Dual-receiver satellite positioning method, device, system and storage medium

Abstract

Disclosed are a dual-receiver satellite positioning method, device, system and storage medium. The method includes: acquiring observation data from a base station and two receivers, the two receivers being connected to the same antenna of the user end through a power splitter to form a zero baseline; performing RTK positioning on the short baseline formed by the two receivers and the base station to obtain a floating point solution and a fixed solution; obtaining coordinate closure error and ambiguity closure error constraint information based on the triangular closed loop formed by the two receivers and the base station; using these constraint information to test the fixed solution and detect abnormal observations; and determining the final user end positioning information based on the test results. The present disclosure also includes determining whether there is a zero baseline double difference observation difference or a short baseline floating point solution difference before performing RTK positioning. This method significantly improves the RTK positioning accuracy and reliability in complex environments, and is suitable for high-precision positioning application scenarios in complex signal reception environments such as urban areas.

Description

Technical Field

[0001] The present disclosure relates to the field of satellite positioning technology, and in particular to a dual-receiver satellite positioning method, device, system and storage medium. Background Art

[0002] Emerging applications such as self-driving cars, drones, and smart lawn mowers have placed urgent demands on the robust, high-precision positioning capabilities of the Global Navigation Satellite System (GNSS) in urban environments. Real-Time Kinematic (RTK) technology based on GNSS carrier phase is a widely used high-precision positioning method that can achieve decimeter-level or even centimeter-level accuracy. Traditional RTK technology requires GNSS receivers to provide continuous and stable observations. However, in complex urban observation environments, receivers are easily blocked by surrounding buildings and trees, resulting in multipath effects and amplitude fading. In severe cases, this can lead to signal loss of lock, resulting in increased observation errors and a sharp decrease in the number of available observations, ultimately affecting positioning performance and making it difficult to meet the high-precision positioning service requirements of emerging applications.

[0003] In practical applications, adding multiple satellite antennas can obtain more observations, as well as information about constraints such as the distance and angle between antennas, thereby increasing the number of observations in complex urban environments. However, satellite antennas are typically mounted externally on the surface of a carrier. Adding more antennas places higher demands on the carrier's structural design, making it difficult to meet the miniaturization requirements of navigation and positioning equipment in emerging applications. Furthermore, the multi-antenna approach can only provide more observation information but cannot detect anomalous observations, resulting in limited improvements in positioning performance. Summary of the Invention

[0004] The disclosed embodiments propose a dual-receiver satellite positioning technology that can significantly improve satellite positioning accuracy and positioning continuity in complex observation environments.

[0005] According to one embodiment of the present disclosure, a dual-receiver satellite positioning method is proposed, including:

[0006] Step 1: Obtain observations from a reference station and two receivers, where the two receivers are located at a user terminal and connected to the same antenna at the user terminal via a power splitter to form a zero baseline.

[0007] Step 2: performing real-time dynamic differential RTK positioning on the short baselines formed by the two receivers and the reference station, and obtaining a floating point solution and a fixed solution for each receiver relative to the reference station;

[0008] Step 3: obtaining coordinate closure error constraint information and ambiguity closure error constraint information based on a triangular closed loop formed by the two receivers and the reference station;

[0009] Step 4: using the coordinate closure error constraint information and the ambiguity closure error constraint information to verify the fixed solution obtained by RTK positioning, and detect abnormal observations;

[0010] Step 5: Determine the final user terminal location information based on the test results.

[0011] In some embodiments, performing RTK positioning in step 2 includes:

[0012] Differencing the observations of the two receivers to eliminate errors associated with the satellites, and differencing the observations of the two satellites to eliminate errors associated with the receivers, to obtain a mathematical model of double-difference observations;

[0013] The geometric distance term in the mathematical model of the double-difference observation is linearly expanded at the initial position of the user end to obtain the linearized RTK observation equation of the short baseline formed by the receiver and the reference station:

[0014] H a x = l a +ε,

[0015] Among them, H a is the linearization matrix, l a is the linearized observation residual matrix, x is the result to be estimated, x includes the position coordinates of the receiver relative to the reference station and the corresponding double difference ambiguity, and ε is the observation noise.

[0016] In some implementations, obtaining a floating point solution and a fixed solution for each receiver relative to the reference station in step 2 includes:

[0017] Solving the RTK observation equation to obtain a floating-point solution for x, including a preliminary position coordinate and a floating-point estimate of the double-difference ambiguity;

[0018] The floating-point estimate of the double-difference ambiguity is fixed to obtain an integerized double-difference ambiguity, and the integerized double-difference ambiguity is then substituted into the RTK observation equation to recalculate the position coordinates to obtain a fixed solution for x.

[0019] In some implementations, the coordinate closure error constraint information obtained in step 3 is:

[0020] r r1，b -r r2，b =0,

[0021] Here, let the two receivers be r1 and r2, and the reference station be b, r r1，b is the position coordinate of receiver r1 relative to the reference station b, r r2，b is the position coordinate of receiver r2 relative to the reference station b.

[0022] In some implementations, the ambiguity misclosure constraint information obtained in step 3 is:

[0023]

[0024] Here, let the two receivers be r1 and r2, and the reference station be b. is the double-difference ambiguity of receiver r1 and reference station b to satellite j and satellite k, is the double-difference ambiguity of receiver r2 and reference station b to satellite j and satellite k, is the double difference ambiguity between satellite j and satellite k that is pre-fixed by the zero baseline formed by receivers r1 and r2.

[0025] In some embodiments, detecting abnormal observations in step 4 includes:

[0026] If the double difference ambiguity of satellite j and satellite k does not satisfy the ambiguity closure error constraint information, where satellite j is the used satellite and satellite k is the reference satellite, it is confirmed whether the abnormal observation value appears in satellite j or satellite k by switching the reference satellite k.

[0027] In some embodiments, before step 3, the method further comprises:

[0028] Determine whether there are zero baseline double difference observation differences and / or short baseline float solution differences;

[0029] If the zero baseline double-difference observation difference or the short baseline floating-point solution difference exists, the subsequent steps to step 5 are executed.

[0030] In some embodiments, determining whether the zero baseline observation value difference exists includes:

[0031] When the pseudorange zero baseline observation exceeds the pseudorange zero baseline observation threshold, or the carrier phase zero baseline observation exceeds the carrier phase zero baseline observation threshold, it is determined that the zero baseline double difference observation difference exists.

[0032] In some implementations, the pseudorange zero baseline observation threshold value ranges from 0.6 m to 1.0 m, and the carrier phase zero baseline observation threshold value ranges from 0.10 cycle to 0.25 cycle.

[0033] In some embodiments, determining whether the short baseline float solution difference exists includes:

[0034] When the root mean square of the deviation of the position coordinates in the floating-point solutions of the two receivers exceeds the position coordinate deviation threshold, or the root mean square of the deviation of the floating-point estimation values ​​of the double-difference ambiguity in the floating-point solutions of the two receivers exceeds the ambiguity deviation threshold, it is determined that the short baseline floating-point solution difference exists.

[0035] In some implementations, the position coordinate deviation threshold has a value range of 0.2 m to 0.5 m, and the ambiguity deviation threshold has a value range of 0.5 m to 1.0 m.

[0036] In some embodiments, the method further comprises:

[0037] If the zero baseline double-difference observation difference and / or the short baseline floating point solution difference does not exist, single-receiver RTK positioning is performed.

[0038] According to one embodiment of the present disclosure, a dual-receiver satellite positioning system is also disclosed. The system is provided at a user end and includes an antenna, a power splitter, two receivers, a communication module, and a data processing module, wherein:

[0039] The antenna is used to receive satellite signals;

[0040] The power splitter is connected to the antenna and is used to split the satellite signal received by the antenna into two paths and transmit them to the two receivers respectively;

[0041] The two receivers process the received satellite signals to obtain respective observation quantities, and the two receivers are connected to the antenna via the power splitter to form a zero baseline configuration;

[0042] The communication module is used to receive observation data and RTK differential data from the reference station;

[0043] The data processing module is connected to the two receivers and the communication module, and is configured to execute the method described in the above embodiment based on the observations from the two receivers and the communication module.

[0044] According to one embodiment of the present disclosure, a dual-receiver satellite positioning device is also disclosed, the device comprising:

[0045] A data acquisition unit, configured to acquire observations from a reference station and two receivers, wherein the two receivers are provided at a user terminal and connected to a common antenna provided at the user terminal via a power splitter to form a zero baseline;

[0046] an RTK positioning unit, configured to perform real-time dynamic differential RTK positioning on a short baseline formed by the two receivers and the reference station, and obtain a floating point solution and a fixed solution for each receiver relative to the reference station;

[0047] a constraint information extraction unit, configured to obtain coordinate closure error constraint information and ambiguity closure error constraint information based on a triangular closed loop formed by the two receivers and the reference station;

[0048] a constraint information verification unit, configured to verify the fixed solution obtained by RTK positioning using the coordinate closure error constraint information and the ambiguity closure error constraint information, and detect abnormal observations;

[0049] The positioning information determining unit is used to determine the final user terminal positioning information according to the test result.

[0050] According to one embodiment of the present disclosure, an electronic device is also disclosed, which includes a memory and a processor, wherein the memory is used to store computer instructions that can be executed on the processor, and the processor is used to implement the method described in the above embodiment when executing the computer instructions.

[0051] According to one embodiment of the present disclosure, a computer-readable storage medium is further disclosed, on which a computer program is stored. When the program is executed by a processor, the method described in the above embodiment is implemented.

[0052] The dual-receiver satellite positioning solution proposed in the present disclosure provides an antenna and two receivers at the user end. The two receivers are connected to the antenna via a power splitter to form a zero baseline. Then, real-time dynamic differential RTK positioning is performed on the short baseline formed by the two receivers and the reference station to obtain a floating point solution and a fixed solution for each receiver relative to the reference station. Based on the triangular closed loop formed by the two receivers and the reference station, the fixed solution obtained by RTK positioning is tested using coordinate closure error constraint information and ambiguity closure error constraint information, and abnormal observation quantities are detected. Finally, based on the test results, the final user-end positioning information is determined.

[0053] The present disclosure innovatively utilizes the zero baseline configuration and triangle closed loop verification mechanism to significantly improve the accuracy, reliability and robustness of RTK positioning, especially in complex observation environments. In particular, through the constraint verification of coordinate closure error and ambiguity closure error, reliable positioning quality is established. The application of the technical solution proposed in the present disclosure can not only effectively identify and eliminate abnormal observations, but also promptly discover and correct erroneous fixed solutions, greatly reducing the risk of erroneous positioning. The technical solution proposed in the present disclosure shows obvious advantages in complex observation environments such as urban canyons and severe multipath effects. It can improve positioning accuracy from meter level to centimeter level, and the success rate of fixed solutions is significantly improved (can be increased to more than 90%), providing an innovative and effective solution for the application of high-precision GNSS positioning technology in complex environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the specification and, together with the description, serve to explain the principles of the specification.

[0055] Figure 1 A flowchart of a dual-receiver satellite positioning method according to an embodiment of the present disclosure is shown;

[0056] Figure 2 A schematic diagram of satellite positioning in a zero baseline configuration according to an exemplary embodiment of the present disclosure is shown;

[0057] Figure 3 A schematic diagram of a triangular closed loop formed by dual receivers and a reference station according to an exemplary embodiment of the present disclosure is shown;

[0058] Figure 4 A schematic diagram of a dual-receiver RTK positioning process according to an exemplary embodiment of the present disclosure is shown;

[0059] Figure 5 A schematic diagram of a dual-receiver RTK positioning process with additional difference verification according to an exemplary embodiment of the present disclosure is shown;

[0060] FIG6( a ) and FIG6 ( b ) respectively show the statistical results of RTK fixed solution positioning errors obtained using a traditional RTK positioning method and a dual-receiver satellite positioning method according to the present disclosure;

[0061] Figure 7 It is a schematic structural diagram of an electronic device according to at least one embodiment of the present disclosure. DETAILED DESCRIPTION

[0062] Exemplary embodiments will be described in detail herein, with examples illustrated in the accompanying drawings. In the following description, when referring to the drawings, identical numerals in different figures represent identical or similar elements, unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all possible embodiments consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.

[0063] The disclosed embodiments may be applied to a computer system / server that is operable with numerous other general-purpose or special-purpose computing system environments or configurations. Examples of well-known computing systems, environments, and / or configurations suitable for use with the computer system / server include, but are not limited to, personal computer systems, server computer systems, thin clients, thick clients, handheld or laptop devices, microprocessor-based systems, set-top boxes, programmable consumer electronics, network personal computers, minicomputer systems, mainframe computer systems, and distributed cloud computing technology environments including any of the above, among others.

[0064] Computer systems / servers may be described in the general context of computer system-executable instructions, such as program modules, executed by a computer system. Generally, program modules may include routines, programs, objects, components, logic, data structures, and the like, that perform specific tasks or implement specific abstract data types. Computer systems / servers may be implemented in a distributed cloud computing environment where tasks are performed by remote processing devices linked through a communications network. In a distributed cloud computing environment, program modules may be located on local or remote computer system storage media, including storage devices.

[0065] Figure 1 A flow chart of a dual-receiver satellite positioning method according to an embodiment of the present disclosure is shown. As shown in the figure, the method includes steps 1 to 5.

[0066] Step 1: Obtain observations from a reference station and two receivers. The two receivers are set at a user end and connected to the same antenna of the user end through a power splitter to form a zero baseline.

[0067] In this embodiment, if Figure 2 As shown, the user end (UE) can be deployed on vehicles such as autonomous vehicles and drones and consists of an antenna and two receivers (r1 and r2). Receivers r1 and r2 are connected to the antenna via a power splitter, forming a zero-baseline configuration. This configuration facilitates the acquisition of more observations. These observations typically include pseudoranges and carrier phase measurements.

[0068] In addition to observations, other observation data (such as observation time, satellite information, signal characteristics, etc.) and RTK differential data can also be obtained during satellite positioning. RTK differential data can be provided by the base station b and sent to the user end via the network or radio.

[0069] This disclosure creatively applies a dual-receiver zero-baseline configuration to the user side of a satellite positioning system. For the zero baseline formed by receivers r1 and r2, since both receivers are connected to the same antenna on the user side, the position coordinates of r1 and r2 are identical, and the geometric distance between them is zero. For this system, double-difference can eliminate the distance ρ from the satellite to the receiver. The resulting double-difference observations only contain observation noise and carrier phase ambiguity. The following mathematical model for zero-baseline double-difference observations can be established:

[0070]

[0071] Among them, ZDO P 、ZDO φ are the zero-baseline double-difference observations of pseudorange and carrier phase, is the double-difference pseudorange observation of satellites j and k by receivers r1 and r2, is the noise of the pseudorange double-difference observations, is the double-difference observation of the carrier phase of satellites j and k by receivers r1 and r2, is the double-difference ambiguity of the carrier phase of receivers r1 and r2 to satellites j and k, is the noise of the carrier phase double difference observation. Considering that the carrier phase observation noise is usually 0.003m and the wavelength of the carrier phase is about 0.2m, that is, the zero baseline carrier phase observation noise in formula (1) is It is much smaller than the carrier phase wavelength, and the carrier phase double difference ambiguity can be easily fixed by rounding. Get the integer double difference ambiguity

[0072] In other words, zero-baseline double-difference observations primarily consist of ambiguities and observation noise, and are largely unaffected by other error sources. Because carrier phase observation noise is typically very small, much smaller than the carrier wavelength, zero-baseline double-difference ambiguities can be accurately determined through simple rounding. This characteristic enables zero-baseline configurations to provide high-quality observations and reliable ambiguity information, laying the foundation for subsequent RTK positioning and anomalous observation detection.

[0073] Step 2: Perform real-time dynamic differential RTK positioning on the short baselines formed by the two receivers and the reference station to obtain a floating point solution and a fixed solution for each receiver relative to the reference station.

[0074] In some embodiments, performing RTK positioning includes:

[0075] Differencing the observations of the two receivers to eliminate errors associated with the satellites, and differencing the observations of the two satellites to eliminate errors associated with the receivers, to obtain a mathematical model of double-difference observations;

[0076] The geometric distance term in the mathematical model of the double-difference observation is linearly expanded at the initial position of the user end to obtain the linearized RTK observation equation of the short baseline formed by the receiver and the reference station:

[0077] H a x = l a +ε, (2)

[0078] Among them, H a is the linearization matrix, l a is the linearized observation residual matrix, x is the result to be estimated, x includes the position coordinates of the receiver relative to the reference station and the corresponding double-difference ambiguity, and ε is the observation noise.

[0079] Here we briefly explain the derivation process of the dual-receiver RTK observation equation.

[0080] In satellite differential positioning, the observation equations of pseudorange and carrier phase can be expressed as:

[0081]

[0082] In formula (3), i and s are the receiver number and satellite number, respectively; φ is the carrier phase observation in weeks; P is the pseudorange observation in meters; dt is the clock error; ρ is the distance from the satellite to the receiver; B is the hardware delay of the pseudorange; N is the carrier phase ambiguity; U is the uncalibrated delay of the carrier phase; λ is the carrier wavelength; I and T are the ionospheric delay and tropospheric delay, respectively; ξ and ξ are the observation noise of the pseudorange and carrier phase, respectively.

[0083] In formula (3), subtracting the observations from two receivers eliminates satellite-related errors, subtracting the observations from two satellites eliminates receiver-related errors, and subtracting the observations from two receivers and two satellites (called double-difference observations) eliminates satellite- and receiver-related errors. When the two receivers are close together (no more than 5 km), the ionospheric and tropospheric delays can also be approximately eliminated through receiver differencing. The resulting mathematical model for the double-difference observations is:

[0084]

[0085] Among them, r, b, j, and k are the numbers of the user terminal, base station, used satellite, and reference satellite respectively. and They are the double difference operator and the single difference operator respectively.

[0086] The geometric distance term of formula (4) By linearly expanding the initial position of the user end, the linearized RTK observation equation of the short baseline formed by the receiver and the reference station can be obtained, that is, the above formula (2):

[0087] H a x = l a +ε (2)

[0088] Taking the linearized RTK observation equation of the short baseline formed by receiver r1 and base station b as an example, H a It can be expressed as A is the coefficient matrix composed of satellite position and user terminal position, I is the unit matrix, and n is the number of double-difference observations; l a It can be expressed as l a =[λ·φ r1，b P r1，b ] T , is the observation residual matrix after linearization; x=[r r1，b N r1,b ] T is the result to be estimated by RTK, including the position coordinates r of the receiver r1 relative to the base station b r1,b , and the double-difference ambiguity N of receiver r1 relative to reference station b r1,b , taking satellite j and reference satellite k as an example, the corresponding double difference ambiguity is

[0089] In some embodiments, obtaining a floating point solution and a fixed solution for each receiver relative to the reference station includes:

[0090] Solving the RTK observation equation to obtain a floating-point solution for x, including a preliminary position coordinate and a floating-point estimate of the double-difference ambiguity;

[0091] The floating-point estimate of the double-difference ambiguity is fixed to obtain an integerized double-difference ambiguity, and the integerized double-difference ambiguity is then substituted into the RTK observation equation to recalculate the position coordinates to obtain a fixed solution for x.

[0092] Taking the linearized RTK observation equation of the short baseline formed by the receiver r1 and the base station b as an example, the least squares or Kalman filtering can be performed on formula (2) to obtain the floating point solution of x Considering that the double-difference ambiguity N has an integer characteristic, the integer search or integer transformation method can be used to obtain the integer double-difference ambiguity The integerized double-difference ambiguity Substitute the RTK observation equation and recalculate to obtain high-precision position coordinates The corresponding x-fixed solution is RTK fixed solutions can achieve centimeter-level positioning accuracy.

[0093] Similarly, for the short baseline formed by receiver r2 and base station b, the position coordinates r of receiver r2 relative to the base station can be obtained through RTK positioning. r2 ,b, and the double difference ambiguity between the use satellite j and the reference satellite k is N r2，b , the corresponding floating-point solutions and fixed solutions of x are

[0094] Step 3: Based on the triangular closed loop formed by the two receivers and the reference station, coordinate closure error constraint information and ambiguity closure error constraint information are obtained.

[0095] Receivers r1, r2 and base station b form a triangular closed loop, as shown in Figure 3 In this triangular closed loop, the three baseline vectors r1-b, r2-b, and r1-r2 are generated by the three receivers b, r1, and r2, respectively. The dual-receiver zero baseline configuration can form the following constraints on the baseline vectors: coordinate closure constraints and ambiguity closure constraints.

[0096] Constraint information 1 is that the coordinate closure error is 0, that is:

[0097] r r1,b -r r2,b -r r1，r2 =0 (5)

[0098] Among them, r r1，b is the position coordinate of receiver r1 relative to the reference station b, r r2，b is the position coordinate of receiver r2 relative to the reference station b, r r1，r2 is the position coordinate of receiver r1 relative to receiver r2.

[0099] Since the baseline is zero, r r1，r2 = 0, so the following coordinate closure constraint information can be obtained:

[0100] r r1，b -r r2，b =0. (6)

[0101] This constraint can be used to check the consistency of the RTK fixed solution.

[0102] Constraint information 2 is that the ambiguity closure error is 0, that is:

[0103]

[0104] in, is the double-difference ambiguity between receiver r1 and reference station b for satellite j and satellite k, is the double-difference ambiguity of receiver r2 and reference station b to satellite j and satellite k, is the double difference ambiguity of receiver r1 and receiver r2 to satellite j and satellite k.

[0105] Due to the zero baseline carrier phase double difference ambiguity It is easy to pre-fix it by rounding. Suppose it is fixed by rounding to Based on formula (7), the following ambiguity closure constraint information can be obtained:

[0106]

[0107] This constraint can verify the correctness of the double-difference ambiguity in the RTK fixed solution.

[0108] Step 4: Use the coordinate closure error constraint information and the ambiguity closure error constraint information to verify the fixed solution obtained by RTK positioning and detect abnormal observations.

[0109] The constraint information obtained in step 3 can be used to verify the reliability of the RTK fixed solution and identify possible anomalous observations. This process is important for improving positioning accuracy and reliability in complex urban observation environments.

[0110] The position coordinates of receivers r1 and r2 in the fixed solution relative to the reference station b can be Substitute the above coordinate closure error constraint information into formula (6). In practical applications, a small threshold ε1 can be set. For example, if The coordinate closure error test is considered to have passed. The threshold ε1 can be determined according to the specific application scenario and accuracy requirements.

[0111] Double-difference ambiguities that can be integerized in fixed solutions Substitute the above ambiguity closure constraint information into formula (8). Since the ambiguity is an integer, It should be established precisely.

[0112] In some implementations, if the double-difference ambiguities of satellite j and satellite k do not satisfy the ambiguity closure constraint information, where satellite j is the active satellite and satellite k is the reference satellite, the abnormal observation is confirmed to occur on satellite j or satellite k by switching the reference satellite k. The specific process is as follows:

[0113] If the double-difference ambiguity associated with the used satellite j still does not satisfy the closure error constraint after switching to the reference satellite k, the abnormal observation is considered to have occurred in the used satellite j;

[0114] Otherwise, it is considered that the abnormal observation occurs on the original reference satellite k.

[0115] In some implementations, the reliability of the RTK fixed solution can be assessed by combining the results of both the coordinate misclosure and ambiguity misclosure tests. For example, if both misclosure tests pass, the fixed solution can be considered highly reliable; if only one misclosure test passes, it can be marked as moderately reliable and may require further verification; if both misclosure tests fail, the fixed solution can be considered unreliable and requires re-RTK positioning or the use of other strategies.

[0116] Using coordinate closure error constraint information and ambiguity closure error constraint information to verify the fixed solution obtained by RTK positioning and detect abnormal observations can significantly improve the accuracy and reliability of positioning results, and can effectively deal with challenges such as multipath effects and signal obstruction in complex environments such as urban areas.

[0117] Step 5: Determine the final user terminal location information based on the test results.

[0118] The final user-side positioning information can be determined based on the test results. For example, if the fixed solution passes the coordinate closure error and ambiguity closure error tests, it is considered reliable and can be used as the final user-side positioning result. If anomalous observations are detected, these can be removed and RTK positioning can be repeated, or other strategies can be used to handle these anomalous observations to obtain more reliable positioning results.

[0119] In some implementations, if the final fixed solution fails the constraint information check, the final user terminal positioning information can be determined based on the float solution. For example, a weighted average of the float solutions from two receivers can be used as the final positioning result to smooth out errors that may exist in a single receiver, or a float solution with better quality can be selected as the final positioning result, etc.

[0120] The dual-receiver satellite positioning method proposed in the above embodiment significantly improves the accuracy, reliability and robustness of RTK positioning by innovatively utilizing the zero baseline configuration and triangle closed loop verification mechanism, especially in complex observation environments. In particular, reliable positioning quality is established through the constraint verification of coordinate closure error and ambiguity closure error. According to this method, not only can abnormal observations be effectively identified and eliminated, but also erroneous fixed solutions can be discovered and corrected in a timely manner, greatly reducing the risk of erroneous positioning. The dual-receiver satellite positioning method proposed in the present disclosure shows obvious advantages in complex observation environments such as urban canyons and severe multipath effects. It can improve positioning accuracy from meter level to centimeter level, and the success rate of fixed solutions is significantly improved (can be increased to more than 90%), providing an innovative and effective solution for the application of high-precision GNSS positioning technology in complex environments.

[0121] Figure 4 FIG. 1 shows a schematic diagram of a dual-receiver RTK positioning process according to an exemplary embodiment of the present disclosure. Figure 4 The process described above begins with three data input sources: observations from base station b, observations from receivers r1, and observations from receivers r2. Then, common observations from r1, r2, and b are obtained. This involves selecting satellites observed by r1, r2, and b during the same time period. These common observations can be preprocessed, such as for time synchronization.

[0122] After acquiring the observations, the double-difference observations of the zero baseline r1-r2 are calculated. The carrier phase ambiguities of the zero baseline r1-r2 are fixed to integers, and RTK positioning is performed on the two short baselines r1-b and r2-b. The RTK positioning process first calculates the double-difference observations of the short baselines, then calculates the floating-point solution of the RTK observation equation. Once the floating-point solution is obtained, the integer carrier phase ambiguities can be obtained through integer search.

[0123] For satellites j and k, after obtaining the integerized zero baseline r1-r2 carrier phase ambiguities and the integerized short baselines r1-b and r2-b carrier phase ambiguities, they can be tested using the ambiguity closure constraints to determine whether the double-difference ambiguity triangle closure is zero. If the test fails, the test results are analyzed, anomalous observations are removed, and the process returns to the step of obtaining the common observations of r1, r2, and b. RTK positioning is then re-performed based on the updated, higher-quality dataset. If the test passes, the above process is repeated for the next pair of satellites. If the above test still fails for some satellite pairs, the user-side positioning information is determined based on the floating-point solution.

[0124] If all satellite pairs pass the aforementioned checks, the fixed solution for RTK positioning is further verified using the constraint of whether the coordinate closure error is zero. If the check fails, the final user-side positioning information is also determined based on the floating-point solution. If the check passes, the user-side positioning information is determined based on the fixed solution.

[0125] Figure 4 The dual-receiver RTK positioning method shown provides additional observation information and constraints through a zero-baseline configuration. It also utilizes a multiple verification mechanism to improve the reliability of the resulting user-side positioning information. Furthermore, it can effectively detect and handle anomalous observations during processing, making it particularly suitable for use in complex urban observation environments, significantly improving positioning accuracy and continuity.

[0126] In some embodiments of the present disclosure, before step 3 above, the method further includes:

[0127] Determine whether there are zero baseline double difference observation differences and / or short baseline float solution differences;

[0128] If the zero baseline double-difference observation difference or the short baseline floating-point solution difference exists, then subsequent steps 3 to 5 are performed.

[0129] The additional judgment step provided in this embodiment is used to ensure that the dual-receiver configuration can provide meaningful constraint information. If the above difference does not exist, that is, there is no difference in the observation amount when the two receivers r1 and r2 process the same antenna signal, and the observation amounts of the two receivers are exactly the same, then the above formulas (6) and (8) are always valid, and the subsequent closure error constraint test will lose its meaning. Therefore, in order for the coordinate closure error constraint information and ambiguity closure error constraint information in the above formulas (6) and (8) to be meaningful for detecting the fixed solution of dual-receiver RTK positioning, it is required that the two receivers r1 and r2 must have an observation error when processing the same antenna signal.

[0130] In some examples, subsequent steps 3 to 5 may be performed only when both the zero baseline double difference observation difference and the short baseline floating point solution difference exist; in other examples, subsequent steps 3 to 5 may be performed only when one of the zero baseline double difference observation difference and the short baseline floating point solution difference exists.

[0131] Using constraint information to verify the RTK positioning fixed solution when only one of the above discrepancies exists can help increase sensitivity to potential problems in positioning and capture more possible anomalies. However, requiring both discrepancies to be present before verifying can reduce unnecessary verification and the possibility of false positives. Therefore, in environments with high positioning accuracy requirements or complex observation environments, it is advisable to use constraint information to verify the fixed solution only when one of the above discrepancies exists. In environments with more limited computing resources or relatively good observation environments, it is advisable to use constraint information to verify the fixed solution only when both discrepancies exist.

[0132] In some embodiments, determining whether the zero baseline observation value difference exists includes:

[0133] When the pseudorange zero baseline observation exceeds the pseudorange zero baseline observation threshold, or the carrier phase zero baseline observation exceeds the carrier phase zero baseline observation threshold, it is determined that the zero baseline double difference observation difference exists.

[0134] Furthermore, after extensive research and verification, the inventors believe that the value range of the pseudorange zero baseline observation threshold is 0.6m to 1.0m, preferably 0.6m; the value range of the carrier phase zero baseline observation threshold is 0.10 week to 0.25 week, preferably 0.10 week.

[0135] According to the above embodiment, the difference in pseudorange zero-baseline observations between the two receivers can be calculated. If this difference exceeds a set threshold (e.g., 0.6 m), the zero-baseline double-difference observations are considered to be significantly different. Simultaneously, the carrier phase zero-baseline observation difference can be calculated. If this difference exceeds a set threshold (e.g., 0.10 m), the zero-baseline double-difference observations are also considered to be significantly different. As long as any of the above items exceeds the corresponding threshold, a zero-baseline double-difference observation difference is determined to exist.

[0136] The choice of threshold is very important. A smaller threshold may increase the sensitivity of the judgment, but may also lead to too many "false positive" results; a larger threshold may ignore subtle but important differences.

[0137] In some embodiments, determining whether the short baseline float solution difference exists includes:

[0138] When the root mean square of the deviation of the position coordinates in the floating-point solutions of the two receivers exceeds the position coordinate deviation threshold, or the root mean square of the deviation of the floating-point estimation values ​​of the double-difference ambiguity in the floating-point solutions of the two receivers exceeds the ambiguity deviation threshold, it is determined that the short baseline floating-point solution difference exists.

[0139] Furthermore, after extensive research and verification, the inventors believe that the position coordinate deviation threshold value ranges from 0.2m to 0.5m, preferably 0.5m; the ambiguity deviation threshold value ranges from 0.5m to 1.0m, preferably 1.0m.

[0140] The root mean square RMSE (Δx) of the deviation of the position coordinates in the float solutions of the two receivers and the root mean square RMSE (ΔN) of the deviation of the float estimates of the double-difference ambiguity can be calculated based on the following formula:

[0141]

[0142] Where Δx i ,i=1,2,3 are the three-dimensional position coordinate deviations, ΔN j is the double-difference ambiguity bias, and n is the number of double-difference observations, usually the number of visible satellites minus 1.

[0143] According to the above embodiment, the difference in position coordinates in each dimension of the floating-point solutions of the two receivers can be calculated, and then the root mean square (RMSE) of these differences can be calculated. If the RMSE (Δx) exceeds a set threshold (e.g., 0.5m), it is considered that there are significant differences in the short baseline floating-point solutions. At the same time, the difference in the floating-point estimates of the double-difference ambiguity in the floating-point solutions of the two receivers can be calculated, and its root mean square (RMSE) (ΔN) can be calculated. If the RMSE (ΔN) exceeds a set threshold (e.g., 1.0m), it is also considered that there are significant differences in the short baseline floating-point solutions. As long as one of the above two items exceeds the threshold, it is determined that there is a short baseline floating-point solution difference.

[0144] The selection of the threshold requires a comprehensive consideration of multiple factors, including the expected positioning accuracy, the complexity of the observation environment, etc. In urban environments, due to the influence of multipath effects and signal obstruction, a relatively large threshold can be selected to accommodate larger observation errors.

[0145] In some embodiments, if the zero baseline double-difference observation difference and / or the short baseline float solution difference does not exist, single-receiver RTK positioning is performed.

[0146] One of the two receivers (eg, a receiver with better signal quality or better hardware performance) may be selected to perform single-receiver RTK positioning.

[0147] Traditional single-receiver RTK positioning can include:

[0148] The observations of a single receiver at the user end and the observations of the reference station can be obtained and pre-processed, such as time synchronization of the observations;

[0149] The observations of a single receiver at the user end are subtracted from those of the reference station, and the observations of two satellites are subtracted to obtain double-difference observations.

[0150] Perform RTK positioning on a short baseline consisting of a single receiver and a reference station to obtain a floating point solution for the single receiver relative to the reference station.

[0151] Fix the double-difference ambiguity in the floating-point solution by integer ambiguity search and obtain the integerized double-difference ambiguity;

[0152] Perform RTK fixed solution verification;

[0153] Based on the verified RTK fixed solution, the user-side positioning information is obtained.

[0154] Fixed solution verification in traditional single-receiver RTK positioning typically involves using ratio tests, residual tests, consistency tests between floating-point and fixed solutions, and continuity tests. The ratio test typically compares the ratio of the sum-of-squared residuals between the best integer ambiguity solution and the next-best solution. If the residual ratio exceeds a certain threshold, the fixed solution is considered reliable. The residual test typically checks whether the observation residuals of the fixed solution are within a reasonable range. If the residuals are too large, the fixed solution may be unreliable. The consistency test between the floating-point and fixed solutions compares the differences between the fixed and floating solutions. If the differences are too large, the fixed solution may be unreliable. The continuity test checks the consistency of the fixed solution between consecutive observation epochs. If the variations are too large, the fixed solution may be unstable.

[0155] The above implementation provides an alternative positioning solution. When the dual-receiver configuration fails to provide meaningful difference information, the system can automatically switch to a single-receiver RTK positioning mode, thereby ensuring the continuity of positioning services, even in situations where the dual-receiver method may not be applicable. This flexible design enables the present disclosure to adapt to various complex observation environments, while providing high-precision positioning while also ensuring the reliability and continuity of positioning services.

[0156] Figure 5 FIG. 1 shows a schematic diagram of a dual-receiver RTK positioning process with additional difference checking according to an exemplary embodiment of the present disclosure. Figure 5 The process described above begins with three data input sources: observations from base station b, observations from receivers r1, and observations from receivers r2. Then, common observations from r1, r2, and b are obtained. This involves selecting satellites observed by r1, r2, and b during the same time period. These common observations can be preprocessed, such as for time synchronization.

[0157] Next, calculate the double-difference observations of the zero baseline r1-r2. Then determine whether these zero-baseline double-difference observations differ significantly. If the result is negative, meaning there is no significant difference in the zero-baseline double-difference observations, then perform single-receiver RTK positioning. For details, refer to the description of single-receiver RTK positioning above. If the zero-baseline double-difference observations differ significantly, then, based on the RTK floating-point solutions of the short baselines r1-b and r2-b, determine whether the RTK floating-point solutions of the short baselines r1-b and r2-b differ significantly. If the result is negative, meaning there is no significant difference in the short-baseline floating-point solutions, then perform single-receiver RTK positioning. Also, refer to the description of single-receiver RTK positioning above. If it is determined that the RTK floating-point solutions of the short baselines r1-b and r2-b also have obvious differences, the dual-receiver RTK positioning provided by the present disclosure is further performed, that is, the fixed solution of the dual-receiver RTK positioning is tested using the dual-receiver zero baseline configuration and the coordinate closure error constraint information and the ambiguity closure error constraint information, abnormal observation quantities are detected, and the final user-end positioning information is determined based on the test results.

[0158] The present disclosure also provides a dual-receiver satellite positioning device, the device comprising:

[0159] A data acquisition unit, configured to acquire observations from a reference station and two receivers, wherein the two receivers are provided at a user terminal and connected to a common antenna provided at the user terminal via a power splitter to form a zero baseline;

[0160] an RTK positioning unit, configured to perform real-time dynamic differential RTK positioning on a short baseline formed by the two receivers and the reference station, and obtain a floating point solution and a fixed solution for each receiver relative to the reference station;

[0161] a constraint information extraction unit, configured to obtain coordinate closure error constraint information and ambiguity closure error constraint information based on a triangular closed loop formed by the two receivers and the reference station;

[0162] a constraint information verification unit, configured to verify the fixed solution obtained by RTK positioning using the coordinate closure error constraint information and the ambiguity closure error constraint information, and detect abnormal observations;

[0163] The positioning information determining unit is used to determine the final user terminal positioning information according to the test result.

[0164] For other details and advantages of the device, please refer to the above description of the dual-receiver satellite positioning method, which will not be repeated here.

[0165] FIG6( a ) shows the statistical results of the RTK fixed solution positioning error obtained by using the traditional RTK positioning method; FIG6( b ) shows the statistical results of the RTK fixed solution positioning error obtained by using the dual-receiver satellite positioning method according to the present disclosure.

[0166] As shown in Figure 6(a), the traditional single-receiver RTK positioning method exhibits significant limitations in complex environments. Positioning errors in the east, north, and celestial directions fluctuate significantly, with the maximum error reaching approximately 5 meters. This indicates that single-receiver RTK methods struggle to provide stable and high-precision positioning results in complex observation environments, such as urban areas.

[0167] In contrast, the dual-receiver satellite positioning method of the present disclosure, shown in Figure 6(b), demonstrates significant improvement. Positioning errors are significantly reduced, primarily within the centimeter range, with a maximum error of approximately 6 centimeters. Furthermore, positioning results are more stable, with significantly reduced error fluctuations in all directions. This demonstrates that the proposed method is more robust in complex observation environments and can effectively address challenges such as multipath effects and signal obstruction.

[0168] Comparing Figures 6(a) and 6(b) clearly demonstrates the significant advantages of the dual-receiver satellite positioning method proposed in this disclosure over the traditional single-receiver RTK method, improving positioning accuracy from meters to centimeters while maintaining high stability. This performance improvement is of great significance for high-precision positioning applications such as autonomous driving and precision measurement.

[0169] Figure 7 An electronic device provided for at least one embodiment of the present disclosure includes a memory and a processor, wherein the memory is used to store computer instructions that can be executed on the processor, and the processor is used to implement the dual-receiver satellite positioning method described in any embodiment or implementation of the present disclosure when executing the computer instructions.

[0170] At least one embodiment of the present disclosure further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the dual-receiver satellite positioning method described in any embodiment or implementation of the present disclosure.

[0171] Those skilled in the art will appreciate that one or more embodiments of this specification may be provided as a method, system, or computer program product. Thus, one or more embodiments of this specification may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, one or more embodiments of this specification may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0172] The various embodiments in this specification are described in a progressive manner. Similar portions between the various embodiments can be referenced to each other. Each embodiment focuses on the differences between the other embodiments. In particular, the data processing device embodiment is generally similar to the method embodiment, so its description is relatively simple. For relevant portions, refer to the description of the method embodiment.

[0173] The foregoing description of this specification describes specific embodiments. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims can be performed in an order different from that described in the embodiments and still achieve the desired results. Furthermore, the processes depicted in the accompanying drawings do not necessarily require the specific order shown or sequential order to achieve the desired results. In certain embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0174] Embodiments of the subject matter and functional operations described in this specification may be implemented in the following: digital electronic circuits, tangibly embodied computer software or firmware, computer hardware including the structures disclosed in this specification and their structural equivalents, or a combination of one or more of them. Embodiments of the subject matter described in this specification may be implemented as one or more computer programs, i.e., one or more modules of computer program instructions encoded on a tangible, non-transitory program carrier to be executed by a data processing device or to control the operation of the data processing device. Alternatively or additionally, the program instructions may be encoded on an artificially generated propagation signal, such as a machine-generated electrical, optical, or electromagnetic signal, which is generated to encode information and transmit it to a suitable receiver device for execution by the data processing device. The computer storage medium may be a machine-readable storage device, a machine-readable storage substrate, a random or serial access memory device, or a combination of one or more of them.

[0175] The processes and logic flows described in this specification can be performed by one or more programmable computers executing one or more computer programs to perform the corresponding functions by operating on input data and generating output. The processes and logic flows can also be performed by, and apparatus can be implemented as, special purpose logic circuitry, such as an FPGA (field programmable gate array) or an ASIC (application-specific integrated circuit).

[0176] Computers suitable for executing computer programs include, for example, general-purpose and / or special-purpose microprocessors, or any other type of central processing unit. Typically, the central processing unit will receive instructions and data from a read-only memory and / or random access memory. The basic components of a computer include a central processing unit for implementing or executing instructions and one or more memory devices for storing instructions and data. Typically, a computer will also include one or more mass storage devices for storing data, such as magnetic disks, magneto-optical disks, or optical disks, or the computer will be operably coupled to such mass storage devices to receive data from them or to transmit data to them, or both. However, a computer does not necessarily have such devices. In addition, a computer can be embedded in another device, such as a mobile phone, a personal digital assistant (PDA), a mobile audio or video player, a game console, a global positioning system (GPS) receiver, or a portable storage device such as a universal serial bus (USB) flash drive, to name a few.

[0177] Computer-readable media suitable for storing computer program instructions and data include all forms of non-volatile memory, media, and storage devices, including, for example, semiconductor memory devices (e.g., EPROM, EEPROM, and flash memory devices), magnetic disks (e.g., internal hard disks or removable disks), magneto-optical disks, and CD ROM and DVD-ROM disks. The processor and memory can be supplemented by, or incorporated in, special purpose logic circuitry.

[0178] Although this specification includes many specific implementation details, these should not be interpreted as limiting the scope of any invention or the scope of protection claimed, but are mainly used to describe the features of specific embodiments of specific inventions. Certain features described in multiple embodiments within this specification may also be implemented in combination in a single embodiment. On the other hand, the various features described in a single embodiment may also be implemented separately in multiple embodiments or in any suitable sub-combination. In addition, although features may work in certain combinations as described above and even initially claimed as such, one or more features from the claimed combination may be removed from the combination in some cases, and the claimed combination may point to a sub-combination or a variation of the sub-combination.

[0179] Similarly, although operations are depicted in a particular order in the accompanying drawings, this should not be understood as requiring that these operations be performed in the particular order shown or performed sequentially, or that all illustrated operations be performed to achieve the desired results. In some cases, multitasking and parallel processing may be advantageous. In addition, the separation of various system modules and components in the above-described embodiments should not be understood as requiring such separation in all embodiments, and it should be understood that the described program components and systems can generally be integrated together in a single software product, or packaged into multiple software products.

[0180] Thus, specific embodiments of the subject matter have been described. Other embodiments are within the scope of the following claims. In some cases, the actions recited in the claims can be performed in a different order and still achieve the desired results. Furthermore, the processes depicted in the accompanying drawings do not necessarily require the particular order shown or sequential sequence to achieve the desired results. In some implementations, multitasking and parallel processing may be advantageous.

[0181] The above description is merely a preferred embodiment of one or more embodiments of this specification and is not intended to limit one or more embodiments of this specification. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of one or more embodiments of this specification shall be included in the scope of protection of one or more embodiments of this specification.

Claims

1. A dual-receiver satellite positioning method, characterized in that: include: Step 1: Obtain observations from a reference station and two receivers, where the two receivers are located at a user terminal and connected to the same antenna at the user terminal via a power splitter to form a zero baseline. Step 2: performing real-time dynamic differential RTK positioning on the short baselines formed by the two receivers and the reference station, and obtaining a floating point solution and a fixed solution for each receiver relative to the reference station; Step 3: obtaining coordinate closure error constraint information and ambiguity closure error constraint information based on a triangular closed loop formed by the two receivers and the reference station; Step 4, using the coordinate closure error constraint information and the ambiguity closure error constraint information to verify the fixed solution obtained by RTK positioning, and detect abnormal observations; Step 5: Determine the final user terminal location information based on the test results.

2. The method according to claim 1, characterized in that The RTK positioning in step 2 includes: Differencing the observations of the two receivers to eliminate errors associated with the satellite, and differencing the observations of the two satellites to eliminate errors associated with the receiver, to obtain a mathematical model of double-difference observations; The geometric distance term in the mathematical model of the double-difference observation is linearly expanded at the initial position of the user end to obtain the linearized RTK observation equation of the short baseline formed by the receiver and the reference station: H a ·x=l a +e, Among them, H a is the linearization matrix, l a is the linearized observation residual matrix, x is the result to be estimated, x includes the position coordinates of the receiver relative to the reference station and the corresponding double difference ambiguity, and ε is the observation noise.

3. The method according to claim 2, characterized in that Obtaining a floating point solution and a fixed solution for each receiver relative to the reference station in step 2 includes: Solving the RTK observation equation to obtain a floating-point solution for x, including a preliminary position coordinate and a floating-point estimate of the double-difference ambiguity; The floating-point estimate of the double-difference ambiguity is fixed to obtain an integerized double-difference ambiguity, and the integerized double-difference ambiguity is then substituted into the RTK observation equation to recalculate the position coordinates to obtain a fixed solution for x.

4. The method according to claim 1, wherein The coordinate closure error constraint information obtained in step 3 is: r r1，b -r r2，b ＝0， Here, let the two receivers be r1 and r2, and the reference station be b, r r1，b is the position coordinate of receiver r1 relative to the reference station b, r r2，b is the position coordinate of receiver r2 relative to the reference station b.

5. The method according to claim 1, wherein The ambiguity closure constraint information obtained in step 3 is: Here, let the two receivers be r1 and r2, and the reference station be b. is the double-difference ambiguity of receiver r1 and reference station b to satellite j and satellite k, is the double-difference ambiguity of receiver r2 and reference station b to satellite j and satellite k, is the double difference ambiguity between satellite j and satellite k that is pre-fixed by the zero baseline formed by receivers r1 and r2.

6. The method according to claim 1, characterized in that Detecting abnormal observations in step 4 includes: If the double difference ambiguity of satellite j and satellite k does not satisfy the ambiguity closure error constraint information, where satellite j is the used satellite and satellite k is the reference satellite, it is confirmed whether the abnormal observation value appears in satellite j or satellite k by switching the reference satellite k.

7. The method according to claim 1, characterized in that Before step 3, the method further includes: Determine whether there are zero baseline double difference observation differences and / or short baseline float solution differences; If the zero baseline double-difference observation difference or the short baseline floating-point solution difference exists, the subsequent steps to step 5 are executed.

8. The method according to claim 7, characterized in that Determining whether the zero baseline observation value difference exists includes: When the pseudorange zero baseline observation exceeds the pseudorange zero baseline observation threshold, or the carrier phase zero baseline observation exceeds the carrier phase zero baseline observation threshold, it is determined that the zero baseline double difference observation difference exists.

9. The method according to claim 8, characterized in that The pseudorange zero baseline observation threshold value ranges from 0.6m to 1.0m, and the carrier phase zero baseline observation threshold value ranges from 0.10 cycles to 0.25 cycles.

10. The method according to claim 7, characterized in that Determining whether the short baseline floating-point solution difference exists includes: When the root mean square of the deviation of the position coordinates in the floating-point solutions of the two receivers exceeds the position coordinate deviation threshold, or the root mean square of the deviation of the floating-point estimation values ​​of the double-difference ambiguity in the floating-point solutions of the two receivers exceeds the ambiguity deviation threshold, it is determined that the short baseline floating-point solution difference exists.

11. The method according to claim 10, characterized in that The position coordinate deviation threshold has a value range of 0.2m to 0.5m, and the ambiguity deviation threshold has a value range of 0.5m to 1.0m.

12. The method according to claim 7, characterized in that The method further comprises: If the zero baseline double-difference observation difference and / or the short baseline floating point solution difference does not exist, single-receiver RTK positioning is performed.

13. A dual-receiver satellite positioning system, characterized in that: The system is set up at the user end and includes an antenna, a power splitter, two receivers, a communication module and a data processing module, wherein: The antenna is used to receive satellite signals; The power splitter is connected to the antenna and is used to split the satellite signal received by the antenna into two paths and transmit them to the two receivers respectively; The two receivers process the received satellite signals to obtain respective observation quantities, and the two receivers are connected to the antenna via the power splitter to form a zero baseline configuration; The communication module is used to receive observation data and RTK differential data from the reference station; The data processing module is connected to the two receivers and the communication module, and is configured to execute the method according to any one of claims 1 to 12 based on observations from the two receivers and the communication module.

14. A dual-receiver satellite positioning device, characterized in that: The device comprises: A data acquisition unit, configured to acquire observations from a reference station and two receivers, wherein the two receivers are provided at a user terminal and connected to a common antenna provided at the user terminal via a power splitter to form a zero baseline; an RTK positioning unit, configured to perform real-time dynamic differential RTK positioning on a short baseline formed by the two receivers and the reference station, and obtain a floating point solution and a fixed solution for each receiver relative to the reference station; a constraint information extraction unit, configured to obtain coordinate closure error constraint information and ambiguity closure error constraint information based on a triangular closed loop formed by the two receivers and the reference station; a constraint information verification unit, configured to verify the fixed solution obtained by RTK positioning using the coordinate closure error constraint information and the ambiguity closure error constraint information, and detect abnormal observations; The positioning information determining unit is used to determine the final user terminal positioning information according to the test result.

15. An electronic device, characterized in that: The device includes a memory and a processor, wherein the memory is used to store computer instructions that can be executed on the processor, and the processor is used to implement the method according to any one of claims 1 to 12 when executing the computer instructions.

16. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method according to any one of claims 1 to 12 is implemented.

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