Single-step absolute antenna phase center calibration method and system with PCV constraint

Abstract

The application provides a single-step absolute antenna phase center calibration method and system with PCV constraint, comprising the following steps: establishing an antenna phase center calibration field based on a mechanical arm, forming a short baseline by using the mechanical arm and a static observation base pier, and collecting calibration data outdoors; constructing three-difference observation values, determining an observation model and a random model, and calculating the attitude of the antenna through mechanical arm data; for the three-difference observation values, a PCO approximate value is given, the observation value residual is calculated, then a spherical harmonic function is used to model the PCV, and the PCV value on the grid point is solved and output; according to the coupling between the PCO and the PCV, the phase model is expressed as different combinations of the PCO and the PCV, the minimum PCV constraint is applied, and the final consistent phase model result is obtained, so that the antenna phase center calibration is realized. The application has the advantages that the two-step estimation is reduced to one step, the data processing flow is simplified, the convergence speed of the antenna phase solution is improved, and the consistency of the antenna phase model calibration result is enhanced.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of antenna measurement and satellite navigation and positioning, and particularly relates to a single-step absolute antenna phase center calibration scheme with PCV constraint. BACKGROUND

[0002] In the calibration of the absolute phase center of a ground receiver antenna, since PCO (antenna phase center deviation) and PCV (antenna phase center variation) are coupled in the phase model, generally, a two-step estimation is needed, that is, PCO parameters are estimated by ignoring PCV first, and then PCV parameters are extracted from the observation value residuals by substituting the PCO parameters into the differential observation equation. This two-step processing method increases the steps of data processing, and due to the coupling of PCO and PCV, there may be a large numerical difference between the phase models and the estimation results of different time periods. Therefore, it is necessary to try and explore a new data processing method for simplifying the antenna phase calibration data processing procedure and improving the consistency and reliability of the calibration results. Based on the coupling of PCO and PCV, the application proposes a new single-step absolute antenna phase model calibration data processing method with additional constraints. SUMMARY

[0003] The technical problem to be solved by the application is that due to the coupling of PCO and PCV, the estimation of the two needs to be performed in two steps, which leads to complicated data processing, and the correlation may cause a large numerical difference between the results of different time periods. In view of these shortcomings, the application proposes a new single-step absolute antenna phase center calibration method with PCV constraint, which only needs to estimate PCV from observation data, and then additional minimum PCV constraint is added to obtain complete PCO / PCV results, thereby simplifying the data processing procedure and improving the consistency of the calibration results.

[0004] To achieve the above purpose, the application proposes a single-step absolute antenna phase center calibration method with PCV constraint, comprising the following steps,

[0005] Step 1, an antenna phase center calibration field is established based on a mechanical arm, a short baseline is formed by the mechanical arm and a static observation pier, and calibration data is collected outdoors;

[0006] Step 2, three-difference observation values are constructed, an observation model and a random model are determined, and the attitude of the antenna is calculated through the mechanical arm data;

[0007] Step 3, for the three-difference observation values, PCO approximate values are given, observation value residuals are calculated, and then PCV is modeled by using spherical harmonics to solve and output PCV values at grid points;

[0008] Step 4, express the phase model as different PCO and PCV combinations according to the coupling between PCO and PCV, apply the minimum PCV constraint based on the results obtained in step 3, obtain the final consistent phase model results, and realize the antenna phase center calibration.

[0009] Furthermore, the implementation of step 1 includes the following sub-steps,

[0010] Step 1.1, construct an outdoor absolute antenna phase center absolute calibration field, use a mechanical arm and a static observation base to form a short baseline in the outdoor environment;

[0011] Step 1.2, plan the action of the mechanical arm so that the satellite covers the antenna disc as quickly as possible in a short time;

[0012] Step 1.3, collect GNSS data of the static base and the end of the mechanical arm at the same time when the mechanical arm moves according to the planned position and attitude.

[0013] Furthermore, in step 2, when calculating the attitude of the antenna through the mechanical arm data, respectively rotate θ x , θ y and θ z around the x, y and z axes, and the rotation matrix M is calculated as follows,

[0014]

[0015] Furthermore, the implementation of step 3 includes the following sub-steps,

[0016] Step 3.1, given the PCO approximation, then substitute it into the variance expression of the undifferenced observations to calculate the observation residuals, and use spherical harmonics to model the PCV;

[0017] Step 3.2, estimate the spherical harmonic coefficients and output the PCV values at the grid points.

[0018] Furthermore, the implementation of step 4 includes the following sub-steps,

[0019] Step 4.1, add the minimum PCV constraint, calculate the PCO parameters that satisfy the constraint according to the coupling between PCO and PCV,

[0020] Let the phase correction model obtained in step 3 be denoted as PCC a (PCO a , PCV a ), PCO a represents the PCO approximation or initial value given in step 3.1, and PCV a represents the vector composed of PCV values at all grid points obtained in step 3.2 according to the approximation PCO a , and the superscript T represents the transpose, i.e. ng represents the number of grid points; the converted phase model is denoted as PCC b b b , PCV b is the converted PCO component, PCV b represents the vector composed of PCV values at all grid points after conversion, and the superscript T represents transposition, i.e.

[0021] The minimum PCV constraint is as follows,

[0022] ∑PCV b T PCV b = Min

[0023] wherein Min means that the sum of squares of PCV b is minimized, and then the phase model satisfying the constraint condition is calculated as follows,

[0024]

[0025] wherein the estimated parameter X = d pco = (d n , d e , d u ), d pco represents the difference between the PCO components of the converted phase model PCC b and the directly solved model PCC a , d n , d e and d u are the projections of d pco in the N, E and U directions; H represents the design matrix composed of the coefficient groups of PCV at all grid points, and N and V represent the normal equation and the error vector;

[0026] Step 4.2, according to the X parameter obtained in step 4.1, the model values PCO b and PCV b parameters of the converted model PCC b are calculated, and the final antenna phase model PCC b (PCO b , PCV b ) satisfying the constraint condition is obtained as follows,

[0027]

[0028] wherein e represents a direction vector, a represents an azimuth angle, and z represents a zenith distance.

[0029] ​​In another aspect, the present application provides a single-step absolute antenna phase center calibration system with PCV constraint, which is used to implement a single-step absolute antenna phase center calibration method with PCV constraint as described above.

[0030] Moreover, the method comprises the following modules,

[0031] The first module is used to establish an antenna phase center calibration field based on a mechanical arm, form a short baseline by using the mechanical arm and a static observation base, and collect calibration data outdoors;

[0032] The second module is used to construct triple difference observation values, determine an observation model and a random model, and calculate the attitude of the antenna through mechanical arm data;

[0033] The third module is used to calculate observation value residuals for the triple difference observation values, model PCV by using spherical harmonics, and solve PCV values at grid points;

[0034] The fourth module is used to express a phase model as different combinations of PCO and PCV according to the coupling between PCO and PCV, apply minimum PCV constraint based on the results obtained by the third module, obtain a final consistent phase model result, and implement antenna phase center calibration.

[0035] Alternatively, the method comprises a processor and a memory, the memory is used to store program instructions, and the processor is used to call the stored instructions in the memory to execute the single-step absolute antenna phase center calibration method with PCV constraint as described above.

[0036] Alternatively, the method comprises a readable storage medium, and the readable storage medium stores a computer program, and the computer program is executed to implement the single-step absolute antenna phase center calibration method with PCV constraint as described above.

[0037] The single-step absolute antenna phase center calibration method with PCV constraint in the present application can be used to process phase center calibration data, convert a two-step method of separately estimating PCO and PCV into a single-step estimation by using the coupling between PCO and PCV, accelerate the convergence speed of data processing, simplify the data processing flow, and improve the stability and consistency of calibration results.

[0038] The present application scheme is simple and convenient to implement, has strong practicability, and solves the problems of low practicability and inconvenience in actual application in the related art. DETAILED DESCRIPTION

[0039] The technical scheme of the present application will be specifically described below in combination with embodiments.

[0040] The application provides a single-step absolute antenna phase center calibration method with PCV constraint, and in outdoor absolute calibration data processing of a receiver antenna, due to coupling of average phase center offset (PCO) and phase center variation (PCV), the PCO and PCV cannot be solved simultaneously, and generally need to be solved in steps, the PCV is ignored first, the PCO is solved, and then the PCV parameter is solved by back substitution. The application innovatively proposes a new single-step phase model solving method based on PCO / PCV coupling. The application has the advantages that two-step estimation is reduced to one step, the data processing flow is simplified, the convergence speed of antenna phase solving is improved, and the consistency of antenna phase model calibration results is enhanced.

[0041] The application provides a single-step absolute antenna phase center calibration method with PCV constraint, and the method comprises the following steps:

[0042] Step 1: Establishing an antenna phase center calibration field based on a high-precision mechanical arm, and collecting calibration data outdoors.

[0043] In the implementation, an outdoor calibration field is preferably established in a place with good observation conditions, a short baseline is mainly formed by using static base piers and high-precision industrial machinery, the action posture of the mechanical arm is reasonably planned, and then GNSS observation data and mechanical arm posture data are collected.

[0044] Further, for the purpose of reference, the implementation mode preferably used in step 1 of the embodiment is as follows.

[0045] Step 1.1: Constructing an outdoor absolute antenna phase center absolute calibration field, forming a short baseline by using a high-precision industrial mechanical arm and static observation base piers outdoors, and the baseline length is generally in the range of several meters to tens of meters. In addition, the calibration field needs to be relatively open, less obstructed and less multipath reflected.

[0046] Step 1.2: Planning the action of the mechanical arm so that the satellite can cover the antenna disc as quickly as possible in a short time. The action of the mechanical arm is mainly concentrated in the two joints at the end, which are responsible for tilting and rotating respectively, and the action planning of the mechanical arm is as follows:

[0047]

[0048] In the formula, x(t) and y(t) are the tilting angle and rotating angle of the mechanical arm at the current time t, x(t+1) and y(t+1) are the tilting angle and rotating angle of the mechanical arm at the next time t+1, the initial point is (X0, Y0), the step size of the tilting angle and the rotating angle is dx and dy respectively each time, the coefficient |k x |=|k y|=1, when the mechanical arm action amplitude exceeds the physical limit difference, k x (or k y ) reverse, step direction callback. In implementation, the initial point and step size value can be set according to the situation, and in the embodiment, the starting point is selected as (0°, 0°), and dx = dy = 5°.

[0049] Step 1.3: When the mechanical arm moves according to the planned position and attitude, collect GNSS data of the static base and the end of the mechanical arm at the same time, and the temporary stay time of each action point of the mechanical arm is preferably set to 5s, and the data sampling rate is generally higher than 1Hz, in the embodiment, the temporary stay time is selected as 5s, and the GNSS data sampling rate is 2Hz.

[0050] Step 2: Construct three-difference observation values, determine suitable observation model and random model.

[0051] Further, for the sake of implementation and reference, the implementation mode preferably used in step 2 of the embodiment is provided as follows,

[0052] Step 2.1: First, construct three-difference observation values based on the original undifferenced phase observation equation, which is realized as follows,

[0053] For the collected GNSS observation data, the original undifferenced phase observation equation is as follows

[0054]

[0055] Wherein, L is the phase observation value, the unit is meter, the superscript i and the subscript A represent different satellites and different stations (static base or dynamic mechanical arm antenna) respectively, that is represents the phase observation value of station A under satellite i; dt is the clock difference, that is dt A is the clock difference of station A, dt i is the clock difference of satellite i; λ is the carrier wavelength, N is the phase ambiguity, I and T represent ionospheric and tropospheric delay respectively, w is the phase winding, mul is the multipath error, and ε is the measurement noise; ρ is the geometric distance between satellite and ground, c is the speed of light, and PCC is the antenna phase correction (phase center correction, PCC).

[0056] For the undifferenced observation equation, first, inter-station difference is performed, and due to the short distance, the inter-station difference can eliminate satellite clock difference, ionospheric and tropospheric delay, and the inter-station first difference equation is as follows:

[0057]

[0058] Wherein, is the difference observation value of station A and B about satellite i, dt AB is the inter-station receiver clock difference, NAB is the ambiguity parameter after inter-station difference, PCC A and PCC B are the antenna phase center offsets of station A and station B respectively, mul AB is the multipath error after inter-station difference, ε AB is the measurement noise of inter-station difference observation.

[0059] For the inter-station single-difference equation in equation (8), epoch difference is performed on the inter-station difference observation at time t1 and t2 to obtain the inter-station-epoch difference double-difference observation as follows:

[0060]

[0061] where, corresponding to epoch t1, t2, is the double-difference observation of station AB at time t1 and t2, dt AB (t1, t2) is the corresponding double-difference receiver clock error, PCC A (t1, t2) is the phase center error of the antenna at the end of the dynamic mechanical arm, mul AB (t1, t2) is the double-difference multipath error, ε AB (t1, t2) is the double-difference observation noise, at this time the antenna phase error at the static station B changes very little and can be well eliminated in epoch difference.

[0062] Select a reference star, then perform inter-satellite difference on equation (3) to eliminate the receiver clock error, and obtain the triple-difference observation as follows:

[0063]

[0064] where, is the triple-difference observation obtained by further difference of the double-difference observation of satellites i and j in equation (9), is the antenna phase error of the dynamic base station after epoch-inter-satellite difference, is the triple-difference multipath error, is the triple-difference observation noise.

[0065] Step 2.2: Determine the random model of triple-difference observation. For the original undifferenced phase observation in equation (7), the undifferenced observation variance expression is as follows by using the elevation weighting method:

[0066] σ 2 = a 2 + b 2 / sin 2 (elevation) (11)

[0067] where σ is the standard deviation in meters, a = 0.002 and b = 0.003 are chosen in this example, and elevation is the satellite's local elevation angle with respect to the station. For the difference observations, there is correlation between the observations, so their covariance matrix can be calculated using the error propagation law:

[0068] D TD = FD UD F T (12)

[0069] where D UD and D TD are the covariance matrices of the undifferenced and triple differenced observations, respectively, and F is the transformation matrix from the undifferenced to the triple differenced observations.

[0070] Step 2.3: Calculate the antenna's attitude by the mechanical arm data, where the antenna is rotated by θ x , θ y and θ z around the x, y and z axes, respectively, and the rotation matrix M is calculated as follows:

[0071]

[0072] Step 3: Given the PCO approximation, solve for the PCV.

[0073] Further, for the purpose of facilitating reference, the implementation of the preferred embodiment of Step 3 is provided as follows,

[0074] Step 3.1: Given the PCO approximation, then substitute into equation (10) to calculate the observation residuals, model the PCV using spherical harmonics, and the expression of the spherical harmonics is:

[0075]

[0076] where and are the regularized spherical harmonic coefficients, is the regularized Legendre polynomial, n, m represent the order of the spherical harmonics, n max and m max are the highest order and degree, respectively, z is the satellite zenith distance, a is the satellite azimuth angle, and PCV is the antenna phase center variation. In this example, the order is chosen as n max = m max = 8.

[0077] Step 3.2: Estimate the spherical harmonic coefficients and and output the PCV values at the grid points. Calculate the normal equation N i and the error vector V iThen the overall normal equation N and error vector V are obtained by superposition of the normal equations, and the spherical harmonic coefficients are solved according to the least square method:

[0078]

[0079] Step 4: According to the coupling of PCO / PCV, additional minimum PCV constraint is added, and PCO / PCV model is solved to realize antenna phase center calibration.

[0080] There is coupling between PCO and PCV, so the phase model can be expressed as different PCO and PCV combinations, so additional constraints are added to the PCO / PCV obtained in step 3 to obtain the final consistent phase model results.

[0081] Further, for the sake of implementation, the implementation mode preferred by embodiment step 4 is provided as follows,

[0082] Step 4.1: The phase correction model solved in step 3 is denoted as PCC a (PCO a ,PCV a ), PCO a represents the PCO approximation or initial value given in step 3.1, and PCV a represents the vector composed of PCV values at all grid points solved according to the approximation PCO a in step 3.2, and the superscript T represents transposition, i.e. ng represents the number of grid points. The minimum PCV constraint is added to PCC a According to the coupling of PCO and PCV, the parameter d pco is calculated to make the constraint true, so that the converted phase model meets the condition of minimum PCV square sum, and the converted phase model is also denoted as PCC b (PCO b ,PCV b ), wherein PCO b is the converted PCO component, and PCV b represents the vector composed of PCV values at all grid points after conversion, and the superscript T represents transposition, i.e. The minimum PCV constraint after conversion is as follows:

[0083] ∑PCV b T PCV b = Min (16)

[0084] Wherein, Min means that the square sum of PCV b is minimum. According to formula (16), the phase model meeting the constraint condition is calculated, and the calculation formula is as follows:

[0085]

[0086] where X = d pco , d n , d e , d u , d pco represents the PCO component difference of the converted phase model PCC b and the direct solution model PCC a , d n , d e and d u are the projections of d pco in N, E, U directions; H represents the design matrix composed of the coefficient of all grid points PCV, N and V represent the normal equation and error vector.

[0087] Step 4.2: According to the X parameters obtained in step 4.1, the model values PCO b and PCV b of the converted model PCC b are calculated, and the final antenna phase model PCC b (PCO b , PCV b ) satisfying the constraint condition described in equation (16) is obtained, and the calculation formula is shown in equation (18).

[0088]

[0089] where e represents the direction vector, a represents the azimuth angle, and z represents the zenith distance.

[0090] In this embodiment, TRM59800 antenna is selected for calibration test, and the PCO initial value in data solution has a deviation of about 45mm compared with the final calibration result. Two-step and one-step methods are used for solution, and it is assumed that the PCO deviation between the front and back two times is less than 0.1mm, then the convergence is obtained, and the solution is stopped. The convergence results of 11 times of iteration solution are shown in Table 1, and it can be seen that the single-step method converges at the fourth iteration, and the convergence speed of the step-by-step method is slower, and when the initial value deviation is larger, it needs to be iterated for many times. This is because the single-step method considers the PCV estimation at the same time, so the convergence speed is accelerated. This also shows the advantage of the single-step method in data processing.

[0091] Table 1 Convergence times of step-by-step method and single-step method for solving PCO (L1)

[0092]

[0093]

[0094] Then the data of a whole day is divided into three time periods for separate calculation, each time period is 8 hours, and the calibration results of the step-by-step method and the single-step method are shown in Table 2 and Table 3 respectively, it can be seen that, using the step-by-step method, the calibration results of different time periods differ by up to 4 mm, while the difference of the single-step method does not exceed 1 mm, which also shows the stability and consistency of the single-step method in data processing.

[0095] Table 2 PCO estimation results of different time periods of the step-by-step method

[0096]

[0097] Table 3 PCO estimation results of different time periods of the single-step method

[0098]

[0099] The single-step absolute antenna phase center calibration method with PCV constraint in the application can be used to process phase center calibration data, and the two-step method of separately estimating PCO and PCV is converted into single-step estimation by utilizing the coupling of PCO and PCV, so as to accelerate the convergence speed of data processing, simplify the data processing flow, and improve the stability and consistency of the calibration results.

[0100] It should be understood that parts not elaborated in the specification are all prior art.

[0101] In specific implementation, the method provided by the technical scheme of the application can be automatically run by computer software technology, and the system device of the method, such as a computer readable storage medium storing the corresponding computer program of the technical scheme of the application and a computer device including the computer program, should also be within the protection scope of the application.

[0102] In some possible embodiments, a single-step absolute antenna phase center calibration system with PCV constraint is provided, including the following modules,

[0103] The first module is used for establishing an antenna phase center calibration field based on a mechanical arm, forming a short baseline by using the mechanical arm and a static observation base pier, and collecting calibration data outdoors;

[0104] The second module is used for constructing three-difference observation values, determining an observation model and a random model, and calculating the attitude of the antenna through mechanical arm data;

[0105] The third module is used for calculating observation value residuals for the three-difference observation values, then modeling PCV by using spherical harmonics, and solving and outputting PCV values on grid points;

[0106] The fourth module is configured to express the phase model as different combinations of PCO and PCV according to the coupling between the PCO and the PCV, impose a minimum PCV constraint based on the result obtained by the third module, and obtain a final consistent phase center calibration result, thereby realizing antenna phase center calibration.

[0107] In some possible embodiments, a single-step absolute antenna phase center calibration system with PCV constraint is provided, which comprises a processor and a memory. The memory is configured to store program instructions, and the processor is configured to invoke the stored program instructions to execute a single-step absolute antenna phase center calibration method with PCV constraint as described above.

[0108] In some possible embodiments, a single-step absolute antenna phase center calibration system with PCV constraint is provided, which comprises a readable storage medium. The readable storage medium has a computer program stored thereon. The computer program is configured to implement a single-step absolute antenna phase center calibration method with PCV constraint as described above when executed.

[0109] The specific embodiments described herein are merely illustrative of the spirit of the present application. Those skilled in the art can make various modifications or supplements to the described specific embodiments or replace them with similar ways, without departing from the spirit of the present application or exceeding the scope defined by the appended claims.

Claims

1. A single-step absolute antenna phase center calibration method with PCV constraint, characterized in that: The method comprises the following steps: Step 1, establishing an antenna phase center calibration field based on a mechanical arm, forming a short baseline with the mechanical arm and a static observation base, and collecting calibration data outdoors; Step 2, constructing triple difference observations, determining an observation model and a random model, and calculating the attitude of the antenna through the mechanical arm data; Step 3, for the triple difference observations, given PCO approximation, calculating observation value residuals, and then using spherical harmonics to model PCV to output PCV values at grid points; Step 4, according to the coupling between PCO and PCV, expressing the phase model as different combinations of PCO and PCV, imposing a minimum PCV constraint based on the results obtained in step 3, obtaining a final consistent phase model result, and realizing antenna phase center calibration.

2. The single step absolute antenna phase center calibration method with PCV constraint according to claim 1, wherein: The implementation of step 1 comprises the following sub-steps: Step 1.1, constructing an outdoor absolute antenna phase center absolute calibration field, forming a short baseline with the mechanical arm and a static observation base outdoors; Step 1.2, planning the action of the mechanical arm so that the satellite covers the antenna disc as quickly as possible in a short time; Step 1.3, collecting GNSS data of the static base and the end of the mechanical arm while the mechanical arm is moving according to the planned position and attitude.

3. The method of claim 1, wherein the PCV constraint is applied to the single step absolute antenna phase center calibration. In Step 2, when calculating the attitude of the antenna by the robot arm data, respectively rotate θ x , θ y and θ z around the x, y and z axes, the rotation matrix M is calculated as shown below, 4. The single step absolute antenna phase center calibration method with PCV constraint according to claim 3, characterized in that: The implementation of step 3 comprises the following sub-steps: Step 3.1, given PCO approximation, then substitute into the variance expression of the undifferenced observations to calculate the observation value residuals, and use spherical harmonics to model PCV; Step 3.2, estimate the spherical harmonic coefficients to output PCV values at grid points.

5. The single step absolute antenna phase center calibration method with PCV constraint according to claim 4, characterized in that: The implementation of step 4 comprises the following sub-steps: Step 4.1, additional minimum PCV constraint, according to the coupling between PCO and PCV, calculate the PCO parameters that satisfy the constraint, Let the phase correction model solved in step 3 be denoted as PCC a (PCO a ,PCV a ),PCO a denotes the PCO approximation or initial value given in step 3.1, PCV a denotes the vector of PCV values at all grid points solved in step 3.2 from the approximation PCO a , and the superscript T denotes the transpose, i.e. ng denotes the number of grid points. The converted phase model is PCC b (PCO b , PCV b ), where PCO b is the converted PCO component, PCV b represents a vector of PCV values at all grid points after conversion, and the superscript T represents transposition, i.e. The minimum PCV constraint is as follows, ∑PCV b T PCV b = Min where Min refers to PCV b the sum of squares is minimized, then the phase model that satisfies the constraint conditions is calculated as shown below, where X = d pco = (d n ,d e ,d u ), d pco represents the PCO component difference between the converted phase model PCC b and the direct-solved model PCC a , d n , d e and d u are the projections of d pco in N, E, U directions; H represents the design matrix composed of the coefficient of all grid points PCV, N and V represent normal equation and error vector; Step 4.2: Calculate the PCC of the transformed model based on the X parameters obtained in Step 4.

1. b Model value PCO b and PCV b The parameters are used to obtain the final antenna phase model PCC that satisfies the constraints. b (PCO b PCV b )as follows, Where e represents the direction vector, a represents the azimuth angle, and z represents the zenith distance.

6. A single step absolute antenna phase center calibration system with PCV constraints, characterized by: A single-step absolute antenna phase center calibration method with PCV constraint is implemented.

7. The single step absolute antenna phase center calibration system with PCV constraints of claim 6, wherein: The method comprises the following modules: A first module for establishing an antenna phase center calibration field based on a mechanical arm, forming a short baseline with the mechanical arm and a static observation base, and collecting calibration data outdoors; A second module for constructing triple difference observations, determining an observation model and a random model, and calculating the attitude of the antenna through the mechanical arm data; A third module for calculating observation value residuals for the triple difference observations, given PCO approximation, and then using spherical harmonics to model PCV to output PCV values at grid points; A fourth module for expressing the phase model as different combinations of PCO and PCV according to the coupling between PCO and PCV, imposing a minimum PCV constraint based on the results obtained in the third module, obtaining a final consistent phase model result, and realizing antenna phase center calibration.

8. The single step absolute antenna phase center calibration system with PCV constraints of claim 6, wherein: A processor and a memory are included, the memory is used to store program instructions, and the processor is used to call the stored instructions in the memory to execute a single-step absolute antenna phase center calibration method with PCV constraint.

9. The single step absolute antenna phase center calibration system with PCV constraints of claim 6, wherein: The computer readable storage medium stores a computer program, and the computer program implements the single-step absolute antenna phase center calibration method with PCV constraint when executed.

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