A satellite orientation method, device, satellite navigation chip and storage medium

Abstract

The present application is applicable to the field of satellite technology, and provides a satellite orientation method, device, satellite navigation chip and computer-readable storage medium, the method comprising: obtaining first orientation information and second orientation information sent by the second chip; the first orientation information comprises a first pseudo-range observation and a first carrier phase observation corresponding to the first satellite, and a second pseudo-range observation and a second carrier phase observation corresponding to the second satellite; the second orientation information comprises a third pseudo-range observation and a third carrier phase observation corresponding to the first satellite, and a fourth pseudo-range observation and a fourth carrier phase observation corresponding to the second satellite; according to the observation equation and the above orientation information, the target position vector is calculated; according to the target position vector, the direction information of the first antenna relative to the second antenna is determined. Compared with the prior art, the method provided by the present application can complete satellite orientation using only a satellite navigation chip, reducing costs and power consumption.

Description

Technical Field

[0001] The present application belongs to the technical field, and in particular, relates to a satellite orientation method, device, satellite navigation chip and computer-readable storage medium. Background Art

[0002] At present, the Global Positioning System (GPS) has been widely used in various fields. Based on the principle of GPS carrier phase interference, multiple GPS antennas can achieve centimeter-level relative positioning, thereby achieving high-precision orientation.

[0003] The prior art generally uses a dedicated processor to perform orientation calculation on the positioning information corresponding to each of the multiple satellite positioning chips to achieve satellite orientation. It can be seen that the prior art requires the setting of a dedicated server to achieve satellite orientation, resulting in high cost and power consumption. Summary of the invention

[0004] The embodiments of the present application provide a satellite orientation method, device, satellite navigation chip and computer-readable storage medium, which can reduce costs and power consumption.

[0005] In a first aspect, an embodiment of the present application provides a satellite orientation method, including:

[0006] Acquire first orientation information and second orientation information sent by the second chip; the first orientation information includes a first pseudorange observation value and a first carrier phase observation value corresponding to the first satellite, and a second pseudorange observation value and a second carrier phase observation value corresponding to the second satellite; the second orientation information includes a third pseudorange observation value and a third carrier phase observation value corresponding to the first satellite, and a fourth pseudorange observation value and a fourth carrier phase observation value corresponding to the second satellite;

[0007] A target position vector is calculated according to the set first double-difference observation equation, the first pseudorange observation amount, the first carrier phase observation amount, the second pseudorange observation amount, the second carrier phase observation amount, the third pseudorange observation amount, the third carrier phase observation amount, the fourth pseudorange observation amount and the fourth carrier phase observation amount; wherein the target position vector refers to a vector pointing from the phase center of the first antenna to the phase center of the second antenna; the first antenna is connected to the second chip, and the second antenna is connected to the first chip;

[0008] Direction information of the first antenna relative to the second antenna is determined according to the target position vector.

[0009] Optionally, the acquiring the first orientation information includes:

[0010] Acquire a first satellite signal sent by the first satellite and a second satellite signal sent by the second satellite;

[0011] The first satellite signal and the second satellite signal are analyzed to obtain the first orientation information.

[0012] Optionally, before acquiring the first satellite signal sent by the first satellite and the second satellite signal sent by the second satellite, the method further includes:

[0013] Obtain satellite information corresponding to multiple satellites;

[0014] Determine the scores corresponding to each of the plurality of satellites according to the set conditions and the satellite information;

[0015] The first satellite and the second satellite are determined from the plurality of satellites according to the scores.

[0016] Optionally, the first double-difference observation equation includes a first double-difference observation sub-equation for calculating the pseudorange between the first satellite and the second satellite and a second double-difference observation sub-equation for calculating the carrier phase between the first satellite and the second satellite; the target position vector is calculated according to the set first double-difference observation equation, the first pseudorange observation amount, the first carrier phase observation amount, the second pseudorange observation amount, the second carrier phase observation amount, the third pseudorange observation amount, the third carrier phase observation amount, the fourth pseudorange observation amount and the fourth carrier phase observation amount, including:

[0017] Calculate the first double difference observation value of the pseudorange according to the first double difference observation sub-equation, the first pseudorange observation value, the second pseudorange observation value, the third pseudorange observation value and the fourth pseudorange observation value;

[0018] Calculate the second double-difference observation value of the carrier phase according to the second double-difference observation sub-equation, the first carrier phase observation value, the second carrier phase observation value, the third carrier phase observation value and the fourth carrier phase observation value;

[0019] The target position vector is determined according to the first double difference observation quantity and the second double difference observation quantity.

[0020] Optionally, determining the target position vector according to the first double-difference observation amount and the second double-difference observation amount includes:

[0021] Constructing a first equation between the first double-difference observation quantity and the position vector and the double-difference integer ambiguity according to a set second double-difference observation equation, and constructing a second equation between the second double-difference observation quantity and the position vector and the double-difference integer ambiguity;

[0022] According to the set integer ambiguity fixing algorithm, the target double difference integer ambiguity is determined;

[0023] The target position vector is calculated according to the target double-difference integer ambiguity, the first double-difference observation quantity, the second double-difference observation quantity, the first equation and the second equation.

[0024] Optionally, the determining, according to the target position vector, direction information of the first antenna relative to the second antenna includes:

[0025] Performing coordinate transformation on the target position vector according to a preset coordinate system to obtain a target vector corresponding to the target position vector in the preset coordinate system;

[0026] Obtaining the latitude and longitude coordinates of the second antenna;

[0027] The direction information is calculated based on the latitude and longitude coordinates and the target vector.

[0028] Optionally, the first chip and the second chip are used to acquire satellite signals of the same frequency, and the first chip and the second chip use the same clock signal and power signal.

[0029] In a second aspect, an embodiment of the present application provides a satellite orientation device, including:

[0030] a first acquisition unit, configured to acquire first orientation information and second orientation information sent by the second chip; the first orientation information includes a first pseudorange observation value and a first carrier phase observation value corresponding to the first satellite, and a second pseudorange observation value and a second carrier phase observation value corresponding to the second satellite; the second orientation information includes a third pseudorange observation value and a third carrier phase observation value corresponding to the first satellite, and a fourth pseudorange observation value and a fourth carrier phase observation value corresponding to the second satellite;

[0031] a first calculation unit, configured to calculate a target position vector according to a set first double-difference observation equation, the first pseudorange observation amount, the first carrier phase observation amount, the second pseudorange observation amount, the second carrier phase observation amount, the third pseudorange observation amount, the third carrier phase observation amount, the fourth pseudorange observation amount, and the fourth carrier phase observation amount; wherein the target position vector refers to a vector pointing from the phase center of the first antenna to the phase center of the second antenna; the first antenna is connected to the second chip, and the second antenna is connected to the first chip;

[0032] The first determining unit is used to determine direction information of the first antenna relative to the second antenna according to the target position vector.

[0033] In a third aspect, an embodiment of the present application provides a satellite navigation chip, comprising: 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, it implements a satellite orientation method as described in any one of the first aspects above.

[0034] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the satellite orientation method as described in any one of the above-mentioned first aspects is implemented.

[0035] In a fifth aspect, an embodiment of the present application provides a computer program product. When the computer program product runs on a satellite navigation chip, the satellite navigation chip can execute the satellite orientation method described in any one of the first aspects above.

[0036] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0037] The embodiment of the present application provides a satellite orientation method, which obtains first orientation information and second orientation information sent by a second chip; the first orientation information includes a first pseudorange observation and a first carrier phase observation corresponding to the first satellite, and a second pseudorange observation and a second carrier phase observation corresponding to the second satellite; the second orientation information includes a third pseudorange observation and a third carrier phase observation corresponding to the first satellite, and a fourth pseudorange observation and a fourth carrier phase observation corresponding to the second satellite; according to the observation equation and the above orientation information, the target position vector is calculated; according to the target position vector, the direction information of the first antenna relative to the second antenna is determined. Compared with the prior art, the method provided by the present application can complete satellite orientation using only a satellite navigation chip, reducing costs and power consumption. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0039] Figure 1 is a structural block diagram of a satellite orientation system provided by an embodiment of the present application;

[0040] Figure 2 is a flowchart of a satellite orientation method according to an embodiment of the present application;

[0041] Figure 3is a flowchart of a satellite orientation method according to another embodiment of the present application;

[0042] Figure 4 is a flowchart of a satellite orientation method according to another embodiment of the present application;

[0043] Figure 5 is a flowchart of a satellite orientation method according to another embodiment of the present application;

[0044] Figure 6 is a flowchart of a satellite orientation method according to another embodiment of the present application;

[0045] Figure 7 is a flowchart of a satellite orientation method according to another embodiment of the present application;

[0046] Figure 8 is a schematic structural diagram of a satellite orientation device provided in one embodiment of the present application;

[0047] Fig. 9 It is a schematic diagram of the structure of a satellite navigation chip provided in one embodiment of the present application. DETAILED DESCRIPTION

[0048] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0049] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0050] It should also be understood that the term “and / or” used in the specification and appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0051] As used in the specification and appended claims of this application, the term "if" can be interpreted as "when" or "uponce" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" can be interpreted as meaning "uponce it is determined" or "in response to determining" or "uponce [described condition or event] is detected" or "in response to detecting [described condition or event]", depending on the context.

[0052] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0053] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0054] See also Figure 1 , Figure 1 1 is a structural block diagram of a satellite orientation system provided by an embodiment of the present application. Figure 1 As shown, the satellite orientation system includes a first chip 10 and a second chip 20. The first chip 10 and the second chip 20 can be connected to each other through a serial port or I2C communication.

[0055] It should be noted that both the first chip 10 and the second chip 20 are satellite navigation chips.

[0056] In one embodiment of the present application, the first chip 10 may be connected to the second antenna 40 , and the second chip 20 may be connected to the first antenna 30 .

[0057] Based on this, the first chip 10 can communicate with the satellite through the second antenna 40 , and the second chip 20 can communicate with the satellite through the first antenna 30 .

[0058] It should be noted that in all the embodiments of the present application, the first chip 10 may be a master chip, and the second chip 20 may be a slave chip.

[0059] The second chip 20 is used to acquire a satellite signal sent by a satellite, process the satellite signal, obtain second orientation information, and send the second orientation information to the first chip 10 .

[0060] The first chip 10 is used to acquire a satellite signal sent by a satellite, process the satellite signal, obtain first orientation information, and determine a satellite orientation result according to the first orientation information and second orientation information sent by the second chip 20.

[0061] It should be noted that in all embodiments of the present application, the first chip 10 and the second chip 20 are used to obtain satellite signals of the same frequency, and the first chip 10 and the second chip 20 use the same clock signal and power signal.

[0062] See also Figure 2 , Figure 2 This is a flow chart of a satellite orientation method provided in an embodiment of the present application. In the embodiment of the present application, the execution subject of the satellite orientation method is a satellite navigation chip (ie, the first chip).

[0063] like Figure 2 As shown, the satellite orientation method provided in one embodiment of the present application may include S101 to S103, which are described in detail as follows:

[0064] In S101, first orientation information and second orientation information sent by the second chip are obtained; the first orientation information includes a first pseudorange observation value and a first carrier phase observation value corresponding to the first satellite, and a second pseudorange observation value and a second carrier phase observation value corresponding to the second satellite; the second orientation information includes a third pseudorange observation value and a third carrier phase observation value corresponding to the first satellite, and a fourth pseudorange observation value and a fourth carrier phase observation value corresponding to the second satellite.

[0065] In the embodiment of the present application, the first chip can obtain the first directional information through the first antenna connected to it.

[0066] In an implementation manner of the embodiment of the present application, when the first chip needs to obtain the second orientation information of the second chip, the first chip may send an acquisition signal to the second chip.

[0067] After receiving the acquisition signal, the second chip can acquire the third satellite signal sent by the first satellite and the fourth satellite signal sent by the second satellite through the second antenna connected to it based on the acquisition signal, and process the third satellite signal and the fourth satellite signal to obtain second directional information.

[0068] Afterwards, the second chip may send the second orientation information to the first chip.

[0069] In one embodiment of the present application, the first chip can be specifically Figure 3 The first directional information is obtained in 201 to S202, which is described in detail as follows:

[0070] In S201, a first satellite signal sent by the first satellite and a second satellite signal sent by the second satellite are acquired.

[0071] In S202, the first satellite signal and the second satellite signal are analyzed to obtain the first orientation information.

[0072] In this embodiment, when the first chip needs to obtain the second directional information, the first chip can obtain the first satellite signal sent by the first satellite and the second satellite signal sent by the second satellite through the second antenna connected thereto.

[0073] After obtaining the first satellite signal and the second satellite signal, the first chip may analyze the first satellite signal and the second satellite signal to obtain first orientation information.

[0074] In S102, a target position vector is calculated based on the set first double-difference observation equation, the first pseudorange observation amount, the first carrier phase observation amount, the second pseudorange observation amount, the second carrier phase observation amount, the third pseudorange observation amount, the third carrier phase observation amount, the fourth pseudorange observation amount and the fourth carrier phase observation amount; wherein the target position vector refers to a vector pointing from the phase center of the first antenna to the phase center of the second antenna; the first antenna is connected to the second chip, and the second antenna is connected to the first chip.

[0075] In the embodiment of the present application, the first double-difference observation equation that is set can be determined according to actual needs and is not limited here.

[0076] It should be noted that the set first double-difference observation equation includes a first double-difference observation sub-equation for calculating the pseudorange between the first satellite and the second satellite and a second double-difference observation sub-equation for calculating the carrier phase between the first satellite and the second satellite. Therefore, in one embodiment of the present application, the first chip can be Figure 4 S301 to S303 shown determine the target position vector, as detailed below:

[0077] In S301, a first double difference observation value of the pseudorange is calculated according to the first double difference observation sub-equation, the first pseudorange observation value, the second pseudorange observation value, the third pseudorange observation value and the fourth pseudorange observation value.

[0078] In this embodiment, the first chip can specifically calculate the first double-difference observation value of the pseudorange according to the following formula:

[0079]

[0080] in, represents the first double-difference observation of pseudorange, represents the observed difference of the pseudorange of the first satellite, represents the observed difference of the pseudorange of the second satellite, represents the first pseudorange observation, represents the second pseudorange observation, represents the third pseudorange observation, represents the fourth pseudorange observation.

[0081] In S302, a second double-difference observation value of the carrier phase is calculated according to the second double-difference observation sub-equation, the first carrier phase observation value, the second carrier phase observation value, the third carrier phase observation value and the fourth carrier phase observation value.

[0082] In this embodiment, the first chip can specifically calculate the second double-difference observation value of the carrier phase according to the following formula:

[0083]

[0084] in, represents the first double-difference observation of pseudorange, represents the observed difference of the pseudorange of the first satellite, represents the observed difference of the pseudorange of the second satellite, represents the first pseudorange observation, represents the second pseudorange observation, represents the third pseudorange observation, represents the fourth pseudorange observation.

[0085] In S303, the target position vector is determined according to the first double-difference observation quantity and the second double-difference observation quantity.

[0086] In one embodiment of the present application, the first chip can be specifically Figure 5 S401 to S403 shown determine the target position vector, as detailed below:

[0087] In S401, a first equation between the first double-difference observation quantity and the position vector and the double-difference integer ambiguity is constructed according to the set second double-difference observation equation, and a second equation between the second double-difference observation quantity and the position vector and the double-difference integer ambiguity is constructed.

[0088] In this embodiment, the second double difference observation equation is set as follows:

[0089]

[0090] in, represents the first double-difference observation of pseudorange, represents the second double-difference observation of the carrier phase, represents the position coefficient, represents the first coefficient matrix, represents the second coefficient matrix, (x b ,y b ,z b ) represents the three-dimensional coordinate information of the first chip, (x r ,y r ,z r ) represents the three-dimensional coordinate information of the second chip, λ represents the wavelength of any satellite signal, represents the observation noise of pseudorange, represents the double-difference integer ambiguity, represents the observation noise of the carrier phase.

[0091] In one embodiment of the present application, the position coefficient is determined according to the following method:

[0092]

[0093] in, represents the position coefficient, represents the first distance between the first satellite and the second chip, represents the second distance between the first satellite and the first chip, represents the third distance between the second satellite and the second chip, represents a fourth distance between the second satellite and the first chip.

[0094] In another embodiment of the present application, the first coefficient matrix can be obtained according to the following method:

[0095]

[0096] in, represents the first coefficient matrix, (x p ,y p ,z p ) represents the three-dimensional coordinate information of the first satellite, represents the first distance between the first satellite and the second chip, (x r ,y r ,z r ) represents the three-dimensional coordinate information of the second chip.

[0097] In yet another embodiment of the present application, the second coefficient matrix can be obtained according to the following method:

[0098]

[0099] in, represents the first coefficient matrix, (x q ,y q ,z q ) represents the three-dimensional coordinate information of the second satellite, represents the first distance between the second satellite and the second chip, (x r ,y r ,z r ) represents the three-dimensional coordinate information of the second chip.

[0100] In yet another embodiment of the present application, the double-difference integer ambiguity is determined according to the following method:

[0101]

[0102] in, represents the double-difference integer ambiguity, represents the integer ambiguity of the second chip relative to the first satellite, represents the tropospheric delay suffered by the third satellite signal of the first satellite during the propagation process, represents the integer ambiguity of the first chip relative to the second satellite, The method represents a tropospheric delay suffered by the second satellite signal from the second satellite during the propagation process.

[0103] Based on this, the first equation can be constructed as follows:

[0104]

[0105] in, represents the first double-difference observation of pseudorange, represents the position coefficient, represents the first coefficient matrix, represents the second coefficient matrix, (x b ,y b ,z b ) represents the three-dimensional coordinate information of the first chip, (x r ,y r ,z r ) represents the three-dimensional coordinate information of the second chip, λ represents the wavelength of any satellite signal, represents the observation noise of the pseudorange.

[0106] Based on this, the second equation can be constructed as follows:

[0107]

[0108] in, represents the double-difference integer ambiguity, represents the second double-difference observation of the carrier phase, represents the position coefficient, represents the first coefficient matrix, represents the second coefficient matrix, (x b ,y b ,z b ) represents the three-dimensional coordinate information of the first chip, (x r ,y r ,z r ) represents the three-dimensional coordinate information of the second chip, λ represents the wavelength of any satellite signal, represents the observation noise of the carrier phase.

[0109] In S402, the target double-difference integer ambiguity is determined according to the set integer ambiguity fixing algorithm.

[0110] In this embodiment, the integer ambiguity fixing algorithm can be set according to actual needs and is not limited here.

[0111] In S403, the target position vector is calculated according to the target double-difference integer ambiguity, the first double-difference observation quantity, the second double-difference observation quantity, the first equation and the second equation.

[0112] In this embodiment, the first chip can import the target double-difference integer ambiguity, the first double-difference observation quantity and the second double-difference observation quantity into the first equation and the second equation to calculate the target position vector.

[0113] In S103, direction information of the first antenna relative to the second antenna is determined according to the target position vector.

[0114] In the embodiment of the present application, the direction information includes the direction angle and elevation angle of the first antenna relative to the second antenna.

[0115] In one embodiment of the present application, the first chip can be specifically Figure 6 S501 to S503 shown determine the direction information, which is described in detail as follows:

[0116] In S501, coordinate transformation is performed on the target position vector according to a preset coordinate system to obtain a target vector corresponding to the target position vector in the preset coordinate system.

[0117] In S502, the longitude and latitude coordinates of the second antenna are obtained.

[0118] In S503, the direction information is calculated based on the longitude and latitude coordinates and the target vector.

[0119] It should be noted that the first chip can obtain the target position vector in the Cartesian (Earth-Centered, Earth-Fixed, ECEF) coordinate system according to the set first double-difference observation equation.

[0120] Based on this, in this embodiment, the first chip needs to perform coordinate conversion on the target position vector according to a preset coordinate system to obtain a target vector corresponding to the target position vector in the preset coordinate system. The preset coordinate system may be an Earth-fixed coordinate system (ENU).

[0121] In one embodiment of the present application, the first chip can perform coordinate transformation on the target position vector in the following manner:

[0122]

[0123] in, represents the target vector in the preset coordinate system, represents the target position vector, R ECEF-ENU Represents the coordinate transformation coefficient.

[0124] In one embodiment of the present application, the coordinate conversion coefficient can be obtained according to the following method:

[0125]

[0126] Among them, R ECEF-ENU represents the coordinate conversion coefficient, B represents the latitude of the second antenna, and L represents the longitude of the second antenna.

[0127] Based on this, the first chip can calculate the direction angle and pitch angle according to the following formula:

[0128]

[0129] Among them, heading represents the direction angle, pitch represents the pitch angle, and E rb Indicates the east coordinate difference between the first chip and the second chip, N rb Indicates the north coordinate difference between the first chip and the second chip, U rb The celestial coordinate difference between the first chip and the second chip.

[0130] From the above, it can be seen that a satellite orientation method provided by an embodiment of the present application obtains first orientation information and second orientation information sent by a second chip; the first orientation information includes a first pseudorange observation and a first carrier phase observation corresponding to the first satellite, and a second pseudorange observation and a second carrier phase observation corresponding to the second satellite; the second orientation information includes a third pseudorange observation and a third carrier phase observation corresponding to the first satellite, and a fourth pseudorange observation and a fourth carrier phase observation corresponding to the second satellite; according to the observation equation and the above orientation information, the target position vector is calculated; according to the target position vector, the direction information of the first antenna relative to the second antenna is determined. Compared with the prior art, the method provided by the present application can complete satellite orientation using only the first chip (first chip), which reduces cost and power consumption.

[0131] See also Figure 7 , Figure 7 This is a satellite orientation method provided by another embodiment of the present application. Figure 2 Corresponding to the embodiment, this embodiment may further include S601 to S603 before step S201, which are described in detail as follows:

[0132] In S601, satellite information corresponding to each of a plurality of satellites is obtained.

[0133] In one implementation of this embodiment, the first chip can obtain satellite information corresponding to each of the multiple satellites in the sky in real time through a cloud server connected to the first chip via wireless communication, wherein the satellite information includes but is not limited to the satellite signal strength and altitude angle of each satellite.

[0134] In S602, scores corresponding to the plurality of satellites are determined according to a set condition and the satellite information.

[0135] In this embodiment, the setting condition may be: a satellite with a large satellite signal strength and a high elevation angle. The setting threshold may be determined according to actual needs and is not limited here.

[0136] After obtaining satellite information corresponding to each of the multiple satellites, the first chip can sort the satellites in descending order according to the satellite signal strength of each satellite to obtain a first sequence, and score each satellite in the first sequence in descending order.

[0137] Exemplarily, assuming that the score can be any value in [1, 50], the first score of the first satellite in the first sequence can be 50, the first score of the second satellite in the first sequence can be 45 points, and so on. The first score of the last satellite in the first sequence can be 1 point.

[0138] After obtaining satellite information corresponding to each of the multiple satellites, the first chip can sort the satellites in descending order according to their altitude angles to obtain a second sequence, and score each satellite in the second sequence in descending order.

[0139] Based on this, the first chip can sum the scores corresponding to the satellite signal strengths and the scores corresponding to the altitude angles of the various satellites, thereby obtaining the scores corresponding to each satellite.

[0140] In S603, the first satellite and the second satellite are determined from the plurality of satellites according to the scores.

[0141] In this embodiment, the first chip may compare the scores corresponding to each satellite one by one, and determine the two satellites with the largest scores as the first satellite and the second satellite.

[0142] As can be seen from the above, the satellite orientation method provided in this embodiment obtains satellite information corresponding to each of the multiple satellites; determines the scores corresponding to each of the multiple satellites according to the set conditions and the satellite information; and determines the first satellite and the second satellite from the multiple satellites according to the scores. By using this method, the first satellite and the second satellite communicating with the first chip and the second chip can be accurately determined, thereby improving the accuracy of satellite orientation.

[0143] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0144] Corresponding to a satellite orientation method described in the above embodiment, Figure 8 The structure block diagram of a satellite orientation device provided by an embodiment of the present application is shown. For the convenience of explanation, only the part related to the embodiment of the present application is shown. Figure 8 The satellite orientation device 800 includes: a first acquisition unit 81, a first calculation unit 82 and a first determination unit 83. Among them:

[0145] The first acquisition unit 81 is used to acquire first orientation information and second orientation information sent by the second chip; the first orientation information includes a first pseudorange observation value and a first carrier phase observation value corresponding to the first satellite, and a second pseudorange observation value and a second carrier phase observation value corresponding to the second satellite; the second orientation information includes a third pseudorange observation value and a third carrier phase observation value corresponding to the first satellite, and a fourth pseudorange observation value and a fourth carrier phase observation value corresponding to the second satellite.

[0146] The first calculation unit 82 is used to calculate the target position vector according to the set first double-difference observation equation, the first pseudorange observation amount, the first carrier phase observation amount, the second pseudorange observation amount, the second carrier phase observation amount, the third pseudorange observation amount, the third carrier phase observation amount, the fourth pseudorange observation amount and the fourth carrier phase observation amount; wherein the target position vector refers to a vector pointing from the phase center of the first antenna to the phase center of the second antenna; the first antenna is connected to the second chip, and the second antenna is connected to the first chip.

[0147] The first determining unit 83 is configured to determine direction information of the first antenna relative to the second antenna according to the target position vector.

[0148] In one embodiment of the present application, the first acquisition unit 82 specifically includes: a second acquisition unit and a parsing unit.

[0149] The second acquisition unit is used to acquire a first satellite signal sent by the first satellite and a second satellite signal sent by the second satellite.

[0150] The parsing unit is used to parse the first satellite signal and the second satellite signal to obtain the first orientation information.

[0151] In one embodiment of the present application, the satellite orientation device 800 further includes: a third acquisition unit, a second determination unit and a second determination unit.

[0152] The third acquisition unit is used to acquire satellite information corresponding to each of the plurality of satellites.

[0153] The second determining unit is used to determine the scores corresponding to each of the plurality of satellites according to a set condition and the satellite information.

[0154] The third determining unit is used to determine the first satellite and the second satellite from the multiple satellites according to the scores.

[0155] In one embodiment of the present application, the observation equation includes a first observation equation for calculating the pseudorange between the first satellite and the second satellite and a second observation equation for calculating the carrier phase between the first satellite and the second satellite; the first calculation unit 82 specifically includes: a second calculation unit, a third calculation unit and a fourth determination unit. Among them:

[0156] The second calculation unit is used to calculate the first double difference observation value of the pseudorange according to the first double difference observation sub-equation, the first pseudorange observation value, the second pseudorange observation value, the third pseudorange observation value and the fourth pseudorange observation value.

[0157] The third calculation unit is used to calculate the second double-difference observation value of the carrier phase according to the second double-difference observation sub-equation, the first carrier phase observation value, the second carrier phase observation value, the third carrier phase observation value and the fourth carrier phase observation value.

[0158] The fourth determination unit is used to determine the target position vector according to the first double difference observation quantity and the second double difference observation quantity.

[0159] In one embodiment of the present application, the fourth determining unit specifically includes: a constructing unit, a fifth determining unit and a fourth calculating unit.

[0160] The construction unit is used to construct a first equation between the first double difference observation quantity and the position vector, and the double difference integer ambiguity according to the set second double difference observation equation, and to construct a second equation between the second double difference observation quantity and the position vector, and the double difference integer ambiguity.

[0161] The fifth determining unit is used to determine the target double-difference integer ambiguity according to a set integer ambiguity fixing algorithm.

[0162] The fourth calculation unit is used to calculate the target position vector according to the target double-difference integer ambiguity, the first double-difference observation quantity, the second double-difference observation quantity, the first equation and the second equation.

[0163] In one embodiment of the present application, the first determination unit 83 specifically includes: a conversion unit, a fourth acquisition unit and a fifth calculation unit. Among them:

[0164] The conversion unit is used to perform coordinate conversion on the target position vector according to a preset coordinate system to obtain a target vector corresponding to the target position vector in the preset coordinate system.

[0165] The fourth acquisition unit is used to acquire the longitude and latitude coordinates of the second antenna.

[0166] The fifth calculation unit is used to calculate the direction information according to the latitude and longitude coordinates and the target vector.

[0167] In one embodiment of the present application, the first chip and the second chip are used to acquire satellite signals of the same frequency, and the first chip and the second chip use the same clock signal and power signal.

[0168] It should be noted that the information interaction, execution process, etc. between the above-mentioned devices / units are based on the same concept as the method embodiment of the present application. Their specific functions and technical effects can be found in the method embodiment part and will not be repeated here.

[0169] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0170] Fig. 9 This is a schematic diagram of the structure of a satellite navigation chip provided in one embodiment of the present application. Fig. 9 As shown, the satellite navigation chip 9 of this embodiment includes: at least one processor 90 ( Fig. 9 Only one is shown in the figure) a processor, a memory 91, and a computer program 92 stored in the memory 91 and executable on the at least one processor 90, wherein the processor 90 implements the steps in any of the above-mentioned satellite orientation method embodiments when executing the computer program 92.

[0171] The satellite navigation chip may include, but is not limited to, a processor 90 and a memory 91. Those skilled in the art will appreciate that Fig. 9 It is only an example of the satellite navigation chip 9 and does not constitute a limitation on the satellite navigation chip 9. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components, for example, it may also include input and output devices, network access devices, etc.

[0172] The processor 90 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0173] In some embodiments, the memory 91 may be an internal storage unit of the satellite navigation chip 9, such as the memory of the satellite navigation chip 9. In other embodiments, the memory 91 may also be an external storage device of the satellite navigation chip 9, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. equipped on the satellite navigation chip 1. Further, the memory 91 may also include both the internal storage unit of the satellite navigation chip 9 and an external storage device. The memory 91 is used to store an operating system, an application program, a boot loader (BootLoader), data and other programs, such as the program code of the computer program, etc. The memory 91 may also be used to temporarily store data that has been output or is to be output.

[0174] An embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in the above-mentioned method embodiments can be implemented.

[0175] An embodiment of the present application provides a computer program product. When the computer program product runs on a satellite navigation chip, the satellite navigation chip can implement the steps in the above-mentioned method embodiments when executing.

[0176] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, which can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes a computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may at least include: any entity or device that can carry the computer program code to the satellite navigation chip, a recording medium, a computer memory, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), an electric carrier signal, a telecommunication signal, and a software distribution medium. For example, a USB flash drive, a mobile hard disk, a magnetic disk or an optical disk. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electric carrier signals and telecommunication signals.

[0177] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0178] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A satellite orientation method, characterized in that: Applied to a first chip, the first chip is communicatively connected with a second chip, and both the first chip and the second chip are satellite navigation chips; the satellite orientation method includes: Acquire first orientation information and second orientation information sent by the second chip; the first orientation information includes a first pseudorange observation value and a first carrier phase observation value corresponding to the first satellite, and a second pseudorange observation value and a second carrier phase observation value corresponding to the second satellite; the second orientation information includes a third pseudorange observation value and a third carrier phase observation value corresponding to the first satellite, and a fourth pseudorange observation value and a fourth carrier phase observation value corresponding to the second satellite; A target position vector is calculated according to the set first double-difference observation equation, the first pseudorange observation amount, the first carrier phase observation amount, the second pseudorange observation amount, the second carrier phase observation amount, the third pseudorange observation amount, the third carrier phase observation amount, the fourth pseudorange observation amount and the fourth carrier phase observation amount; wherein the target position vector refers to a vector pointing from the phase center of the first antenna to the phase center of the second antenna; the first antenna is connected to the second chip, and the second antenna is connected to the first chip; Determine direction information of the first antenna relative to the second antenna according to the target position vector; The obtaining of the first orientation information includes: Acquire a first satellite signal sent by the first satellite and a second satellite signal sent by the second satellite; parsing the first satellite signal and the second satellite signal to obtain the first orientation information; Before acquiring the first satellite signal sent by the first satellite and the second satellite signal sent by the second satellite, the method further includes: Acquire satellite information corresponding to each of the plurality of satellites; the satellite information includes satellite signal strength and altitude angle of each satellite; Determine the scores corresponding to each of the plurality of satellites according to a set condition and the satellite information; the set condition is a satellite with a large satellite signal strength and a high altitude angle; determining the first satellite and the second satellite from the plurality of satellites according to the scores; The step of determining the scores corresponding to the plurality of satellites according to the set conditions and the satellite information includes: Sorting the satellite signal strengths of the satellites in descending order to obtain a first sequence; scoring the satellites in the first sequence in descending order to obtain a score corresponding to the satellite signal strength of the satellites; The elevation angles of the satellites are sorted in descending order to obtain a second sequence; and the satellites in the second sequence are scored in descending order to obtain a score corresponding to the elevation angle of each satellite.

2. The satellite orientation method according to claim 1, characterized in that: The first double-difference observation equation includes a first double-difference observation sub-equation for calculating the pseudorange between the first satellite and the second satellite and a second double-difference observation sub-equation for calculating the carrier phase between the first satellite and the second satellite; the target position vector is calculated according to the set first double-difference observation equation, the first pseudorange observation amount, the first carrier phase observation amount, the second pseudorange observation amount, the second carrier phase observation amount, the third pseudorange observation amount, the third carrier phase observation amount, the fourth pseudorange observation amount and the fourth carrier phase observation amount, including: Calculate the first double difference observation value of the pseudorange according to the first double difference observation sub-equation, the first pseudorange observation value, the second pseudorange observation value, the third pseudorange observation value and the fourth pseudorange observation value; Calculate the second double-difference observation value of the carrier phase according to the second double-difference observation sub-equation, the first carrier phase observation value, the second carrier phase observation value, the third carrier phase observation value and the fourth carrier phase observation value; The target position vector is determined according to the first double difference observation quantity and the second double difference observation quantity.

3. The satellite orientation method according to claim 2, characterized in that: The step of determining the target position vector according to the first double difference observation quantity and the second double difference observation quantity comprises: Constructing a first equation between the first double-difference observation quantity and the position vector and the double-difference integer ambiguity according to a set second double-difference observation equation, and constructing a second equation between the second double-difference observation quantity and the position vector and the double-difference integer ambiguity; According to the set integer ambiguity fixing algorithm, the target double difference integer ambiguity is determined; The target position vector is calculated according to the target double-difference integer ambiguity, the first double-difference observation quantity, the second double-difference observation quantity, the first equation and the second equation.

4. The satellite orientation method according to claim 1, characterized in that: The determining, according to the target position vector, direction information of the first antenna relative to the second antenna includes: Performing coordinate transformation on the target position vector according to a preset coordinate system to obtain a target vector corresponding to the target position vector in the preset coordinate system; Obtaining the latitude and longitude coordinates of the second antenna; The direction information is calculated based on the latitude and longitude coordinates and the target vector.

5. The satellite orientation method according to any one of claims 1 to 4, characterized in that: The satellite navigation chip and the second chip are used to obtain satellite signals of the same frequency, and the satellite navigation chip and the second chip use the same clock signal and power signal.

6. A satellite orientation device, characterized in that: include: A first acquiring unit, configured to acquire first orientation information and second orientation information sent by a second chip; The first orientation information includes a first pseudorange observation value and a first carrier phase observation value corresponding to the first satellite, and a second pseudorange observation value and a second carrier phase observation value corresponding to the second satellite; the second orientation information includes a third pseudorange observation value and a third carrier phase observation value corresponding to the first satellite, and a fourth pseudorange observation value and a fourth carrier phase observation value corresponding to the second satellite; a first calculation unit, configured to calculate a target position vector according to a set first double-difference observation equation, the first pseudorange observation amount, the first carrier phase observation amount, the second pseudorange observation amount, the second carrier phase observation amount, the third pseudorange observation amount, the third carrier phase observation amount, the fourth pseudorange observation amount, and the fourth carrier phase observation amount; wherein the target position vector refers to a vector pointing from the phase center of the first antenna to the phase center of the second antenna; the first antenna is connected to the second chip, and the second antenna is connected to the first chip; A first determining unit, configured to determine direction information of the first antenna relative to the second antenna according to the target position vector; The first acquisition unit specifically includes: a second acquiring unit, configured to acquire a first satellite signal sent by the first satellite and a second satellite signal sent by the second satellite; a parsing unit, configured to parse the first satellite signal and the second satellite signal to obtain the first orientation information; The satellite orientation device also includes: A third acquisition unit is used to acquire satellite information corresponding to each of the plurality of satellites; the satellite information includes satellite signal strength and altitude angle of each satellite; A second determining unit is used to determine the scores corresponding to each of the plurality of satellites according to a set condition and the satellite information; the set condition is a satellite with a large satellite signal strength and a high altitude angle; a third determining unit, configured to determine the first satellite and the second satellite from the plurality of satellites according to the scores; The second determining unit is specifically configured to: Sorting the satellite signal strengths of the satellites in descending order to obtain a first sequence; scoring the satellites in the first sequence in descending order to obtain a score corresponding to the satellite signal strength of the satellites; The elevation angles of the satellites are sorted in descending order to obtain a second sequence; and the satellites in the second sequence are scored in descending order to obtain a score corresponding to the elevation angle of each satellite.

7. A satellite navigation chip, 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 satellite orientation method according to any one of claims 1 to 5 is implemented.

8. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the satellite orientation method according to any one of claims 1 to 5 is implemented.

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