Positioning method and device for dual-antenna GNSS / INS integrated navigation system

Abstract

The embodiment of the present application discloses a positioning method and device for a dual-antenna GNSS / INS integrated navigation system. The method comprises: obtaining the initial value of the heading angle of the dual-antenna global positioning system GNSS during the initialization process of the inertial navigation system INS; determining the angle between the dual-antenna vector in the IMU coordinate system with the inertial navigation unit IMU as the center O and the OX axis of the IMU coordinate system; using the angle to correct the initial value of the heading angle of the dual-antenna GNSS to obtain the initial value of the heading angle of the INS; after completing the initialization of the INS using the initial value of the heading angle of the INS, performing the positioning operation of the integrated navigation system.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of information processing, and in particular to a positioning method for a dual-antenna GNSS / INS integrated navigation system. Background Art

[0002] With the development of GNSS (Global Navigation Satellite System), four major satellite navigation systems have been formed, including GPS (Global Positioning System), GLONASS, Galileo and Beidou BD. Products based on GNSS RTK (Real-Time Kinematic) technology are becoming more mature and widely used in surveying, mapping, precision navigation and other fields. The same GNSS positioning board can be connected to dual antennas, and the heading and pitch angle information of the vector between the dual antennas can be measured to provide the carrier with heading and pitch angle information. The GNSS satellite system has long-term stability, and the positioning error does not diverge with the increase of time. Its disadvantage is that the GNSS signal is easily affected by the observation environment. When the GNSS satellite is blocked or the signal is interfered, the GNSS cannot normally locate, measure speed and attitude.

[0003] INS (Inertial Navigation System) can measure the position, speed and attitude of the carrier. Its advantages are good short-term accuracy, no influence from the external environment, good concealment, and its disadvantage is that the navigation accuracy diverges over time. Combining the GNSS / INS system, taking advantage of their strengths and making up for their weaknesses, can ensure both short-term accuracy and long-term availability, greatly increasing the availability and robustness of the system.

[0004] The integrated navigation system based on GNSS / INS is usually a loose combination of GNSS position, velocity and INS, or a tight combination of GNSS pseudorange, pseudorange rate and INS, which are all based on the technology of single-antenna GNSS / INS combination. For the combination of dual-antenna GNSS and INS, the main implementation method is to use the dual-antenna heading to assist INS to improve the heading accuracy of INS. Therefore, the fusion performance of the entire integrated navigation system needs to be further improved. Summary of the invention

[0005] In order to solve any of the above technical problems, an embodiment of the present application provides a dual-antenna GNSS / INS integrated navigation method and device.

[0006] In order to achieve the purpose of the embodiment of the present application, the embodiment of the present application provides a positioning method of a dual-antenna GNSS / INS integrated navigation system, including:

[0007] During the initialization of INS, the initial value of the heading angle of the dual-antenna GNSS is obtained;

[0008] Determine the angle between the dual antenna vector in the IMU coordinate system with the IMU (Inertial Measurement Unit) as the center O and the OX axis of the IMU coordinate system;

[0009] The initial value of the heading angle of the dual-antenna GNSS is corrected by using the included angle to obtain the initial value of the heading angle of the INS;

[0010] After the INS is initialized using the initial value of the heading angle of the INS, the positioning operation of the integrated navigation system is performed.

[0011] A storage medium stores a computer program, wherein the computer program is configured to execute the method described above when running.

[0012] An electronic device comprises a memory and a processor, wherein the memory stores a computer program, and the processor is configured to run the computer program to execute the method described above.

[0013] A positioning device of a dual-antenna GNSS / INS integrated navigation system is provided with the electronic device described above.

[0014] One of the above technical solutions has the following advantages or beneficial effects:

[0015] In the process of initializing INS, the initial value of the heading angle of the dual-antenna GNSS is obtained, the angle between the dual-antenna vector in the IMU coordinate system with the IMU as the center O and the OX axis of the IMU coordinate system is determined, the initial value of the heading angle of the dual-antenna GNSS is corrected by using the angle, and the initial value of the heading angle of the INS is obtained. After the initialization of the INS is completed by using the initial value of the heading angle of the INS, the positioning operation of the integrated navigation system is performed, the accurate calculation of the initial value of the heading angle of the INS is realized, and the initialization accuracy of the INS is improved.

[0016] Other features and advantages of the embodiments of the present application will be described in the subsequent description, and partly become apparent from the description, or can be understood by implementing the embodiments of the present application. The purpose and other advantages of the embodiments of the present application can be achieved and obtained by the structures specifically pointed out in the description, claims and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings are used to provide further understanding of the technical solutions of the embodiments of the present application and constitute a part of the specification. Together with the embodiments of the embodiments of the present application, they are used to explain the technical solutions of the embodiments of the present application and do not constitute a limitation on the technical solutions of the embodiments of the present application.

[0018] Figure 1 A flowchart of a positioning method for a dual-antenna GNSS / INS integrated navigation system provided in an embodiment of the present application;

[0019] Figure 2 A comparison diagram of the heading angles of the dual-antenna GNSS and INS provided in the embodiments of the present application;

[0020] Figure 3 Another flow chart of the positioning method of the dual-antenna GNSS / INS integrated navigation system provided in an embodiment of the present application. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical solution and advantages of the embodiments of the present application more clear, the embodiments of the present application will be described in detail in conjunction with the accompanying drawings. It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other arbitrarily.

[0022] Figure 1 Flow chart of the positioning method of the dual-antenna GNSS / INS integrated navigation system provided in the embodiment of the present application. Figure 1 As shown, including:

[0023] Step 101: during the initialization of the INS, an initial value of the heading angle of the dual-antenna GNSS is obtained;

[0024] Specifically, when the carrier is static and the GNSS signal is good, the PVA (position, velocity, attitude) of the INS is initialized, where the initialization position of the INS comes from the GNSS position of the main antenna P, and the velocity information of the INS is initialized to zero; the attitude information is initialized based on the measurement information of the accelerometer; see calculation expression (1) for details:

[0025]

[0026]

[0027] Where θ is the pitch angle of INS, γ is the roll angle of INS, and f x is the X-axis measurement value of the accelerometer, f y is the Y-axis measurement value of the accelerometer, and g is the earth's gravitational acceleration.

[0028] In the related art, the heading angle ψ of the dual-antenna GNSS is Dua ia nt As the heading angle used for INS initialization. In the process of implementing this application, it was found that the relevant technology has the following problems:

[0029] Figure 2 A comparison chart of the heading angles of the dual-antenna GNSS and INS provided in the embodiment of the present application. Figure 2 As shown in the figure, the heading in the dual-antenna GNSS heading result is the heading of the vector formed by the line connecting the main antenna P and the slave antenna Q, while the heading of the INS is the heading of the IMU forward axis. Due to their different installation structures, the heading angles they refer to are not the same physical quantity. Therefore, when the dual-antenna GNSS and INS are combined, the deviation value of the heading angles of the two needs to be determined before they can be applied in the GNSS / INS combination.

[0030] Step 102: Determine the angle between the dual antenna vector in the IMU coordinate system with the IMU as the center O and the OX axis of the IMU coordinate system, specifically including:

[0031] Step 1021, determining the coordinates P of the master antenna and Q of the slave antenna in the IMU coordinate system centered on the IMU;

[0032] Specifically, establish the FRD / XYZ coordinate system B IMU , dual antennas are installed on the vehicle body, let the main antenna be P and the slave antenna be Q, its structure is as follows Figure 1 As shown, in the IMU coordinate system B IMU In the figure, the coordinates P of the main antenna are (x1, y1, z1), and the coordinates Q of the slave antenna are (x2, y2, z2). The coordinate values ​​of P and Q can be measured by precision instruments or by a ruler, with an error of several centimeters allowed.

[0033] Step 1022, calculating the dual antenna vector based on the IMU coordinate system;

[0034] Specifically, the dual-antenna vector PQ in the IMU coordinate system is obtained by using the calculation expression (2): b :

[0035] PQ b =QP=(x2-x1,y2-y1,z2-z1) (2)

[0036] Step 1023: Calculate the dual antenna vector PQ b The angle Δψ with the axis OX of the IMU;

[0037] The angle Δψ is obtained by using the calculation expression (3):

[0038]

[0039] Step 103: Use the included angle to correct the initial heading angle value of the dual-antenna GNSS to obtain the initial heading angle value of the INS;

[0040] Where, the heading angle ψ of INS INS It is obtained by calculating expression (4):

[0041] ψ INS =ψ DualAnt +Δψ; (4)

[0042] Step 104: After the INS is initialized using the initial value of the heading angle of the INS, a positioning operation of the integrated navigation system is performed.

[0043] After the INS completes the initial alignment, the dual-antenna GNSS / INS integrated navigation system can work normally and output PVA information in real time.

[0044] The method provided in the embodiment of the present application obtains the initial value of the heading angle of the dual-antenna GNSS during the initialization process of the INS, determines the angle between the dual-antenna vector in the IMU coordinate system with the IMU as the center O and the OX axis of the IMU coordinate system, uses the angle to correct the initial value of the heading angle of the dual-antenna GNSS, and obtains the initial value of the heading angle of the INS. After the initialization of the INS is completed using the initial value of the heading angle of the INS, the positioning operation of the combined navigation system is performed to achieve accurate calculation of the initial value of the heading angle of the INS, thereby improving the initialization accuracy of the INS.

[0045] The method provided in the embodiment of the present application is described below:

[0046] Figure 3 Another flow chart of the positioning method of the dual-antenna GNSS / INS integrated navigation system provided in the embodiment of the present application. Figure 3 As shown, including:

[0047] Step 301: Initialize the integrated navigation system;

[0048] Step 302: constructing the observation equation of the integrated navigation system by taking the error parameter in the integrated navigation system as the state quantity X;

[0049] Step 303: after the state quantity X in the observation equation of the integrated navigation system converges, the attitude angles of the INS and the dual-antenna GNSS at the same time are obtained, and the attitude angle deviation value is calculated according to the attitude angles of the INS and the dual-antenna GNSS, wherein the attitude angle includes at least one of a heading angle and a pitch angle;

[0050] Step 304: Depending on whether the dual-antenna GNSS can work normally, there are three situations:

[0051] Step 304A: If the dual-antenna GNSS works normally, the attitude angle of the INS system is corrected using the attitude angle deviation value, and the positioning operation of the integrated navigation system is performed using the corrected attitude angle of the INS system and the attitude angle of the dual-antenna GNSS.

[0052] Step 304B: If the dual-antenna GNSS cannot work normally, if a request to output the current attitude information of the dual-antenna GNSS is received, obtain the attitude angle of the INS at the current moment; calculate the attitude angle of the dual-antenna GNSS at the current moment according to the attitude angle and attitude angle deviation value of the INS to obtain the attitude angle estimation value; and output the attitude angle estimation value.

[0053] Step 304C: After the dual-antenna GNSS loses lock, if the GNSS signal is received again, the dual-antenna GNSS attitude measurement calculation is performed according to the attitude angle and attitude angle deviation value of the INS, and the positioning operation of the integrated navigation system is performed using the calculation result and the attitude angle of the INS.

[0054] The present invention makes full use of the attitude measurement results of the dual-antenna GNSS system and the attitude measurement results of INS to combine them. The two systems correct and supplement each other, estimate the deviation value of the attitude angle in real time online, and combine the dual-antenna attitude and INS attitude by using the attitude angle deviation value, so that the optimal performance of the combined navigation system can be maximized at different times, and the availability and robustness of the system are improved. In addition, there is no need to calibrate in advance through precision instruments, so the system is easy to use and the availability and efficiency are improved.

[0055] Step 302 is described below:

[0056] Using the information of the GNSS main antenna P, a dual-antenna GNSS / INS combined solution filter is constructed, and its state quantity is where δR n Denotes the three-dimensional position error, δV n represents the three-dimensional velocity error, represents the three-dimensional posture error, Indicates three-axis plus table zero bias, Indicates the three-axis gyroscope zero bias, a total of 15 dimensions.

[0057] The position error differential equation is shown in calculation expression (5):

[0058]

[0059] The velocity error differential equation is shown in calculation expression (6):

[0060]

[0061] The attitude error differential equation is shown in calculation expression (7):

[0062]

[0063] The accelerometer and gyro bias are modeled as a first-order Gaussian Markov process, see calculation expression (8):

[0064]

[0065]

[0066] where τ ba , τ bg Represents the zero bias of the table and gyro bias relevant time.

[0067] Combining the above formulas into the calculation expression (9):

[0068]

[0069] Discretize the continuous differential equation and obtain the computational expression (10):

[0070] X(k+1)=(I+FΔT)X(k); (10)

[0071] In the calculation expression (10), (I+FΔT) is the transfer matrix under discrete state, which is used to predict the state quantity and error covariance matrix according to the Kalman filter algorithm formula.

[0072] The state quantity can also be expanded by adding the IMU scale factor error, and the state quantity becomes 21 dimensions, that is, where δs a is the error of the three-axis scale factor of the addition table, δs g is the three-axis scale factor error of the gyroscope, which is modeled as a first-order Gauss-Markov process, and its differential equation is as shown in the calculation expression (11):

[0073]

[0074]

[0075] According to the GNSS positioning results of the main antenna P or the observation information such as pseudorange, carrier, Doppler, etc., the GNSS / INS combined filtering observation equation is constructed, and the state quantity X is estimated and corrected using the loose combination or tight combination mode to improve the accuracy of each INS state.

[0076] Step 303 is described below:

[0077] Since the external input coordinates P(x1, y1, z1) of the main antenna and the coordinates Q(x2, y2, z2) of the slave antenna may have errors, the attitude angle determined by initialization is inaccurate. It is necessary to perform filtering estimation based on the real-time dual-antenna attitude and INS attitude to obtain an accurate attitude angle deviation value.

[0078] After the GNSS signal is good and the INS dynamic alignment converges, the attitude angles of the inertial navigation system INS and the dual-antenna global positioning system GNSS at the same time are obtained. According to the attitude angles of INS and the dual-antenna GNSS, the attitude angle deviation value is calculated, including:

[0079] Get the heading angle ψ of INS at the kth moment INS_k and the heading angle ψ of the dual-antenna GNSS DualAnt_k , and calculate the real-time value of the heading angle deviation Δψ at the kth moment k ; According to the real-time value of the heading angle deviation Δψ at the kth moment k And the stable value of the heading angle deviation at the k-1th moment Calculate the stable value of heading angle deviation at the kth moment See calculation expression (13) for details:

[0080] Δψ k =ψ INS -ψ DualAnt

[0081]

[0082] and / or,

[0083] The following operation is performed at each of the K moments until the stable value of the pitch angle deviation at the Kth moment is obtained: As the heading angle deviation value, it includes:

[0084] Get the pitch angle θ of INS at the kth moment INS_k and the dual antenna elevation angle θ DualAnt_k , and calculate the pitch angle deviation value Δθ at the kth moment k ; According to the pitch angle deviation value Δθ at the kth moment k And the stable value of the pitch angle deviation at the k-1th moment Calculate the stable value of the pitch angle deviation at the kth moment See calculation expression (14) for details:

[0085] Δθ k =θ INS_k -θ DualAnt_k

[0086]

[0087] Among them, k = 1, 2, 3, ..., K; K is a positive integer.

[0088] Step 304A is described below:

[0089] Using the attitude angle deviation value, correct the attitude angle of INS, including:

[0090] After obtaining the heading angle deviation value and the pitch angle deviation value, the dual-antenna GNSS attitude angle and the INS attitude angle can be combined to improve the INS attitude accuracy, and the following observation equation is constructed, such as calculation expression (15):

[0091]

[0092]

[0093] Wherein N is the total dimension of the state quantity, wherein the heading angle and the pitch angle in the state quantity are located in the n+1th dimension and the n+2th dimension, wherein n is an integer greater than or equal to 2 and less than or equal to N-2;

[0094] Taking the state quantity in formula (10) as an example, the value of n is 7.

[0095] The observation equation of formula (15) is used to perform Kalman filter measurement update to improve the attitude accuracy of INS.

[0096] The above implementation method provides a specific implementation means for utilizing a dual-antenna heading-assisted INS to improve the heading accuracy of the INS.

[0097] Step 304B is described below:

[0098] When the dual-antenna GNSS is in a locked state, if a request for outputting the current attitude information of the dual-antenna GNSS is received, the attitude angle of the INS at the current moment is obtained;

[0099] According to the attitude angle and attitude angle deviation value of INS, the current attitude angle of the dual-antenna GNSS is calculated to obtain the estimated attitude angle value;

[0100] Output the attitude angle estimate.

[0101] The attitude angle of the dual antenna can be obtained according to the attitude angle and attitude angle deviation value of INS. For details, please refer to calculation expression (16):

[0102] ψ DualAnt =ψ INS -Δψ

[0103] θ DualAnt =θ INS -Δθ (16)

[0104] Since the attitude information of the dual-antenna GNSS and INS is not the same physical quantity, if the user needs the attitude information of INS, the result of INS can be output, which is not affected by the environment such as GNSS signal blocking and interruption; if the user needs the attitude information corresponding to the dual antennas, it can be converted to the attitude information of the dual antennas according to formula (16), and the information required by the user can be output continuously and stably, which is not affected by the environment such as GNSS signal blocking and interruption, thereby improving the availability and continuity of the system; the dual-antenna GNSS attitude or INS attitude information can be output according to user needs, and it is continuous, smooth and stable.

[0105] Step 304C is described below:

[0106] After the dual-antenna GNSS loses lock, if the GNSS signal is received again, the attitude information of the dual-antenna GNSS at the current moment is obtained according to the attitude angle and attitude angle deviation value of the INS at the current moment, and the attitude angle reference value is obtained;

[0107] According to the attitude angle reference value and the pre-stored distance l between the master and slave antennas, a first relative position vector between the master and slave antennas in a local north-east-ground (NED) coordinate system n is obtained;

[0108] According to the transformation matrix of the local NED coordinate system n to the Earth-centered Earth-fixed system e converting the first relative position vector into a second relative position vector of an Earth-centered Earth-fixed system e;

[0109] The attitude information of the dual-antenna GNSS is solved in the relative positioning observation equation of the antenna GNSS by using the second relative position vector.

[0110] Specifically, after the GNSS system loses lock, if the GNSS signal is captured again, the INS attitude is used to assist the dual-antenna attitude calculation, including:

[0111] When the GNSS signal is good, the double difference observation equation of the carrier phase of the master and slave antennas is constructed to search and fix the integer ambiguity, and then the relative position vector [Δx Δy Δz] of the master and slave antennas is determined. According to this vector, the distance l between the master and slave antennas can be determined. In order to increase the accuracy of the distance, the distance l of multiple epochs can be smoothed and filtered. The vector length between the dual antennas is obtained as l, where

[0112] After the GNSS signal is lost due to crossing a bridge, tree shade, etc., if the GNSS signal is recaptured, the carrier phase ambiguity is fixed based on the GNSS observations of the master and slave antennas, and the heading and pitch angles of the dual antennas are calculated. Since the attitude information of the INS is not affected by the environment and has a high accuracy in a short period of time, the attitude information of the INS can be used to assist in the determination and calculation of the attitude information of the dual antennas. According to equations (12) and (14), the attitude angle of the dual antenna can be obtained based on the attitude angle of the INS and the attitude angle deviation value. For details, see calculation expression (16):

[0113] ψ DualAnt =ψ INS -Δψ

[0114] θ DualAnt =θ INS -Δθ (16)

[0115] When the vector length between the two antennas is known to be l, the first relative position vector between the master and slave antennas in the local NED (North East Down) coordinate system is obtained as:

[0116]

[0117] When the longitude of the local position is λ and the latitude is L, the transformation matrix from the local NED coordinate system n to the Earth-centered Earth-fixed system e can be obtained. See expression (18) for details:

[0118]

[0119] According to equations (17) and (18), the first relative position vector between the master and slave antennas is converted from the n system to the e system, and the second relative position vector can be obtained:

[0120]

[0121] The left side of the above formula [Δx Δy Δz] T That is, it is the quantity to be determined when the dual-antenna GNSS performs relative positioning lateral direction. The observation quantity in equation (19) can be added to the relative positioning observation equation of the dual-antenna GNSS, which can speed up the fixation of the integer ambiguity and the solution of the dual-antenna attitude information.

[0122] Optionally, after solving the attitude information of the dual-antenna GNSS in the relative positioning observation equation of the antenna GNSS using the second relative position vector, the method further includes:

[0123] Determine whether the difference between the attitude information of the dual-antenna GNSS obtained by solving and the attitude angle reference value meets a preset judgment condition, and obtain a judgment result;

[0124] If the judgment result is not satisfied, the attitude measurement calculation of the dual-antenna GNSS is re-executed;

[0125] If the judgment result is satisfied, the positioning operation of the integrated navigation system is performed.

[0126] Specifically, the heading angle and pitch angle can be calculated based on the observations of the dual-antenna GNSS. The heading and pitch angle of the dual antenna can also be obtained according to formula (16). The two sets of data are compared. If the error between the two is less than a certain threshold, such as 1 degree, the attitude angle of the dual-antenna GNSS is correct. If it exceeds a certain threshold, such as 2 degrees, the attitude angle of the dual-antenna GNSS is wrong. The information is fed back to the dual-antenna GNSS attitude measurement algorithm module, the dual-antenna attitude measurement algorithm module is reset, and the dual-antenna attitude measurement calculation is performed again. Through this mutual verification detection method, the wrong algorithm results can be corrected in time, and the robustness of the system can be improved.

[0127] The attitude angle deviation value is used to detect the correctness of the dual-antenna GNSS attitude measurement information.

[0128] An embodiment of the present application provides a storage medium, in which a computer program is stored, wherein the computer program is configured to execute any of the methods described above when running.

[0129] An embodiment of the present application provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and the processor is configured to run the computer program to execute any of the methods described above.

[0130] An embodiment of the present application provides a positioning device of a dual-antenna GNSS / INS integrated navigation system, which is provided with the electronic device described above.

[0131] It will be appreciated by those skilled in the art that all or some of the steps, systems, and functional modules / units in the methods disclosed above may be implemented as software, firmware, hardware, and appropriate combinations thereof. In hardware implementations, the division between the functional modules / units mentioned in the above description does not necessarily correspond to the division of physical components; for example, a physical component may have multiple functions, or a function or step may be performed by several physical components in cooperation. Some or all components may be implemented as software executed by a processor, such as a digital signal processor or a microprocessor, or implemented as hardware, or implemented as an integrated circuit, such as an application-specific integrated circuit. Such software may be distributed on a computer-readable medium, which may include a computer storage medium (or non-transitory medium) and a communication medium (or temporary medium). As known to those skilled in the art, the term computer storage medium includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Computer storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tapes, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store the desired information and can be accessed by a computer. In addition, it is well known to those of ordinary skill in the art that communication media typically contain computer-readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media.

Claims

1. A positioning method for a dual-antenna GNSS / INS integrated navigation system, characterized in that: include: During the initialization of the inertial navigation system INS, the initial value of the heading angle of the dual-antenna global positioning system GNSS is obtained; Determine the angle between the dual antenna vector in the IMU coordinate system with the inertial navigation unit IMU as the center O and the OX axis of the IMU coordinate system; The initial value of the heading angle of the dual-antenna GNSS is corrected by using the included angle to obtain the initial value of the heading angle of the INS; After the INS is initialized using the initial value of the heading angle of the INS, the positioning operation of the integrated navigation system is performed; Wherein, the performing of the positioning operation of the integrated navigation system comprises: after the state quantity X in the observation equation of the pre-constructed integrated navigation system is in convergence, calculating the attitude angle deviation value according to the attitude angles of the INS and the dual-antenna GNSS at the same time; when the dual-antenna GNSS is working normally, correcting the attitude angle of the INS by using the attitude angle deviation value, and performing the positioning operation of the integrated navigation system by using the corrected attitude angle of the INS and the attitude angle of the dual-antenna GNSS; the state quantity X is an error parameter in the integrated navigation system.

2. The method according to claim 1, characterized in that: The following operations are performed at each of the K moments until the stable value of the heading angle deviation at the Kth moment is obtained: As the heading angle deviation value Δψ, it includes: Get the heading angle ψ of INS at the kth moment INS_k and the heading angle ψ of the dual-antenna GNSS DualAnt_k , and calculate the real-time value of the heading angle deviation Δψ at the kth moment k ; According to the real-time value of the heading angle deviation Δψ at the kth moment k And the stable value of the heading angle deviation at the k-1th moment Calculate the stable value of heading angle deviation at the kth moment and / or, The following operation is performed at each of the K moments until the stable value of the pitch angle deviation at the Kth moment is obtained: As the pitch angle deviation value Δθ, it includes: Get the pitch angle θ of INS at the kth moment INS_k and the dual antenna elevation angle θ DualAnt_k , and calculate the pitch angle deviation value Δθ at the kth moment k ; According to the pitch angle deviation value Δθ at the kth moment k And the stable value of the heading angle deviation at the k-1th moment Calculate the stable value of the pitch angle deviation at the kth moment Among them, k = 1, 2, 3, ..., K; K is a positive integer.

3. The method according to claim 2, characterized in that: The following expression is used to calculate the stable value of the heading angle deviation at the kth moment: and, including: and / or, The following expression is used to calculate the stable value of the pitch angle deviation at the kth moment:

4. The method according to claim 1, characterized in that: The method of correcting the attitude angle of the INS by using the attitude angle deviation value comprises: Construct observation equations for attitude angle deviation values; Using the observation equation of the attitude angle deviation value, updating the observation equation of the integrated navigation system; The expression of the observation equation of the attitude angle deviation value is as follows: Among them, ψ INS and ψ Dua ia nt Respectively represent the heading angles used by the INS system and the dual-antenna GNSS system; θ INS and θ DualAnt They represent the pitch angles used by the INS system and the dual-antenna GNSS system respectively; Δψ and Δθ represent the heading angle deviation value and the pitch angle deviation value respectively; Wherein N is the total dimension of the state quantity, wherein the heading angle error and the pitch angle error in the state quantity X are located in the n+1th dimension and the n+2th dimension, wherein n is an integer greater than or equal to 2 and less than or equal to N-2.

5. The method according to claim 1, characterized in that The method further comprises: When the dual-antenna GNSS cannot work properly, if a request to output the current attitude information of the dual-antenna GNSS is received, the attitude angle of the INS at the current moment is obtained; According to the attitude angle and attitude angle deviation value of INS, the current attitude angle of the dual-antenna GNSS is calculated to obtain the estimated attitude angle value; Output the attitude angle estimate.

6. The method according to claim 1, characterized in that The method further comprises: After the dual-antenna GNSS loses lock, if the GNSS signal is received again, the attitude information of the dual-antenna GNSS at the current moment is obtained according to the attitude angle and attitude angle deviation value of the INS at the current moment, and the attitude angle reference value is obtained; According to the attitude angle reference value and the pre-stored distance l between the master and slave antennas, a first relative position vector between the master and slave antennas in a local north-east-ground (NED) coordinate system n is obtained; According to the transformation matrix of the local NED coordinate system n to the Earth-centered Earth-fixed system e converting the first relative position vector into a second relative position vector of an Earth-centered Earth-fixed system e; The attitude information of the dual-antenna GNSS is solved in the relative positioning observation equation of the antenna GNSS by using the second relative position vector.

7. The method according to claim 6, characterized in that After solving the attitude information of the dual-antenna GNSS in the relative positioning observation equation of the antenna GNSS using the second relative position vector, the method further includes: Determine whether the difference between the attitude angle reference values ​​of the attitude information of the dual-antenna GNSS in the solution result meets a preset judgment condition, and obtain a judgment result; If the judgment result is not satisfied, the attitude measurement calculation of the dual-antenna GNSS is re-executed; If the judgment result is satisfied, the positioning operation of the integrated navigation system is performed.

8. A storage medium, characterized in that: The storage medium stores a computer program, wherein the computer program is configured to execute the method according to any one of claims 1 to 7 when executed.

9. An electronic device comprising a memory and a processor, characterized in that: A computer program is stored in the memory, and the processor is configured to run the computer program to perform the method according to any one of claims 1 to 7.

10. A positioning device for a dual-antenna GNSS / INS integrated navigation system, characterized in that: An electronic device as claimed in claim 9 is provided.

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