Dual-antenna satellite orientation method, system, storage medium and electronic device

Abstract

The present invention relates to a dual-antenna satellite orientation method, system, storage medium and electronic device, the method comprising: determining the actual baseline length of the dual antennas through a constructed double-difference observation equation, and searching for the target integer ambiguity in the constructed rank-deficient equation according to the objective function of the target integer ambiguity, obtaining and finally determining the target orientation vector of the dual antennas according to the target baseline vector and the target baseline length corresponding to the target integer ambiguity, and performing coordinate conversion on the target orientation vector to obtain the heading angle and pitch angle of the dual antennas, so as to perform satellite orientation according to the heading angle and the pitch angle. The method of the present invention makes full use of the correlation between the baseline vector and the double-difference ambiguity in the objective function by adding a strong verification mechanism for the solution result and adding constraints to the rank-deficient equation, thereby greatly improving the accuracy and calculation efficiency of the LAMBDA search ambiguity.

Description

Background Art

[0002] In the dual-antenna RTK orientation method, the carrier phase measurement values ​​of the two antennas fixed on the carrier are processed by double difference of the carrier phase to obtain the double difference observation equation, and then the baseline vectors of the two antennas are obtained. After coordinate transformation, the heading angle and pitch angle of the carrier can be obtained. However, the current high-precision orientation algorithm relies on the quality of the front and rear antenna observations. In poor environments such as occlusion and multipath, the carrier observation values ​​have cycle slips and noise, which makes it difficult to fix the whole cycle ambiguity, and lack of verification means, it may not be possible to correctly solve the heading. Summary of the invention

[0003] In order to solve the above technical problems, the present invention provides a dual-antenna satellite orientation method, system, storage medium and electronic device.

[0004] The technical solution of a dual-antenna satellite orientation method of the present invention is as follows:

[0005] S1. Constructing a double-difference observation equation for dual antennas in each epoch, and searching for the double-difference integer ambiguity corresponding to each double-difference observation equation, obtaining the first baseline length corresponding to each double-difference integer ambiguity according to the first baseline vector corresponding to each double-difference integer ambiguity, and determining the first baseline length with the highest frequency and ratio among all the first baseline lengths as the actual baseline length, wherein ratio is the residual ratio of the optimal integer solution to the suboptimal integer solution of the double-difference integer ambiguity;

[0006] S2. Constructing a rank deficiency equation according to each double-difference observation equation, and based on the objective function, searching for the target integer ambiguity in the rank deficiency equation, and obtaining the target baseline vector and the target baseline length corresponding to the target integer ambiguity, wherein each double-difference observation equation is solved by the least square method and the Kalman filter method to obtain and construct the objective function according to the integer ambiguity floating point solution, the integer ambiguity covariance matrix and the first baseline vector covariance matrix;

[0007] S3. When the target baseline length and the actual baseline length satisfy a first preset condition, the target baseline vector is determined as the target orientation vector of the dual antenna, and the target orientation vector is subjected to coordinate transformation to obtain the heading angle and pitch angle of the dual antenna, and satellite orientation is performed according to the heading angle and the pitch angle.

[0008] The beneficial effects of the dual-antenna satellite orientation method of the present invention are as follows:

[0009] The method of the present invention determines the actual baseline length of the dual antennas through the constructed double difference observation equation, and searches for the target integer ambiguity in the constructed rank deficiency equation according to the objective function of the target integer ambiguity, obtains and finally determines the target orientation vector of the dual antennas according to the target baseline vector and the target baseline length corresponding to the target integer ambiguity, and transforms the target orientation vector to obtain the heading angle and the pitch angle of the dual antenna, so as to perform satellite orientation according to the heading angle and the pitch angle. Therefore, the method of the present invention makes full use of the correlation between the baseline vector and the double difference ambiguity in the objective function by adding a strong verification mechanism for the solution result and adding constraints to the rank deficiency equation, thereby greatly improving the accuracy and calculation efficiency of the LAMBDA search ambiguity.

[0010] Based on the above solution, the dual-antenna satellite orientation method of the present invention can also be improved as follows.

[0011] Further, the double difference observation equation is: Wherein, λ is the carrier wavelength of the dual antenna, represents the double difference carrier phase measurement value of the i-th satellite and the j-th satellite, δx=x r -x u ,δy=y r -y u ,δz=z r -z u , the position of the i-th satellite is (x i ,y i , z i ), the position of the jth satellite is (x j ,y j , z j ), is the measurement error, is the double difference integer ambiguity between the i-th satellite and the j-th satellite, where i and j are both positive integers.

[0012] Further, the step of searching for the double difference integer ambiguity corresponding to each double difference observation equation specifically includes:

[0013] Based on the LAMBDA algorithm without additional baseline constraints, the double difference integer ambiguity corresponding to each double difference observation equation is searched from each double difference observation equation

[0014] Furthermore, the objective function of the target integer ambiguity is:

[0015]

[0016] Wherein, N is the target integer ambiguity, is the integer ambiguity float solution, is the integer ambiguity covariance matrix, is the first baseline vector corresponding to the actual baseline length, is the target baseline vector, is the covariance matrix of the first baseline vector, l is the actual baseline length, and δ1 and δ2 are weight factors.

[0017] Further, the step of searching for the target integer ambiguity in the rank-deficient equation specifically includes:

[0018] Based on the LAMBDA algorithm with additional baseline constraints, an optimal solution that meets a second preset condition is searched from the rank-deficient equation, and the double-difference integer ambiguity corresponding to the optimal solution is determined as the target integer ambiguity, wherein the second preset condition is that the value of the objective function E(N) is the smallest.

[0019] Furthermore, the first preset condition is: in, is the target baseline length.

[0020] Further, obtaining the heading angle and the pitch angle of the dual antennas specifically includes:

[0021] The heading angle α is determined according to a first formula, and the pitch angle β is determined according to a second formula, wherein the first formula is: The second formula is: The target directional vector of the dual antenna is (δx1, δy1, δz1).

[0022] The technical solution of a dual-antenna satellite orientation system of the present invention is as follows:

[0023] It includes: a first operation module, a second operation module and a directional module;

[0024] The first operation module is used to: construct a double-difference observation equation for the dual antennas in each epoch, and search for the double-difference integer ambiguity corresponding to each double-difference observation equation, obtain the first baseline length corresponding to each double-difference integer ambiguity according to the first baseline vector corresponding to each double-difference integer ambiguity, and determine the first baseline length with the highest frequency and ratio corresponding to the first baseline length among all the first baseline lengths as the actual baseline length, wherein ratio is the residual ratio of the optimal integer solution to the suboptimal integer solution of the double-difference integer ambiguity;

[0025] The second operation module is used to: construct a rank deficiency equation according to each double difference observation equation, and based on the objective function, search for the target integer ambiguity in the rank deficiency equation, and obtain the target baseline vector and target baseline length corresponding to the target integer ambiguity, wherein each double difference observation equation is solved by the least square method and the Kalman filter method to obtain and construct the objective function according to the integer ambiguity floating point solution, the integer ambiguity covariance matrix and the first baseline vector covariance matrix;

[0026] The orientation module is used to: when the target baseline length and the actual baseline length meet a first preset condition, determine the target baseline vector as the target orientation vector of the dual antenna, and perform coordinate transformation on the target orientation vector to obtain the heading angle and pitch angle of the dual antenna, and perform satellite orientation according to the heading angle and the pitch angle.

[0027] The beneficial effects of a dual-antenna satellite orientation system of the present invention are as follows:

[0028] The system of the present invention determines the actual baseline length of the dual antennas through the constructed double-difference observation equation, and searches for the target integer ambiguity in the constructed rank-deficient equation according to the objective function of the target integer ambiguity, obtains and finally determines the target orientation vector of the dual antennas according to the target baseline vector and the target baseline length corresponding to the target integer ambiguity, and performs coordinate conversion on the target orientation vector to obtain the heading angle and pitch angle of the dual antennas, so as to perform satellite orientation according to the heading angle and the pitch angle. Therefore, the system of the present invention makes full use of the correlation between the baseline vector and the double-difference ambiguity in the objective function by adding a strong verification mechanism for the solution result and adding constraints to the rank-deficient equation, thereby greatly improving the accuracy and computational efficiency of the LAMBDA search ambiguity.

[0029] A technical solution of a storage medium of the present invention is as follows:

[0030] The storage medium stores instructions, and when a computer reads the instructions, the computer executes the steps of a dual-antenna satellite orientation method of the present invention.

[0031] The technical solution of an electronic device of the present invention is as follows:

[0032] The invention comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the computer is caused to execute the steps of a dual-antenna satellite orientation method according to the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 A schematic diagram of a flow chart of a dual-antenna satellite orientation method according to an embodiment of the present invention;

[0034] Figure 2 A schematic diagram of satellite orientation in a dual-antenna satellite orientation method according to an embodiment of the present invention;

[0035] Figure 3 A schematic diagram of a satellite orientation process in a dual-antenna satellite orientation method according to an embodiment of the present invention;

[0036] Figure 4 A schematic diagram of satellite single difference and double difference in a dual-antenna satellite orientation method according to an embodiment of the present invention;

[0037] Figure 5 The present invention is a schematic structural diagram of a dual-antenna satellite orientation system according to an embodiment of the present invention. DETAILED DESCRIPTION

[0038] like Figure 1 As shown, a dual-antenna satellite orientation method according to an embodiment of the present invention comprises the following steps:

[0039] S1. Construct a double-difference observation equation for dual antennas in each epoch, and search for the double-difference integer ambiguity corresponding to each double-difference observation equation, obtain the first baseline length corresponding to each double-difference integer ambiguity according to the first baseline vector corresponding to each double-difference integer ambiguity, and determine the first baseline length with the highest frequency and ratio among all the first baseline lengths as the actual baseline length, where ratio is the residual ratio of the optimal integer solution to the suboptimal integer solution of the double-difference integer ambiguity.

[0040] Among them, Figure 2 As shown, the dual antennas are a main antenna and a secondary antenna, both of which are fixed on an antenna carrier.

[0041] Among them, epoch is a concept in astronomy, which is equivalent to a period of time.

[0042] Among them, after searching, each double difference observation equation has a double difference integer ambiguity corresponding to the double difference observation equation.

[0043] Among them, each double-difference integer ambiguity corresponds to a baseline vector (the baseline vector here is defined as the first baseline vector), and each baseline vector corresponds to a baseline length (the baseline length here is defined as the first baseline length).

[0044] The frequency corresponding to the first baseline length is the number of times the first baseline length appears in all first baseline lengths. For example, there are five first baseline lengths (2, 3, 3, 4, 5), and the first baseline length with the highest frequency corresponding to the first baseline length is 3.

[0045] Specifically, within a preset time period T, a double-difference observation equation of the dual antennas in each epoch t is constructed to obtain s (s=T / t) double-difference observation equations; an algorithm is used to search the double-difference integer ambiguity of each double-difference observation equation to obtain s double-difference integer ambiguities; then the first baseline vector corresponding to each double-difference integer ambiguity is calculated to obtain s first baseline vectors; then s first baseline lengths are calculated based on each first baseline vector; and among the s first baseline lengths, the first baseline length with the same length and the largest number of occurrences is selected as the actual baseline length of the dual antennas.

[0046] The preset time period T is generally more than 5 minutes, and the most likely value of the baseline length on the current carrier is statistically calculated by continuously tracking the solved data.

[0047] It should be noted that if the actual baseline length is measured and set manually, the above process of obtaining the actual baseline length can be omitted, but the constructed double difference observation equation, double difference integer ambiguity and first baseline vector will be used later, so this part of the technical solution is retained.

[0048] S2. Construct a rank deficiency equation according to each double-difference observation equation, and based on the objective function, search for the target integer ambiguity in the rank deficiency equation, and obtain the target baseline vector and target baseline length corresponding to the target integer ambiguity, wherein each double-difference observation equation is solved by the least squares method and the Kalman filter method to obtain and construct the objective function based on the integer ambiguity floating-point solution, the integer ambiguity covariance matrix and the first baseline vector covariance matrix.

[0049] The target integer ambiguity is the double difference integer ambiguity that satisfies the minimum objective function value among all double difference observation equations.

[0050] Among them, the number of equations in the rank-deficient equation is the difference between the total number of satellites and the number of reference satellites. The unknowns are the double-difference integer ambiguity corresponding to each equation and the three coordinate parameters: δx, δy, and δZ.

[0051] Specifically, assuming that the number of double-difference observation equations is 6, the number of unknowns in the rank-deficient equation is 9. The double-difference integer ambiguity that minimizes the objective function value is obtained through algorithm search, and the double-difference integer ambiguity is determined as the target integer ambiguity. According to the target integer ambiguity, δx, δy, and δz are obtained to determine the values ​​of the target baseline vector and the target baseline length.

[0052] S3. When the target baseline length and the actual baseline length satisfy a first preset condition, the target baseline vector is determined as the target orientation vector of the dual antenna, and the target orientation vector is subjected to coordinate transformation to obtain the heading angle and pitch angle of the dual antenna, and satellite orientation is performed according to the heading angle and the pitch angle.

[0053] The baseline vector formed by the primary and secondary antennas is located in the northeast celestial coordinate system established with the primary antenna as the origin. The heading angle represents the angle of the baseline vector from the true north direction (positive for east), and the elevation angle represents the angle of the baseline vector from the ground plane (positive for upward). When the baseline vector (δx, δy, δz) between the two antennas is calculated, the heading angle and elevation angle can be calculated by the formula.

[0054] Among them, Figure 3 As shown in the schematic diagram of the satellite orientation process, no less than 6 common-view satellites are selected, and the main process is baseband capture → tracking visible satellites → processing the carrier pseudo-range observations of dual antennas → PVT completes pseudo-range correction → receiver clock error estimation → single-point positioning.

[0055] Preferably, the double difference observation equation is: Wherein, λ is the carrier wavelength of the dual antenna, represents the double difference carrier phase measurement value of the i-th satellite and the j-th satellite, δx=x r -x u ,δy=y r -y u ,δz=z r -z u , the position of the i-th satellite is (x i ,y i , z i ), the position of the jth satellite is (x j ,y j , z j ), is the measurement error, is the double difference integer ambiguity between the i-th satellite and the j-th satellite, where i and j are both positive integers.

[0056] Different receivers obtain observations at different intervals. In the embedded environment, real-time calculations are started after each observation is obtained, and then the calculation process information and results are saved, which completes the calculation of one epoch. The above steps are repeated after the observation is obtained in the next epoch, and the calculation results are continued to be counted. The double-difference observation equation does not distinguish between epochs, so the expression is the same for each epoch.

[0057] Specifically, Figure 4 As shown, the position of the i-th satellite is (x i ,y i , z i ), the position of the jth satellite is (x j ,y j , z j ), the position of the main antenna is (x r ,y r ,z r ), the secondary antenna position is (x u ,y u ,z u ), δx=x r -x u ,δy=y r -y u ,δz=z r -z u The distance from the i-th satellite to the main antenna r is: The distance from the i-th satellite to the secondary antenna u is Will In (x r ,y r , z r ) is expanded using a first-order Taylor series: Pick: Therefore: The carrier phase observation equation of the main antenna is: The carrier phase observation equation of the secondary antenna is:

[0058] in: is the carrier phase observation value, λ is the carrier wavelength, is the ionospheric error, is the tropospheric error, f is the carrier frequency, δt r ,δt u is the receiver clock error, δt i is the satellite clock error, is the corresponding integer ambiguity, is the measurement error. By making a single difference on the carrier phase observation equation and ignoring the ionospheric error and tropospheric error in the case of a short baseline, we can obtain:

[0059]

[0060] Another difference is made between the single-difference carrier phase measurements of the i-th satellite and the j-th satellite to further eliminate the receiver clock error in the measurement value, and the double-difference carrier phase observation equation can be obtained:

[0061]

[0062] Preferably, the step of searching for the double-difference integer ambiguity corresponding to each double-difference observation equation specifically includes:

[0063] Based on the LAMBDA algorithm without additional baseline constraints, the double difference integer ambiguity corresponding to each double difference observation equation is searched from each double difference observation equation

[0064] Among them, the LAMBDA algorithm without additional baseline constraints is used for search. In poor environments such as occlusion and multipath, the carrier observation value has cycle slips and noise, which makes it difficult to fix the integer ambiguity, and lacks verification means, so the heading may not be solved correctly. This method is used here only to preliminarily estimate the value of the baseline length.

[0065] Preferably, the objective function of the target integer ambiguity is:

[0066]

[0067] Wherein, N is the target integer ambiguity, is the integer ambiguity float solution, is the integer ambiguity covariance matrix, is the first baseline vector corresponding to the actual baseline length, is the target baseline vector, is the covariance matrix of the first baseline vector, l is the actual baseline length, and δ1 and δ2 are weight factors.

[0068] Preferably, the step of searching for the target integer ambiguity in the rank-deficient equation specifically includes:

[0069] Based on the LAMBDA algorithm with additional baseline constraints, an optimal solution that meets a second preset condition is searched from the rank-deficient equation, and the double-difference integer ambiguity corresponding to the optimal solution is determined as the target integer ambiguity, wherein the second preset condition is that the value of the objective function E(N) is the smallest.

[0070] Among them, the LAMBDA algorithm with additional baseline constraints is achieved by fixing the two antennas on a rigid carrier in the airborne dual-antenna directional system, and the baseline length is fixed. Therefore, the LAMBDA algorithm with baseline constraints is used to solve the integer ambiguity.

[0071] When the substituted double-difference integer ambiguity minimizes the value of the objective function E(N), the double-difference integer ambiguity is determined to be the optimal solution of the rank-deficient equation.

[0072] Preferably, the first preset condition is: in, is the target baseline length.

[0073] If the preset judgment conditions are not met, the solution is considered to have failed.

[0074] It should be noted that if the difference in baseline length exceeds 10 cm, it is an incorrect solution.

[0075] In addition, similarly, if: Even if the solution ratio is small, it can be fixed as appropriate.

[0076] It should be noted that when solving the rank-deficient equation, a set of optimal solutions and suboptimal integer solutions are obtained through searching, and their residual ratio is ratio; the larger the ratio, the higher the reliability of the optimal solution. It is generally believed that a ratio less than 3 is too small and a ratio greater than 99 is extremely reliable.

[0077] Preferably, obtaining the heading angle and the pitch angle of the dual antennas specifically includes:

[0078] The heading angle α is determined according to a first formula, and the pitch angle β is determined according to a second formula, wherein the first formula is: The second formula is: The target directional vector of the dual antenna is (δx1, δy1, δz1).

[0079] This embodiment determines the actual baseline length of the dual antennas through the constructed double difference observation equation, and searches for the target integer ambiguity in the constructed rank deficiency equation according to the objective function of the target integer ambiguity, obtains and finally determines the target orientation vector of the dual antennas according to the target baseline vector and target baseline length corresponding to the target integer ambiguity, and transforms the target orientation vector to obtain the heading angle and pitch angle of the dual antennas, so as to perform satellite orientation according to the heading angle and the pitch angle. Therefore, this embodiment makes full use of the correlation between the baseline vector and the double difference ambiguity in the objective function by adding a strong verification mechanism for the solution result and adding constraints to the rank deficiency equation, thereby greatly improving the accuracy and computational efficiency of the LAMBDA search ambiguity.

[0080] like Figure 5 As shown, a dual-antenna satellite orientation system 200 includes: a first operation module 210, a second operation module 220 and an orientation module 230;

[0081] The first operation module 210 is used to: construct a double-difference observation equation for the dual antennas in each epoch, and search for the double-difference integer ambiguity corresponding to each double-difference observation equation, obtain the first baseline length corresponding to each double-difference integer ambiguity according to the first baseline vector corresponding to each double-difference integer ambiguity, and determine the first baseline length corresponding to the first baseline length with the highest frequency and ratio among all the first baseline lengths as the actual baseline length, wherein ratio is the residual ratio of the optimal integer solution to the suboptimal integer solution of the double-difference integer ambiguity;

[0082] The second operation module 220 is used to: construct a rank deficiency equation according to each double difference observation equation, and based on the objective function, search for the target integer ambiguity in the rank deficiency equation, and obtain the target baseline vector and target baseline length corresponding to the target integer ambiguity, wherein each double difference observation equation is solved by the least square method and the Kalman filter method to obtain and construct the objective function according to the integer ambiguity floating point solution, the integer ambiguity covariance matrix and the first baseline vector covariance matrix;

[0083] The orientation module 230 is used to: when the target baseline length and the actual baseline length meet a first preset condition, determine the target baseline vector as the target orientation vector of the dual antenna, and perform coordinate conversion on the target orientation vector to obtain the heading angle and pitch angle of the dual antenna, and perform satellite orientation according to the heading angle and the pitch angle.

[0084] This embodiment determines the actual baseline length of the dual antennas through the constructed double difference observation equation, and searches for the target integer ambiguity in the constructed rank deficiency equation according to the objective function of the target integer ambiguity, obtains and finally determines the target orientation vector of the dual antennas according to the target baseline vector and target baseline length corresponding to the target integer ambiguity, and transforms the target orientation vector to obtain the heading angle and pitch angle of the dual antennas, so as to perform satellite orientation according to the heading angle and the pitch angle. Therefore, this embodiment makes full use of the correlation between the baseline vector and the double difference ambiguity in the objective function by adding a strong verification mechanism for the solution result and adding constraints to the rank deficiency equation, thereby greatly improving the accuracy and computational efficiency of the LAMBDA search ambiguity.

[0085] The above parameters and steps for each module to implement corresponding functions in a dual-antenna satellite orientation system 200 of this embodiment can refer to the parameters and steps in the embodiment of a dual-antenna satellite orientation method above, and will not be repeated here.

[0086] A storage medium provided by an embodiment of the present invention includes: instructions are stored in the storage medium, and when a computer reads the instructions, the computer executes steps such as a dual-antenna satellite orientation method. For details, please refer to the parameters and steps in the embodiment of a dual-antenna satellite orientation method above, which will not be repeated here.

[0087] Computer storage media such as USB flash drives, mobile hard disks, etc.

[0088] An electronic device provided by an embodiment of the present invention includes a memory, a processor, and a computer program stored in the memory and executable on the processor. The electronic device is characterized in that when the processor executes the computer program, the computer executes steps such as a dual-antenna satellite orientation method. For details, reference may be made to the parameters and steps in the embodiment of a dual-antenna satellite orientation method described above, which will not be elaborated here.

[0089] Those skilled in the art will appreciate that the present invention may be implemented as a method, a system, a storage medium, and an electronic device.

[0090] Therefore, the present invention can be specifically implemented in the following forms, that is, it can be complete hardware, it can be complete software (including firmware, resident software, microcode, etc.), or it can be a combination of hardware and software, which is generally referred to as "circuit", "module" or "system" herein. In addition, in some embodiments, the present invention can also be implemented in the form of a computer program product in one or more computer-readable media, and the computer-readable medium contains computer-readable program code. Any combination of one or more computer-readable media can be used. The computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium can be, for example, but not limited to - an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media (a non-exhaustive list) include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this document, a computer-readable storage medium may be any tangible medium containing or storing a program that may be used by or in conjunction with an instruction execution system, apparatus, or device. Although the embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and cannot be construed as limiting the present invention, and those skilled in the art may make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

Claims

1. A dual-antenna satellite orientation method, characterized in that: include: S1. Constructing a double-difference observation equation for dual antennas in each epoch, and searching for the double-difference integer ambiguity corresponding to each double-difference observation equation, obtaining the first baseline length corresponding to each double-difference integer ambiguity according to the first baseline vector corresponding to each double-difference integer ambiguity, and determining the first baseline length with the highest frequency and ratio among all the first baseline lengths as the actual baseline length, wherein ratio is the residual ratio of the optimal integer solution to the suboptimal integer solution of the double-difference integer ambiguity; S2. Constructing a rank deficiency equation according to each double-difference observation equation, and based on the objective function, searching for the target integer ambiguity in the rank deficiency equation, and obtaining the target baseline vector and the target baseline length corresponding to the target integer ambiguity, wherein each double-difference observation equation is solved by the least square method and the Kalman filter method to obtain and construct the objective function according to the integer ambiguity floating point solution, the integer ambiguity covariance matrix and the first baseline vector covariance matrix; S3. When the target baseline length and the actual baseline length satisfy a first preset condition, the target baseline vector is determined as the target orientation vector of the dual antenna, and the target orientation vector is subjected to coordinate transformation to obtain the heading angle and pitch angle of the dual antenna, and satellite orientation is performed according to the heading angle and the pitch angle.

2. The dual-antenna satellite orientation method according to claim 1, characterized in that: The double difference observation equation is: Wherein, λ is the carrier wavelength of the dual antenna, represents the double difference carrier phase measurement value of the i-th satellite and the j-th satellite, δx=x r -x u ,δy=y r -y u ,δz=z r -z u , the position of the i-th satellite is (x i ,y i ,z i ), the position of the jth satellite is (x j ,y j ,z j ), is the measurement error, is the double difference integer ambiguity between the i-th satellite and the j-th satellite, i and j are both positive integers; δx, δy, δz are the three coordinate parameters in the rank deficiency equation, and the position of the main antenna is (x r ,y r ,z r ), the secondary antenna position is (x u ,y u ,z u ), is the distance from the ith satellite to the main antenna r.

3. The dual-antenna satellite orientation method according to claim 2, characterized in that: The step of searching for the double difference integer ambiguity corresponding to each double difference observation equation specifically includes: Based on the LAMBDA algorithm without additional baseline constraints, the double difference integer ambiguity corresponding to each double difference observation equation is searched from each double difference observation equation 4. The dual-antenna satellite orientation method according to claim 3, characterized in that: The objective function of the target integer ambiguity is: Wherein, N is the target integer ambiguity, is the integer ambiguity float solution, is the integer ambiguity covariance matrix, is the first baseline vector corresponding to the actual baseline length, is the target baseline vector, is the covariance matrix of the first baseline vector, l is the actual baseline length, and δ1 and δ2 are weight factors.

5. The dual-antenna satellite orientation method according to claim 4, characterized in that: The step of searching for the target integer ambiguity in the rank deficiency equation specifically includes: Based on the LAMBDA algorithm with additional baseline constraints, an optimal solution that meets a second preset condition is searched from the rank-deficient equation, and the double-difference integer ambiguity corresponding to the optimal solution is determined as the target integer ambiguity, wherein the second preset condition is that the value of the objective function E(N) is the smallest.

6. The dual-antenna satellite orientation method according to claim 5, characterized in that: The first preset condition is: in, is the target baseline length.

7. The dual-antenna satellite orientation method according to any one of claims 1 to 6, characterized in that: The obtaining of the heading angle and the pitch angle of the dual antennas specifically includes: The heading angle α is determined according to a first formula, and the pitch angle β is determined according to a second formula, wherein the first formula is: The second formula is: The target directional vector of the dual antenna is (δx1, δy1, δz1).

8. A dual-antenna satellite orientation system, characterized in that: include: A first operation module, a second operation module and a directional module; The first operation module is used to: construct a double-difference observation equation for the dual antennas in each epoch, and search for the double-difference integer ambiguity corresponding to each double-difference observation equation, obtain the first baseline length corresponding to each double-difference integer ambiguity according to the first baseline vector corresponding to each double-difference integer ambiguity, and determine the first baseline length with the highest frequency and ratio corresponding to the first baseline length among all the first baseline lengths as the actual baseline length, wherein ratio is the residual ratio of the optimal integer solution to the suboptimal integer solution of the double-difference integer ambiguity; The second operation module is used to: construct a rank deficiency equation according to each double difference observation equation, and based on the objective function, search for the target integer ambiguity in the rank deficiency equation, and obtain the target baseline vector and target baseline length corresponding to the target integer ambiguity, wherein each double difference observation equation is solved by the least square method and the Kalman filter method to obtain and construct the objective function according to the integer ambiguity floating point solution, the integer ambiguity covariance matrix and the first baseline vector covariance matrix; The orientation module is used to: when the target baseline length and the actual baseline length meet a first preset condition, determine the target baseline vector as the target orientation vector of the dual antenna, and perform coordinate transformation on the target orientation vector to obtain the heading angle and pitch angle of the dual antenna, and perform satellite orientation according to the heading angle and the pitch angle.

9. A storage medium, characterized in that: The storage medium stores instructions, and when a computer reads the instructions, the computer executes the dual-antenna satellite orientation method according to any one of claims 1 to 7.

10. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the processor causes the computer to perform the dual-antenna satellite orientation method according to any one of claims 1 to 7.

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