, computer-readable storage medium, and computer program product provided by the embodiments of the present application has the following beneficial effects:

[0018] The satellite orientation method provided by the embodiment of the present application is applied to a satellite orientation chip, that is, orientation calculation is performed through the satellite orientation chip. Therefore, other processors other than the satellite orientation chip and the satellite positioning chip do not need to be included in the satellite orientation device to implement orientation calculation, 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 requirement, the accuracy of orientation is improved. Description of the Drawings

[0019] To more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the accompanying drawings required for the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0020] Figure 1 Schematic structural diagram of a satellite orientation device provided by an embodiment of the present application;

[0021] Figure 2 Schematic diagram of a target vector provided by an embodiment of the present application;

[0022] Figure 3 Schematic flowchart of a satellite orientation method provided by an embodiment of the present application;

[0023] Figure 4 Specific implementation flowchart of S33 in a satellite orientation method provided by another embodiment of the present application;

[0024] Figure 5 Schematic structural diagram of a satellite orientation chip provided by an embodiment of the present application;

[0025] Figure 6 Schematic structural diagram of a satellite orientation chip provided by another embodiment of the present application. Specific embodiments

[0026] It should be noted that the terms used in the embodiment part of the embodiments of the present application are only used to explain the specific embodiments of the present application, rather than being intended to limit the present application. In the description of the embodiments of the present application, unless otherwise specified, " / " means "or". For example, A / B can represent A or B; herein, "and / or" is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: 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" means one, two or more than two.

[0027] Hereinafter, the terms "first" and "second" are only used for descriptive purposes and cannot be understood 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.

[0028] References to "one embodiment" or "some embodiments" etc. described in this specification mean that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. Thus, statements such as "in one embodiment", "in some embodiments", "in other some embodiments", "in still other embodiments", etc. that appear in different places in this specification do not necessarily all refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized. The terms "comprising", "including", "having" and their variants all mean "including but not limited to", unless otherwise specifically emphasized.

[0029] An embodiment of the present application first 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 111, a first antenna 112 connected to the satellite positioning chip 111, a satellite orientation chip 121, and a second antenna 122 connected to the satellite orientation chip 121.

[0030] Among them, the satellite positioning chip 111 can receive satellite signals from satellites through the first antenna 112, and process the received satellite signals to obtain positioning information for describing the position of the satellite positioning chip 111, as well as pseudorange observables and carrier phase observables of the satellite positioning chip 111 relative to the satellites.

[0031] The satellite orientation chip 121 can receive satellite signals from satellites through the second antenna, and process the received satellite signals to obtain positioning information for describing the position of the satellite orientation chip 121, as well as pseudorange observables and carrier phase observables of the satellite orientation chip 121 relative to the satellites.

[0032] In the embodiments of the present application, the satellite positioning chip 111 is also connected to the satellite orientation chip 121. The satellite positioning chip 111 can send its positioning information, as well as its pseudo-range observables and carrier-phase observables relative to the satellite, to the satellite orientation chip 121. The satellite orientation chip 121 can use the positioning information of the satellite positioning chip 111, as well as the pseudo-range observables and carrier-phase observables of the satellite positioning chip 111 relative to the satellite, as orientation reference information, and perform orientation calculations based on the orientation reference information, the positioning information of the satellite orientation chip 121, and the pseudo-range observables and carrier-phase observables of the satellite orientation chip 121 relative to the satellite. 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 112 to the phase center of the second antenna 122. 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 112 can be used as its phase center, and the geometric center of the second antenna 122 can be used as its phase center.

[0033] The direction information of the target vector may 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 112 and B is the phase center of the second antenna 122, 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 angle b in the local-level coordinate system (also known as the east-north-up (ENU) coordinate system), respectively.

[0034] It should be noted that the specific process of the orientation calculation can refer to the relevant descriptions in the subsequent embodiments of the satellite orientation method.

[0035] In the embodiments of the present application, the connection manner between the satellite positioning chip 111 and the satellite orientation chip 121 can be set according to actual needs, and no special limitation is imposed here. Exemplarily, the satellite positioning chip 111 and the satellite orientation chip 121 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).

[0036] 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 for the first positioning module 11 and the second positioning module 12. Among them, the first positioning module 11 and the second positioning module 12 can share the same clock signal.

[0037] In specific applications, exemplarily, the clock generator can be a crystal oscillator (abbreviated as crystal oscillator).

[0038] The embodiment of the present application further provides a satellite orientation method based on the above satellite orientation device. Please refer to Figure 3 , Figure 3 which is a schematic flowchart of a satellite orientation method provided by the embodiment of the present application. The execution subject of this satellite orientation method can be Figure 1 the satellite orientation chip 121 in the satellite orientation device 10 in

[0039] S31: 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; the first pseudorange observation, the first carrier phase observation, and the first positioning information are determined by the satellite positioning chip based on the first satellite signal from the first satellite, and the second pseudorange observation, the second carrier phase observation, and the second positioning information are determined by the satellite positioning chip based on the second satellite signal from the second satellite.

[0040] In the embodiment of the present application, the satellite positioning chip can receive the first satellite signal from the first satellite and the second satellite signal from the second satellite through the first antenna, and determine the first positioning information of the satellite positioning chip and the first pseudorange observation and the first carrier phase observation of the satellite positioning chip relative to the first satellite based on the first satellite signal, and determine the second position information of the satellite positioning chip and the second pseudorange observation and the second carrier phase observation of the satellite positioning chip 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.

[0041] After the satellite positioning chip obtains 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, it can 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.

[0042] In a possible implementation, the satellite positioning chip 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. In another possible way, the satellite orientation chip may send a request for obtaining orientation reference information to the satellite positioning chip; after receiving the request for obtaining orientation reference information from the satellite orientation chip, the satellite positioning chip 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. That is to say, the satellite orientation chip 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, or may 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.

[0043] S32: Receive a third satellite signal from the first satellite and a fourth satellite signal from the second satellite, determine a third pseudorange observation, a third carrier phase observation, and third positioning information of the satellite orientation chip relative to the first satellite based on the third satellite signal, and determine a fourth pseudorange observation, a fourth carrier phase observation, and fourth positioning information of the satellite orientation chip relative to the second satellite based on the fourth satellite signal.

[0044] In the embodiment of the present application, the satellite orientation chip may receive the third satellite signal from the first satellite and the fourth satellite signal from the second satellite through the second antenna.

[0045] 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 may be configured according to actual requirements and is not particularly limited herein.

[0046] It should be noted that the satellite orientation chip may execute S31 first and then S32, or may execute S32 first and then S31, or may execute S31 and S32 simultaneously. The embodiment of the present application does not particularly limit the execution order of S31 and S32 by the satellite orientation chip.

[0047] S33: 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 third pseudorange observation, the third carrier phase observation, the fourth pseudorange observation, the fourth carrier phase observation, the first positioning information, the second positioning information, the third positioning information, the fourth positioning information, and a preset observation equation.

[0048] In one embodiment of the present application, the position information of the target vector can be represented by the coordinates of the target vector in the Earth-Centered Earth-Fixed (ECEF) coordinate system.

[0049] 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 coordinate x rb of the target vector in the ECEF coordinate system can be expressed as:

[0050]

[0051] In one 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.

[0052] Specifically, the double-difference observation equation of the pseudo-range can be as follows:

[0053]

[0054] 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 relative to the first satellite, is the coefficient matrix of the satellite positioning chip 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.

[0055] The double-difference observation equation of the carrier phase can be as follows:

[0056]

[0057] 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.

[0058] Based on this, in one embodiment of the present application, S33 can be specifically implemented by S331 to S334 as shown in Figure 4 , which is described in detail as follows:

[0059] S331: 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.

[0060] In this embodiment, the satellite orientation chip can determine the inter-satellite double-difference observable of the pseudo-range through the following formula:

[0061]

[0062] where, is the inter-satellite double-difference observable of the pseudo-range, is the first pseudo-range observable, is the second pseudo-range observable, is the third pseudo-range observable, is the fourth pseudo-range observable.

[0063] S332: 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.

[0064] In this embodiment, the satellite orientation chip can determine the inter-satellite double-difference observable of the carrier phase through the following formula:

[0065]

[0066] where, 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.

[0067] S333: Determine the inter-satellite double-difference observable of the station-satellite distance based on the first positioning information, the second positioning information, the third positioning information, and the fourth positioning information.

[0068] In this embodiment, both the first position information and the second position information can be represented by the coordinates of the satellite positioning chip 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 in the ECEF coordinate system. Exemplarily, the first positioning information can be represented by the coordinates of the satellite positioning chip in the ECEF coordinate system, the second positioning information can be represented by the coordinates of the satellite positioning chip in the ECEF coordinate system, and the third positioning information can be represented by the coordinates to represent the third positioning information, and the coordinates of the satellite orientation chip in the ECEF coordinate system to represent the fourth positioning information.

[0069] Based on this, in a possible implementation, the satellite orientation chip can determine the first satellite-to-station distance between the satellite positioning chip 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 obtained through the coordinates of the first satellite in the ECEF coordinate system. Specifically, the satellite orientation chip can determine the first satellite-to-station distance based on the following formula:

[0070]

[0071] 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 in the ECEF coordinate system determined according to the first satellite signal. It should be noted that the coordinates of the first satellite in the ECEF coordinate system are used to represent the position information of the first satellite, and the position information of the first satellite is usually carried in the satellite signal (such as the first satellite signal or the third satellite signal) emitted by the first satellite.

[0072] In a possible implementation, the satellite orientation chip can determine the second satellite-to-station distance between the satellite positioning chip and the second satellite based on the second positioning information and the position information of the second satellite. Specifically, the satellite orientation chip can determine the second satellite-to-station distance based on the following formula:

[0073]

[0074] Among them, is the second satellite-to-station distance, (x q , y q , z q ) are the coordinates of the second satellite in the ECEF coordinate system, is the coordinate of the satellite positioning chip in the ECEF coordinate system determined according to the second satellite signal. It should be noted that the coordinates of the second satellite in the ECEF coordinate system are used to represent the position information of the second satellite, and the position information of the second satellite is usually carried in the satellite signal (such as the second satellite signal or the fourth satellite signal) emitted by the second satellite.

[0075] In a possible implementation, the satellite orientation chip can determine the third satellite-to-station distance between the satellite orientation chip and the first satellite based on the third positioning information and the position information of the first satellite. Specifically, the satellite orientation chip can determine the third satellite-to-station distance based on the following formula:

[0076]

[0077] Among them, is the distance between the third satellite and the station, is the coordinate of the satellite orientation chip in the ECEF coordinate system determined according to the third satellite signal.

[0078] In a possible implementation, the satellite orientation chip can determine the fourth distance between the satellite orientation chip and the second satellite based on the fourth positioning information and the position information of the second satellite. Specifically, the satellite orientation chip can determine the fourth distance between the satellite and the station based on the following formula:

[0079]

[0080] Among them, is the fourth distance between the satellite and the station, is the coordinate of the satellite orientation chip in the ECEF coordinate system determined according to the fourth satellite signal.

[0081] In this embodiment, after the satellite orientation chip obtains the first distance between the satellite and the station, the second distance between the satellite and the station, the third distance between the satellite and the station, and the fourth distance between the satellite and the station, it can determine the inter-satellite double-difference observable of the distance between the satellite and the station based on the following formula:

[0082]

[0083] Among them, is the inter-satellite double-difference observable of the distance between the satellite and the station, is the first distance between the satellite and the station, is the second distance between the satellite and the station, is the third distance between the satellite and the station, is the fourth distance between the satellite and the station.

[0084] S334: 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 pseudo-range, and the inter-satellite double-difference observation noise of the carrier phase.

[0085] In a possible implementation, the satellite orientation chip can determine the first coefficient matrix based on the position information of the first satellite, the first positioning information, and the first distance between the satellite and the station. Specifically, the first coefficient matrix can be:

[0086]

[0087] In a possible implementation, the satellite orientation chip can determine the second coefficient matrix based on the position information of the second satellite, the second positioning information, and the second distance between the satellite and the station. Specifically, the second coefficient matrix It can be:

[0088]

[0089] In a possible implementation, the satellite orientation chip can determine the inter-satellite double-difference observation noise of the pseudo-range based on the following formula:

[0090]

[0091] 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.

[0092] In a possible implementation, the satellite orientation chip can determine the inter-satellite double-difference observation noise of the carrier phase based on the following formula:

[0093]

[0094] 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.

[0095] S335: Determine the first integer ambiguity and the position information of the target vector based on the inter-satellite double-difference observation quantity of the pseudo-range, the inter-satellite double-difference observation quantity of the carrier phase, the inter-satellite double-difference observation quantity of the station-satellite distance, the first coefficient matrix, the second coefficient matrix, the inter-satellite double-difference observation noise of the pseudo-range, the inter-satellite double-difference observation noise of the carrier phase, the wavelength of the satellite signal, the double-difference observation equation of the pseudo-range, and the double-difference observation equation of the carrier phase.

[0096] In this embodiment, the satellite orientation chip may 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 system of 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 system of 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.

[0097] Since the inter-satellite double-difference integer ambiguity has an integer property, the satellite orientation chip 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 substitute the first integer ambiguity Into the double-difference observation equation of the carrier phase to obtain the position information of the target vector.

[0098] S34: 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.

[0099] In the embodiment of the present application, the preset integer ambiguity can be calculated by the satellite orientation chip based on the inter-satellite double-difference observation of the pseudo-range, the inter-satellite double-difference observation of the carrier phase, the wavelength of the satellite signal, and the integer ambiguity calculation formula. Among them, the integer ambiguity calculation formula can be as follows:

[0100]

[0101] Among them, Is the preset integer ambiguity, Is the inter-satellite double-difference observation of the carrier phase, Is the inter-satellite double-difference observation of the pseudo-range, and λ is the wavelength of the satellite signal.

[0102] In an embodiment of the present application, the satellite orientation chip can determine the accuracy of the position information based on the following steps and determine whether the accuracy meets the preset requirements:

[0103] Determine the distance value between the phase center of the first antenna and the phase center of the second antenna;

[0104] Calculate the target error value based on the distance value, the wavelength of the satellite signal, a preset error value, and a target error value calculation formula; the target error value calculation formula is:

[0105]

[0106] where σ is the target error value, d 12 is the distance value, λ is the wavelength of the satellite signal, and σ' is the preset error value;

[0107] If the absolute value of the difference between the first integer ambiguity and the preset integer ambiguity is less than the target error value, it is determined that the accuracy meets the preset requirements.

[0108] In an embodiment of the present application, the satellite orientation chip can determine the direction information of the target vector based on the following steps:

[0109] Perform coordinate transformation on the position information to obtain the coordinates of the target vector in the local-level coordinate system;

[0110] 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.

[0111] In this embodiment, the satellite orientation chip can perform coordinate transformation on the position information of the target vector based on the following formula:

[0112]

[0113] where ENU rb is 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.

[0114] The satellite orientation chip can calculate the direction angle of the target vector based on the following formula:

[0115]

[0116] where heading is the direction angle of the target vector in the local-level coordinate system;

[0117] E rb = [-sin(L)·x rb cos(L)·x rb 0];

[0118] N rb = [-sin(B)·cos(L)·x rb -sin(B)sin(L)·x rb cos(B)·x rb ;

[0119] The satellite orientation chip can calculate the pitch angle of the target vector based on the following formula:

[0120]

[0121] where pitch is the pitch angle of the target vector in the local topocentric coordinate system;

[0122] U rb =[cos(B)·cos(L)·x rb cos(B)sin(L)·x rb sin(B)·x rb .

[0123] As can be seen from the above, for the satellite orientation method provided in this embodiment, since it is applied to the satellite orientation chip, that is, the orientation calculation is performed through the satellite orientation chip, the satellite orientation device does not need to include other processors except the satellite orientation chip and the satellite positioning chip to achieve the orientation calculation, 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.

[0124] It should be understood that the magnitudes of the sequence numbers of the steps in the above embodiments do not mean the order of execution. The execution order of each process should be determined according to its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.

[0125] Based on the satellite orientation method provided in the above embodiments, the embodiments of the present invention further provide an embodiment of a satellite orientation chip for implementing the above method embodiments. Please refer to Figure 5 , Figure 5 which is a schematic structural diagram of a satellite orientation chip provided in an embodiment of the present application. For the sake of convenience of description, only the parts related to this embodiment are shown. As Figure 5 shown, the satellite orientation chip 50 may include: a first acquisition unit 51, a first determination unit 52, a second determination unit 53, and a third determination unit 54. Among them:

[0126] The first acquisition unit 51 is configured to acquire a first pseudo-range observation, a first carrier phase observation, a second pseudo-range observation, a second carrier phase observation, a first positioning information, and a second positioning information from the satellite positioning chip; the first pseudo-range observation, the first carrier phase observation, and the first positioning information are determined by the satellite positioning chip based on a first satellite signal from a first satellite, and the second pseudo-range observation, the second carrier phase observation, and the second positioning information are determined by the satellite positioning chip based on a second satellite signal from a second satellite.

[0127] The first determination unit 52 is configured to receive a third satellite signal from the first satellite and a fourth satellite signal from the second satellite, and determine a third pseudo-range observation, a third carrier phase observation, 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, a fourth carrier phase observation, and a fourth positioning information of the satellite orientation chip relative to the second satellite based on the fourth satellite signal.

[0128] The second determination unit 53 is configured to determine a first integer ambiguity and position information of a 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.

[0129] The third determination unit 54 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 a preset requirement.

[0130] Optionally, the preset observation equation includes: a double-difference observation equation of pseudo-range and a double-difference observation equation of carrier phase; correspondingly, the second determination unit may include: a pseudo-range double-difference quantity determination unit, a carrier phase double-difference quantity determination unit, a station-satellite distance double-difference quantity determination unit, a coefficient noise determination unit, and a position information determination unit. Among them:

[0131] The pseudo-range double-difference quantity determination unit is configured to determine an inter-satellite double-difference observation of pseudo-range based on the first pseudo-range observation, the second pseudo-range observation, the third pseudo-range observation, and the fourth pseudo-range observation.

[0132] The carrier phase double difference determination unit is used to determine the inter-satellite double difference observation of the carrier phase based on the first carrier phase observation, the second carrier phase observation, the third carrier phase observation, and the fourth carrier phase observation.

[0133] The station-satellite distance double difference determination unit is used to determine the inter-satellite double difference observation of the station-satellite distance based on the first positioning information, the second positioning information, the third positioning information, and the fourth positioning information.

[0134] The coefficient noise determination unit 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 pseudo-range, and the inter-satellite double difference observation noise of the carrier phase.

[0135] The position information determination unit is used to determine the first integer ambiguity and the position information of the target vector based on the inter-satellite double difference observation of the pseudo-range, 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, the inter-satellite double difference observation noise of the pseudo-range, the inter-satellite double difference observation noise of the carrier phase, the wavelength of the satellite signal, the double difference observation equation of the pseudo-range, and the double difference observation equation of the carrier phase.

[0136] Optionally, the satellite orientation chip further includes a preset integer ambiguity determination unit.

[0137] The preset integer ambiguity determination unit is used to calculate the preset integer ambiguity based on the inter-satellite double difference observation of the pseudo-range, the inter-satellite double difference observation of the carrier phase, the wavelength of the satellite signal, and the integer ambiguity calculation formula;

[0138] The integer ambiguity calculation formula is:

[0139]

[0140] Wherein, is the preset integer ambiguity, is the inter-satellite double difference observation of the carrier phase, is the inter-satellite double difference observation of the pseudo-range, and λ is the wavelength of the satellite signal.

[0141] Optionally, the third determination unit specifically includes: a distance value determination unit, an error value determination unit, and an accuracy judgment unit. Among them:

[0142] The distance value determination unit is used to determine the distance value between the phase center of the first antenna and the phase center of the second antenna.

[0143] The error value determination unit is used to calculate a target error value based on the distance value, the wavelength of the satellite signal, a preset error value, and a target error value calculation formula; the target error value calculation formula is:

[0144]

[0145] where σ is the target error value, d 12 is the distance value, λ is the wavelength of the satellite signal, and σ' is the preset error value.

[0146] The accuracy judgment unit is used 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.

[0147] Optionally, the pseudo-range double-difference quantity determination unit is specifically used for:

[0148] Determining the inter-satellite double-difference observation of the pseudo-range based on the following formula:

[0149]

[0150] where is the inter-satellite double-difference observation of the pseudo-range, is the first pseudo-range observation, is the second pseudo-range observation, is the third pseudo-range observation, is the fourth pseudo-range observation;

[0151] The carrier phase double-difference quantity determination unit is specifically used for:

[0152] Determining the inter-satellite double-difference observation of the carrier phase based on the following formula:

[0153]

[0154] 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.

[0155] Optionally, the station-satellite distance double-difference quantity determination unit is specifically used for:

[0156] Determining 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;

[0157] 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;

[0158] 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;

[0159] Determine the fourth station-satellite distance between the satellite orientation chip and the second satellite based on the fourth positioning information and the position information of the second satellite;

[0160] Determine the inter-satellite double-difference observable of the station-satellite distance based on the first station-satellite distance, the second station-satellite distance, the third station-satellite distance, and the fourth station-satellite distance.

[0161] Optionally, the coefficient noise determination unit is specifically configured to:

[0162] Determine the first coefficient matrix based on the following formula:

[0163]

[0164] 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;

[0165] Determine the first coefficient matrix based on the following formula:

[0166]

[0167] 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;

[0168] Determine the inter-satellite double-difference observation noise of the pseudorange based on the following formula:

[0169]

[0170] Where is the inter-satellite double-difference observation noise of the pseudorange, is the pseudorange observation noise of the satellite positioning chip relative to the first satellite, is the pseudorange observation noise of the satellite orientation chip relative to the first satellite, is the pseudorange observation noise of the satellite positioning chip relative to the second satellite, is the pseudorange observation noise of the satellite orientation chip relative to the second satellite;

[0171] Determine the inter-satellite double-difference observation noise of the carrier phase based on the following formula:

[0172]

[0173] 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.

[0174] It should be noted that the information interaction, execution process, etc. between the above modules, due to being based on the same concept as the method embodiment of this application, for their specific functions and the technical effects brought, reference can be specifically made to the method embodiment part, and details will not be elaborated here.

[0175] Those skilled in the art can clearly understand that for the convenience and conciseness of description, only the above division of each functional unit and module is used as an example. In actual applications, the above functions can be allocated to different functional units and modules according to needs, that is, the internal structure of the satellite orientation chip is 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 in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above integrated units can be implemented in the form of hardware or in the form of software functional units. 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 process of the units and modules in the above system can refer to the corresponding process in the foregoing method embodiment, and details will not be elaborated here.

[0176] Please refer to Figure 6 , Figure 6 which is a schematic structural diagram of a satellite orientation chip provided by another embodiment of this application. As shown in Figure 6As shown in the figure, the satellite orientation chip 6 provided in this embodiment may include: a processor 60, a memory 61, and a computer program 62 stored in the memory 61 and executable on the processor 60, such as a program corresponding to the satellite orientation method. When the processor 60 executes the computer program 62, the steps in the above-mentioned various satellite orientation method embodiments are implemented, such as Figure 3 S31 to S34 shown in the figure. Alternatively, when the processor 60 executes the computer program 62, the functions of each module / unit in the above-mentioned chip embodiments are implemented, such as Figure 5 the functions of the units 51 to 54 shown in the figure.

[0177] Exemplarily, the computer program 62 may be divided into one or more modules / units. One or more modules / units are stored in the memory 61 and executed by the processor 60 to complete this application. One or more modules / units may be a series of computer program instruction segments capable of performing specific functions, and these instruction segments are used to describe the execution process of the computer program 62 in the satellite orientation chip 6. For example, the computer program 62 may be divided into a first acquisition unit, a first determination unit, a second determination unit, and a third determination unit. For the specific functions of each unit, please refer to Figure 5 the relevant descriptions in the corresponding embodiments, which will not be elaborated here.

[0178] Those skilled in the art can understand that Figure 6 this is only an example of the satellite orientation chip 6 and does not constitute a limitation on the chip 6. It may include more or fewer components than shown in the figure, or combine certain components, or different components.

[0179] The processor 60 may be a central processing unit (CPU), or may also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0180] The memory 61 can be an internal storage unit of the satellite orientation chip 6, such as the hard disk or memory of the satellite orientation chip 6. The memory 61 can also be an external storage device of the satellite orientation chip 6, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, or a flash card equipped on the satellite orientation chip 6, etc. Further, the memory 61 can also include both the internal storage unit of the satellite orientation chip 6 and the external storage device. The memory 61 is used to store computer programs and other programs and data required by the satellite orientation chip. The memory 61 can also be used to temporarily store the data that has been output or will be output.

[0181] The embodiment of the present application also provides a computer-readable storage medium, in which a computer program is stored, and when the computer program is executed by a processor, the steps in the above-mentioned method embodiments can be implemented.

[0182] The embodiment of the present application provides a computer program product. When the computer program product runs on the satellite orientation chip, the satellite orientation chip is enabled to execute the steps in the above-mentioned method embodiments when executed.

[0183] In the above embodiments, the descriptions of the respective embodiments have their own focuses. For the parts not detailed or recorded in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0184] Those of ordinary skill in the art can realize that the units and algorithm steps of the examples described in conjunction with the embodiments disclosed herein can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Professional technicians 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 the present application.

[0185] The above-mentioned embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present 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 on some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A satellite orientation method, characterized in that, it is applied to a satellite orientation chip, the satellite orientation chip is connected to a satellite positioning chip, the satellite positioning chip receives satellite signals through a first antenna, and the satellite orientation chip receives satellite signals through a second antenna; the satellite orientation method includes: obtaining a first pseudo-range observation, a first carrier phase observation, a second pseudo-range observation, a second carrier phase observation, a first positioning information and a second positioning information from the satellite positioning chip; the first pseudo-range observation, the first carrier phase observation and the first positioning information are determined by the satellite positioning chip based on a first satellite signal from a first satellite, and the second pseudo-range observation, the second carrier phase observation and the second positioning information are determined by the satellite positioning chip based on a second satellite signal from a second satellite; receiving a third satellite signal from the first satellite and a fourth satellite signal from the second satellite, determining a third pseudo-range observation, a third carrier phase observation and a third positioning information of the satellite orientation chip relative to the first satellite based on the third satellite signal, and determining a fourth pseudo-range observation, a fourth carrier phase observation and a fourth positioning information of the satellite orientation chip relative to the second satellite based on the fourth satellite signal; determining an inter-satellite double difference observation of the pseudo-range based on the first pseudo-range observation, the second pseudo-range observation, the third pseudo-range observation and the fourth pseudo-range observation; determining an inter-satellite double difference observation of the carrier phase based on the first carrier phase observation, the second carrier phase observation, the third carrier phase observation and the fourth carrier phase observation; determining an inter-satellite double difference observation of the station-satellite distance based on the first positioning information, the second positioning information, the third positioning information and the fourth positioning information; determining a first coefficient matrix of the satellite positioning chip relative to the first satellite based on the position information of the first satellite, the first positioning information and the first station-satellite distance, determining 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 determining the inter-satellite double difference observation noise of the pseudo-range and the inter-satellite double difference observation noise of the carrier phase; substituting 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, substituting 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, and simultaneously solving the double difference observation equation of the pseudo-range and the double difference observation equation of the carrier phase 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 pseudo-range is: ； wherein, is the inter-satellite double-difference observable of the pseudorange, is the inter-satellite double-difference observable 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 pseudorange; The double-difference observation equation of the carrier phase is as follows: ； 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; Based on the first integer ambiguity and the preset integer ambiguity, determine the accuracy of the position information, and when the accuracy meets the preset requirements, determine the direction information of the target vector based on the position information.

2. The satellite orientation method according to claim 1, wherein, Before determining the accuracy of the position information based on the first integer ambiguity and the preset integer ambiguity, the satellite orientation method further includes: Calculating the preset integer ambiguity based on the inter-satellite double-difference observation of the pseudo-range, the inter-satellite double-difference observation of the carrier phase, the wavelength of the satellite signal, and the integer ambiguity calculation formula; The integer ambiguity calculation formula is: ； wherein, is the preset integer ambiguity, is the inter-satellite double-difference observation of the carrier phase, is the inter-satellite double-difference observation of the pseudorange, is the wavelength of the satellite signal.

3. The satellite orientation method according to any one of claims 1 to 2, wherein, Determining the accuracy of the position information based on the first integer ambiguity and the preset integer ambiguity, and when the accuracy meets the preset requirements, determining the direction information of the target vector based on the position information, includes: Determining the distance value between the phase center of the first antenna and the phase center of the second antenna; Calculating 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; If the absolute value of the difference between the first integer ambiguity and the preset integer ambiguity is less than the target error value, it is determined that the accuracy meets the preset requirements.

4. The satellite orientation method according to claim 1, wherein, Determining the inter-satellite double-difference observation of the pseudo-range based on the first pseudo-range observation, the second pseudo-range observation, the third pseudo-range observation, and the fourth pseudo-range observation, includes: Determining the inter-satellite double-difference observation of the pseudo-range based on the following formula: ； wherein, is the inter-satellite double-difference observable of the pseudo-range, is the first pseudo-range observable, is the second pseudo-range observable, is the third pseudo-range observable, is the fourth pseudo-range observable; Determining the inter-satellite double-difference observation of the carrier phase based on the first carrier phase observation, the second carrier phase observation, the third carrier phase observation, and the fourth carrier phase observation, includes: Determining the inter-satellite double-difference observation of the carrier phase based on the following formula: ； Among them, 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.

5. The satellite orientation method according to claim 1, wherein, Determining the inter-satellite double-difference observation of the station-satellite distance based on the first positioning information, the second positioning information, the third positioning information, and the fourth positioning information, includes: Determining 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; Determining 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; Determining 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; Determining the fourth station-satellite distance between the satellite orientation chip and the second satellite based on the fourth positioning information and the position information of the second satellite; Determining the inter-satellite double-difference observation of the station-satellite distance based on the first station-satellite distance, the second station-satellite distance, the third station-satellite distance, and the fourth station-satellite distance.

6. The satellite orientation method according to claim 5, characterized in that, the determination of 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 pseudo-range, and the inter-satellite double-difference observation noise of the carrier phase includes: determining the first coefficient matrix based on the following formula: ； Among them, is the first coefficient matrix, which is used to represent the position information of the first satellite, which is used to represent the first positioning information, is the distance between the first station and the satellite; determining the second coefficient matrix based on the following formula: ； Among them, is the second coefficient matrix, used to represent the position information of the second satellite, used to represent the second positioning information, is the distance between the second station and the satellite; determining 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; determining 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.

7. A satellite orientation chip, characterized in that, connected to a satellite positioning chip, the satellite positioning chip receives satellite signals through a first antenna, and the satellite orientation chip receives satellite signals through a second antenna; the satellite orientation chip includes: a first acquisition unit for acquiring a first pseudo-range observation quantity, a first carrier phase observation quantity, a second pseudo-range observation quantity, a second carrier phase observation quantity, a first positioning information and a second positioning information from the satellite positioning chip; the first pseudo-range observation quantity, the first carrier phase observation quantity and the first positioning information are determined by the satellite positioning chip based on a first satellite signal from a first satellite, and the second pseudo-range observation quantity, the second carrier phase observation quantity and the second positioning information are determined by the satellite positioning chip based on a second satellite signal from a second satellite; a first determination unit for receiving a third satellite signal from the first satellite and a fourth satellite signal from the second satellite, determining 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 determining 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; a second determination unit, including: a pseudo-range double-difference quantity determination unit, a carrier phase double-difference quantity determination unit, a station-satellite distance double-difference quantity determination unit, a coefficient noise determination unit and a position information determination unit: the pseudo-range double-difference quantity determination unit is used to determine the 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 quantity determination unit is used to determine the 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 quantity determination unit is used to determine the 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 satellite-station distance, and 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 satellite-station 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 of the pseudo-range, the inter-satellite double-difference observation of the satellite-station 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, 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 satellite-station 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, and simultaneously establish the double-difference observation equation of the pseudo-range and the double-difference observation equation of the carrier phase 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 pseudo-range is: ； 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 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 integer ambiguity, is the inter-satellite double-difference observation noise of the carrier phase; 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.

8. A satellite orientation chip, Characterized in that, It includes a processor, a memory, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the satellite orientation method according to any one of claims 1 to 6.

9. A computer-readable storage medium storing a computer program, Characterized in that, When the computer program is executed by a processor, it implements the satellite orientation method according to any one of claims 1 to 6.

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