Multi-antenna multi-receiver satellite positioning method, device and system and storage medium

Abstract

The invention discloses a multi-antenna multi-receiver satellite positioning method, device and system and a storage medium. The method comprises the following steps: acquiring observed quantities of a plurality of receivers of a plurality of antennas and a base station, wherein at least one antenna is connected with at least two receivers through a power divider to form a zero baseline configuration; detecting an abnormal observed quantity by using the zero-baseline double-difference observed quantity; establishing a multi-antenna multi-receiver RTK observation equation set; obtaining an RTK floating solution and a fixed solution; verifying an RTK fixed solution through a coordinate closure error and ambiguity closure error constraint; and obtaining a final positioning result. According to the method, more observed quantities and geometric constraints are provided through multi-antenna multi-receiver configuration, the precision and reliability of robust RTK positioning are effectively improved, the RTK fixed rate close to 100% is achieved in typical environments such as urban main roads and avenues, and the high-precision positioning requirement in a complex observation environment can be met.

Description

Technical Field

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

[0002] With the rapid development of emerging applications such as autonomous driving and drones, the demand for high-precision navigation is becoming increasingly urgent. Especially in complex urban environments, the robust high-precision positioning capability of the Global Navigation Satellite System (GNSS) faces severe challenges.

[0003] At present, the Real-Time Kinematic (RTK) technology based on GNSS carrier phase has been widely used in surveying and mapping, deformation monitoring and other fields. Through the continuous and stable pseudo-range and carrier phase observations provided by the GNSS receiver, RTK technology can achieve centimeter-level or even millimeter-level positioning accuracy. However, in complex observation environments such as urban building obstruction and tree obstruction on boulevards, the receiver is easily affected by multipath signals and amplitude fading, resulting in increased observation errors. In extreme cases, it may even cause signal loss of lock, resulting in a sharp reduction in available observations, which seriously affects positioning performance.

[0004] Traditional RTK technology faces many challenges in complex urban environments. First, due to the presence of obstructions, the number of visible satellites is reduced, resulting in insufficient observations and difficulty in obtaining high-precision positioning results. Second, multipath effects and signal fading will introduce abnormal observations and reduce positioning accuracy. In addition, in a severely obstructed environment, the receiver may frequently lose lock, resulting in discontinuity in positioning results.

[0005] In order to solve these problems, researchers have proposed a variety of improvement methods, such as using inertial navigation to improve the continuous positioning capability in GNSS-denied environments, using visual sensors to identify multipath observations, etc. However, these methods are still limited in effect in complex urban environments, especially in tree-lined road environments, and it is difficult to meet the requirements of high-precision and high-reliability positioning for applications such as autonomous driving.

[0006] Therefore, there is an urgent need for a more robust RTK positioning algorithm that can effectively solve the problem of reduced receiver observation quality in complex urban observation environments and improve positioning accuracy and reliability to meet the needs of emerging applications. Summary of the invention

[0007] The disclosed embodiments provide a multi-receiver multi-antenna satellite positioning technology, which can significantly improve the accuracy and reliability of satellite positioning in complex observation environments.

[0008] According to an embodiment of the present disclosure, a multi-antenna multi-receiver satellite positioning method is proposed, comprising:

[0009] Obtaining observations of multiple receivers of multiple antennas at the user end and observations of the reference station, wherein at least one of the antennas is connected to at least two receivers via a power divider to form a zero baseline configuration;

[0010] Detect abnormal observations using zero-baseline double-difference observations and process the detected abnormal observations;

[0011] Based on the RTK observation equation, baseline length observation equation and baseline vector triangle closure error observation equation, a multi-antenna multi-receiver RTK observation equation group is jointly established;

[0012] Solving the multi-antenna multi-receiver RTK observation equations to obtain an RTK floating point solution and a fixed solution;

[0013] Using the geometric relationship between receivers, the RTK fixed solution is verified through coordinate closure constraints and ambiguity closure constraints;

[0014] The final positioning result is obtained based on the verified RTK fixed solution.

[0015] In some embodiments, detecting abnormal observations using zero-baseline double-difference observations includes:

[0016] The zero baseline double difference pseudorange observation ZDO is calculated based on the following formula P and zero baseline double difference carrier phase observation ZDO φ :

[0017]

[0018] Among them, r1 and r2 are two receivers connected to the same antenna, is the double difference of pseudorange observations of satellites j and k from 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;

[0019] The calculated zero baseline double difference pseudorange observation ZDO P and zero baseline double difference carrier phase observation ZDO φ Perform outlier detection separately.

[0020] In some embodiments, the calculated zero baseline double difference pseudorange observation ZDOP Outlier detection includes:

[0021] If the calculated zero baseline double difference pseudorange observation ZDO P If the absolute value of exceeds the zero baseline pseudorange deviation threshold, the zero baseline double difference pseudorange observation ZDO is judged to be P There are anomalies in the related observations.

[0022] In some implementations, the zero baseline pseudorange deviation threshold is 0.6 m.

[0023] In some embodiments, the calculated zero baseline double difference carrier phase observation ZDO φ Outlier detection includes:

[0024] If the calculated zero baseline double-difference carrier phase observation ZDO φ If there is a full cycle jump, a half cycle jump, or exceeds the zero baseline carrier phase deviation threshold, the zero baseline double difference carrier phase observation ZDO is determined. φ There are anomalies in the related observations.

[0025] In some implementations, the zero baseline carrier phase deviation threshold is 10% of the carrier phase wavelength.

[0026] In some embodiments, the method further comprises:

[0027] The RTK observation equation is established based on the following formula:

[0028] H a x = l a +ε,

[0029] 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 connected to the antenna relative to the reference station and the corresponding double difference ambiguity, and ε is the observation noise.

[0030] In some embodiments, the method further comprises:

[0031] The baseline length observation equation is established based on the following formula:

[0032] H e ·[r r3,b -r r1,b N r3,r1 ] T =d r3,r1 +ε e ,

[0033] Among them, r1 and r3 are two receivers connected to different antennas, b is the reference station, are the position coordinates of receivers r1 and r3 relative to the base station b in the RTK floating point solution, n is the number of double difference observations, and r r1,b 、r r3,b are the position coordinates of the receivers r1 and r3 to be estimated relative to the reference station b, N r3,r1 is the integer ambiguity of receiver r1 relative to receiver r3, d r3,r1 is the pre-measured distance between the two antennas connecting the receivers r1 and r3, ε e is the measurement error of the distance between the two antennas.

[0034] In some embodiments, the method further comprises:

[0035] The baseline vector triangle closure error observation equation is established based on the following formula:

[0036]

[0037] Among them, r1, r2, r3 are all receivers connected to the antenna and three receivers in the reference station, H c =[I -I -I], I is the identity matrix, are the position coordinates of receiver r1 relative to receiver r2, the position coordinates of receiver r3 relative to receiver r2, and the position coordinates of receiver r1 relative to receiver r3 in the RTK floating point solution, ε c is the RTK floating point solution estimation error.

[0038] In some embodiments, the verifying the RTK fixed solution by using the coordinate closure constraint condition includes:

[0039] The RTK fixed solution is verified based on the following coordinate closure constraints:

[0040]

[0041] Among them, r1 and r3 are two receivers connected to the antenna, b is the reference station, is the position coordinate of the receiver r1 relative to the base station in the RTK fixed solution, is the position coordinate of the receiver r3 relative to the base station in the RTK fixed solution, is the position coordinate of receiver r1 relative to receiver r3 in the RTK fixed solution, ε d is the RTK fixed solution estimation error.

[0042] In some embodiments, the verifying the RTK fixed solution by using the ambiguity closure constraint condition includes:

[0043] The RTK fixed solution is verified based on the following ambiguity closure constraints:

[0044]

[0045] Among them, r1 and r3 are two receivers connected to the antenna, b is the reference station, They are the double difference ambiguity of receiver r1 and base station b to satellite j and satellite k in the RTK fixed solution, the double difference ambiguity of receiver r3 and base station b to satellite j and satellite k, and the double difference ambiguity of receiver r1 and receiver r3 to satellite j and satellite k.

[0046] According to an embodiment of the present disclosure, a multi-antenna multi-receiver satellite positioning system is also proposed. The system is arranged at a user end and includes multiple antennas, at least one power splitter, multiple receivers, a communication module and a data processing module, wherein:

[0047] The antenna is used to receive satellite signals;

[0048] The receiver is connected to the antenna and is used to process the satellite signal to obtain an observed quantity, wherein at least one of the antennas is connected to at least two receivers via the corresponding power divider to form a zero baseline configuration;

[0049] The communication module is used to receive the observation value of the reference station;

[0050] The data processing module is connected to the multiple receivers and the communication module, and is used to execute the method described above based on the observations of the receivers and the observations of the reference station.

[0051] According to an embodiment of the present disclosure, a multi-antenna multi-receiver satellite positioning device is also proposed, including:

[0052] An observation acquisition unit, used to acquire observations of multiple receivers of multiple antennas at the user end and observations of the reference station, wherein at least one of the antennas is connected to at least two receivers via a power divider to form a zero baseline configuration;

[0053] A zero-baseline observation anomaly detection unit, used to detect anomaly observations using zero-baseline double-difference observations, and process the detected anomaly observations;

[0054] A multi-antenna multi-receiver RTK observation equation group establishing unit, used for jointly establishing a multi-antenna multi-receiver RTK observation equation group based on the RTK observation equation, the baseline length observation equation and the baseline vector triangle closure error observation equation;

[0055] An RTK solution unit, used for solving the multi-antenna multi-receiver RTK observation equation group to obtain an RTK floating point solution and a fixed solution;

[0056] A fixed solution verification unit is used to verify the RTK fixed solution by using the geometric relationship between receivers through coordinate closure constraints and ambiguity closure constraints;

[0057] The fixed solution positioning unit is used to obtain the final positioning result based on the verified RTK fixed solution.

[0058] According to one embodiment of the present disclosure, an electronic device is also proposed, the device comprising a memory and a processor, the memory is used to store computer instructions executable on the processor, and the processor is used to implement the above method when executing the computer instructions.

[0059] According to an embodiment of the present disclosure, a computer-readable storage medium is further provided, on which a computer program is stored. When the program is executed by a processor, the method described above is implemented.

[0060] The multi-antenna multi-receiver satellite positioning scheme proposed in the present disclosure significantly increases the available observation quantity by adopting a multi-antenna structure, effectively alleviating the problem of insufficient observation quantity in complex urban environments; the zero baseline configuration formed by connecting multiple receivers with a single antenna can effectively detect abnormal observation quantity by analyzing the zero baseline double difference observation quantity, and significantly improve the quality of the observation quantity; the baseline length constraint and baseline vector triangle closure constraint formed between multiple antennas are introduced, and the multi-antenna multi-receiver RTK observation equation group constructed by solving the simultaneous RTK observation equation, the baseline length observation equation and the baseline vector triangle closure difference observation equation further enhances the strength of RTK settlement and improves positioning accuracy; the multi-receiver zero baseline configuration not only provides more observation quantity, but also forms an additional baseline vector triangle closure constraint, which provides reliable coordinate closure difference and ambiguity closure difference constraint conditions for the verification of RTK fixed solution, and this multiple verification mechanism significantly improves the reliability of RTK fixed solution. In particular, the multi-antenna configuration adopted in the present disclosure also effectively improves the problem of insufficient difference of single antenna zero baseline observation quantity, and further enhances the robustness of the system. Combining the above advantages, the present invention can achieve a RTK fixation rate close to 100% in complex observation environments such as urban main roads and boulevards, significantly improving the accuracy, reliability and continuity of positioning, and can meet the strict requirements of emerging applications such as autonomous driving for high-precision positioning. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] 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.

[0062] Figure 1A flowchart of a multi-antenna multi-receiver satellite positioning method according to an embodiment of the present disclosure is shown;

[0063] Figure 2 A schematic diagram of satellite positioning of a dual-antenna four-receiver structure according to an exemplary embodiment of the present disclosure is shown;

[0064] Figure 3 The RTK positioning process according to an exemplary embodiment of the present disclosure is shown;

[0065] Figure 4 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;

[0066] Figure 5 A schematic diagram of a dual-antenna four-receiver RTK positioning process according to an exemplary embodiment of the present disclosure is shown;

[0067] Figure 6 A schematic diagram of a multi-antenna multi-receiver satellite positioning system at a user end according to an exemplary embodiment of the present disclosure is shown;

[0068] FIG. 7( a ) and FIG. 7( b ) respectively show the positioning error statistics of the RTK fixed solution obtained by using the traditional single-receiver RTK positioning method and the dual-antenna four-receiver satellite positioning method according to an exemplary embodiment of the present disclosure;

[0069] Figure 8 It is a schematic diagram of the structure of an electronic device shown in at least one embodiment of the present disclosure. DETAILED DESCRIPTION

[0070] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0071] The disclosed embodiments may be applied to a computer system / server that may operate with numerous other general or special computing system environments or configurations. Examples of well-known computing systems, environments, and / or configurations suitable for use with a 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, networked personal computers, minicomputer systems, mainframe computer systems, and distributed cloud computing technology environments including any of the above systems, and the like.

[0072] Computer systems / servers may be described in the general context of computer system executable instructions (such as program modules) executed by a computer system. In general, program modules may include routines, programs, object programs, components, logic, data structures, etc., which 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 communication network. In a distributed cloud computing environment, program modules may be located on local or remote computing system storage media including storage devices.

[0073] Figure 1 The flowchart of the multi-antenna multi-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 6.

[0074] Step 1: Obtain observations of multiple receivers of multiple antennas at the user end and observations of the reference station, wherein at least one of the antennas is connected to at least two receivers via a power divider to form a zero baseline configuration.

[0075] In one embodiment of the present disclosure, the user terminal can be deployed on a carrier such as an autonomous driving car or a drone. Figure 2 The user-side multi-antenna multi-receiver satellite positioning system shown includes two antennas (a1, a2) and four receivers (r1, r2, r3, r4). Receivers r1 and r2 are connected to antenna a1 through a power divider to form a zero baseline configuration; similarly, receivers r3 and r4 are connected to antenna a2 through a power divider to form a zero baseline configuration. RTK differential data is provided by the base station b and can be sent to the user-side carrier through a communication network or a radio station.

[0076] The multi-antenna multi-receiver satellite positioning method according to this embodiment can obtain more observations, which helps to improve positioning accuracy and reliability. The zero baseline structure enables the use of multiple receiver data from the same antenna for abnormal observation detection, while the multi-antenna structure provides additional geometric constraints, which helps to improve the stability of the positioning solution, as described below.

[0077] It is particularly important to emphasize that the technical solution proposed in this embodiment is not limited to the configuration of dual antennas and four receivers. According to the structure of the actual carrier and the complexity of the observation environment, the number of antennas and receivers can be flexibly increased or decreased. For example, when the observation environment is harsh, more antennas can be added to facilitate the subsequent formation of more baseline length observation equations and baseline vector triangle closure error constraints; more receivers can also be connected to a single antenna through a power divider to form multiple groups of zero baseline observations, enhance the detection capability of abnormal observations, and more zero baseline receivers can also obtain more observations and form more baseline vector triangle closure error constraints. By increasing the number of observation equations and providing more fixed solution test conditions, the RTK robust positioning capability in complex observation environments can be improved. In theory, according to the law of error propagation, the more antennas and receivers there are, the greater the gain in RTK positioning performance, but in actual applications, the equipment cost, observation environment and carrier structure should be comprehensively considered to make appropriate choices. Figure 6 A schematic diagram of a configuration of M antennas is given, where each antenna is connected to at most N receivers via a power divider. In one example, each of the M antennas can be connected to N receivers; in another example, some of the M antennas can be connected to N receivers via a power divider, and the other antennas can be connected to only one receiver.

[0078] Step 2: Use the zero-baseline double-difference observations to detect abnormal observations and process the detected abnormal observations.

[0079] In the zero-baseline configuration, since the two receivers are connected to the same antenna, their physical locations can be considered the same. This configuration proposed by the present disclosure enables the use of zero-baseline double-difference observations to effectively identify abnormal observations.

[0080] In some embodiments, detecting abnormal observations using zero-baseline double-difference observations may include:

[0081] The zero baseline double difference pseudorange observation ZDO is calculated based on the following formula P and zero baseline double difference carrier phase observation ZDO φ :

[0082]

[0083] Among them, r1 and r2 are two receivers connected to the same antenna, is the double difference of pseudorange observations of satellites j and k from 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;

[0084] The calculated zero baseline double difference pseudorange observation ZDO P and zero baseline double difference carrier phase observation ZDO φ Perform outlier detection separately.

[0085] ZDO P and ZDO φ They represent the zero-baseline double-difference observations of pseudorange and carrier phase, respectively. Since the two receivers are in the same position in the zero-baseline configuration, theoretically these double-difference observations should be very close to zero, containing only observation noise and possible hardware delays. Therefore, if there are values ​​that deviate significantly from zero, it may indicate the presence of abnormal observations.

[0086] In some embodiments, the calculated zero baseline double difference pseudorange observation ZDO P Outlier detection includes:

[0087] If the calculated zero baseline double difference pseudorange observation ZDO P If the absolute value of exceeds the zero baseline pseudorange deviation threshold, it is determined that the related observation quantity of the zero baseline double difference pseudorange observation quantity is abnormal.

[0088] In some preferred embodiments, the zero baseline pseudorange deviation threshold is 0.6 m.

[0089] The inventors have conducted in-depth research on the zero baseline pseudorange observation noise and believe that it usually does not exceed 0.3m. When performing double difference operations, according to the error propagation law, the noise amplification factor of the double difference is 2.0. Therefore, in the preferred embodiment, the inventors set the zero baseline pseudorange deviation threshold to 0.6m (i.e. 0.3m×2), so as to effectively detect abnormal zero baseline double difference pseudorange observations ZDO with deviations exceeding ±0.6m. P .

[0090] In one example, if the calculated ZDO P If the absolute value of exceeds 0.6m, it is possible that one or more of the observations of receiver r1 using satellite j, the observations of receiver r1 using reference satellite k, the observations of receiver r2 using satellite j, and the observations of receiver r2 using reference satellite k are abnormal. That is, the abnormality may come from a single observation value or a combination of multiple observations. When processing abnormal observations, the abnormal zero baseline double difference pseudorange observation ZDO can be used as the PAll related observations are marked as abnormal observations. In the subsequent processing, these observations are eliminated or their weights are reduced. They can also be analyzed in combination with time series and other double-difference data to further determine or narrow the scope of abnormal observations and then process them.

[0091] In some embodiments, the calculated zero baseline double difference carrier phase observation ZDO φ Outlier detection includes:

[0092] If the calculated zero baseline double-difference carrier phase observation ZDO φ If there is a full cycle jump, a half cycle jump or exceeds the zero baseline carrier phase deviation threshold, it is determined that the related observation quantity of the zero baseline double difference carrier phase observation quantity is abnormal.

[0093] The zero baseline double difference carrier phase observation ZDO calculated by formula (1) φ It can effectively detect full-cycle jumps, half-cycle jumps, and non-full-cycle deviations exceeding a certain threshold.

[0094] In an ideal situation with no jump or deviation, ZDO φ should be very close to an integer. If we observe that the calculated ZDO φ A sudden change of nearly an integer number of wavelengths indicates that a full cycle jump may have occurred; if the calculated ZDO is observed φ If the value of ZDO is changed suddenly by nearly half a wavelength, it indicates that a half-cycle jump may have occurred. Preferably, the zero baseline carrier phase deviation threshold is set to 10% of the carrier phase wavelength. φ If the carrier phase deviation exceeds 10% of the wavelength, a non-integer deviation may have occurred.

[0095] The inventors set the zero-baseline carrier phase deviation threshold to 10% of the carrier phase wavelength in the preferred embodiment based on the following considerations. Considering that the observation noise of the carrier phase is usually 0.003m, and the wavelength of the carrier phase is about 0.2m, this means that the zero-baseline carrier phase observation noise is usually less than 1.5% of the carrier phase wavelength (0.003m / 0.2m=1.5%). In order to strike a balance between detecting anomalies and retaining valid data, and appropriately relax the threshold to obtain more observations, the inventors preferably set the zero-baseline carrier phase deviation threshold to 10% of the carrier phase wavelength, which can effectively detect non-integer deviations while avoiding misjudging normal observation noise as abnormal.

[0096] In one example, when an abnormal zero baseline double-difference carrier phase observation ZDO is observed φ, then there may be anomalies in one or more of the carrier phase observations of receiver r1 using satellite j, the carrier phase observations of receiver r1 using reference satellite k, the carrier phase observations of receiver r2 using satellite j, and the carrier phase observations of receiver r2 using reference satellite k. For integer jumps and half-cycle jumps, the anomaly usually occurs in a single observation, and the abnormal observation can be determined by combining the time series; for non-integer deviations, it may be a problem caused by a single observation, or it may be the result of the combined effect of multiple observations.

[0097] Similarly, for the zero baseline double difference carrier phase observation ZDO φ The abnormal zero baseline double difference carrier phase observation ZDO can be processed φ All related observations are marked as abnormal observations. In the subsequent processing, these observations are eliminated or their weights are reduced. They can also be analyzed in combination with time series and other double-difference data to further determine or narrow the scope of abnormal observations and then process them.

[0098] Using zero-baseline double-difference observations, abnormal observations can be effectively identified and processed to improve the accuracy and reliability of subsequent RTK solutions. Especially in complex urban environments, abnormal observation detection can greatly improve the performance of RTK positioning.

[0099] Furthermore, since this embodiment uses multiple antennas and multiple receivers, even if some observations are eliminated due to abnormalities, there are still enough other observations to support RTK solution.

[0100] Step 3: Based on the RTK observation equation, the baseline length observation equation and the baseline vector triangle closure error observation equation, a multi-antenna multi-receiver RTK observation equation group is jointly established.

[0101] In satellite differential positioning, the observation equations of pseudorange and carrier phase can be expressed as:

[0102]

[0103] In formula (2), 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 ε are the observation noise of the pseudorange and carrier phase respectively.

[0104] In formula (2), the difference between the observations of the two receivers can eliminate the errors related to the satellite, the difference between the observations of the two satellites can eliminate the errors related to the receiver, and the difference between the observations of the two receivers and the two satellites (called double difference observations) can eliminate the errors related to the satellite and the receiver. When the distance between the two receivers is close (no more than 5km), the ionospheric delay and the tropospheric delay can also be approximately eliminated by receiver difference, and the final double difference observation equation is:

[0105]

[0106] 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.

[0107] The geometric distance term in formula (3) By linearly expanding at the initial position of the user end, the linearized RTK observation equation can be obtained:

[0108] H a x = l a +ε, (4)

[0109] 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.

[0110] Taking the RTK observation equation of receiver r1 as an example, H a It can be expressed as A is the coefficient matrix composed of satellite positions and user terminal positions, 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 linearized observation residual matrix; 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 recorded as

[0111] The number of unknown parameters in formula (4) is (3+n), and 2n RTK observation equations such as formula (4) can be established. When the number of double-difference observations reaches 3 or more (i.e., n≥3), the least squares estimation is performed on formula (4). Taking receiver r1 as an example, the floating-point solution of x can be obtained. The carrier phase of a GNSS satellite usually has millimeter-level ranging accuracy, but when used, its phase integer ambiguity N must be accurately fixed. r1,b Considering that the ambiguity has integer characteristics, the integer solution of the carrier phase ambiguity N can be obtained by integer search or integer transformation. The double difference ambiguity is integerized Substitute the RTK observation equation and recalculate to obtain high-precision position coordinates The corresponding x-fixed solution is RTK results with ambiguity fixed can usually achieve centimeter-level positioning accuracy.

[0112] The detailed RTK positioning process is as follows: Figure 3 As shown. Taking receiver r1 and base station b as an example, the observations of user-side receiver r1 and base station b can be obtained, and preprocessed, such as time synchronization of the observations; then the observations of the single user-side receiver and the base station are subtracted, and the observations of the two satellites are subtracted to obtain double-difference observations of pseudorange and carrier phase; obtain the double-difference observation equation; perform RTK positioning and estimate the RTK floating-point solution; fix the carrier phase double-difference ambiguity in the RTK floating-point solution by carrier phase integer ambiguity search and other methods to obtain the double-difference ambiguity fixed to an integer; perform RTK fixed solution inspection; and obtain the RTK fixed solution that passes the final inspection.

[0113] The fixed solution test of the RTK observation equation can be carried out by using ratio test, residual test, consistency test of floating point solution and fixed solution, continuity test, etc. The ratio test usually compares the square sum residual ratio of the best integer ambiguity solution and the second best solution. If the residual ratio exceeds a certain threshold, the fixed solution is considered reliable. The residual test usually checks whether the observation residual of the fixed solution is within a reasonable range. If the residual is too large, it may indicate that the fixed solution is unreliable. The consistency test of floating point solution and fixed solution is used to compare the difference between the fixed solution and the floating point solution. If the difference is too large, it may indicate that the fixed solution is unreliable. The continuity test is used to check the consistency of the fixed solution between consecutive observation epochs. If the change is too large, it may indicate that the fixed solution is unstable.

[0114] In some embodiments, the baseline length observation equation may be established based on the following formula:

[0115] H e ·[r r3,b -r r1,bN r3,r1 ] T =d r3,r1 +ε e , (5)

[0116] Among them, r1 and r3 are two receivers connected to different antennas, b is the reference station, are the position coordinates of receivers r1 and r3 relative to the base station b in the RTK floating point solution, n is the number of double difference observations, and r r1,b 、r r3,b are the position coordinates of the receivers r1 and r3 to be estimated relative to the reference station b, N r3,r1 is the integer ambiguity of receiver r1 relative to receiver r3, d r3,r1 is the pre-measured distance between the two antennas connecting the receivers r1 and r3, ε e is the measurement error of the distance between the two antennas.

[0117] d r3,r1 It can be measured in advance using tools such as a steel ruler. Usually, the baseline length error e measured by a steel ruler is about 0.02m. This error level is much smaller than the typical error of GNSS observations, so it can effectively improve positioning results.

[0118] In a multi-antenna system according to this embodiment, the distance between different antennas is fixed, and this embodiment uses this information to enhance the geometric strength of the RTK solution. By formula (5), using the pre-measured antenna distance d r3,r1 To limit the relative position of the two receivers, it helps to maintain high positioning accuracy when satellite observation conditions are poor.

[0119] For Figure 2 In the dual-antenna four-receiver configuration shown, receivers r1 and r3, and receivers r2 and r4 can all establish baseline length observation equations based on formula (5).

[0120] In the multi-receiver system according to this embodiment, the three baseline vectors formed by any three receivers (including the reference station) form a closed triangle. The baseline vector triangle closure error observation equation can be established based on the following formula:

[0121]

[0122] Among them, r1, r2, r3 are all receivers connected to the antenna and three receivers in the reference station, H c =[I -I -I], I is the identity matrix, are the position coordinates of receiver r1 relative to receiver r2, the position coordinates of receiver r3 relative to receiver r2, and the position coordinates of receiver r1 relative to receiver r3 in the RTK floating point solution, ε c is the RTK floating point solution estimation error.

[0123] It should be noted that the above representations of the position coordinates and ambiguity of the baseline vector are all directional, such as r r1,r3 and N r1,r3 denote the position coordinates and ambiguity of receiver r1 relative to r3, respectively. r3,r1 and N r3,r1 They represent the position coordinates and ambiguity of the receiver r3 relative to r1, and the conversion relationship between the two is r r1,r3 =-r r3,r1 , N r1,r3 =-N r3,r1 This directionality of the baseline vector applies to all formulas involved in this disclosure.

[0124] by Figure 4 The above baseline vector triangle closure error observation equation (6) is exemplarily described by taking the triangle closed loop formed by the receivers r1, r3 and the reference station b according to an exemplary embodiment of the present disclosure as an example. Figure 4 The three baseline vectors 'r1-b', 'r3-b' and 'r1-r3' shown should satisfy the coordinate closure error of 0, that is:

[0125] r r1,b -r r3,b -r r1,r3 =0, (7)

[0126] This condition can be transformed to obtain the baseline vector triangle closure error observation equation as formula (6), which is used in the RTK solution process. Its specific form is as follows:

[0127]

[0128] Among them, H c =[I -I -I], I is the identity matrix, are the position coordinates of receivers r1 and r3 relative to base station b in the RTK floating point solution, is the position coordinate of receiver r1 relative to receiver r3 in the RTK floating point solution, ε c is the RTK floating point solution estimation error.

[0129] In some embodiments, the above-mentioned baseline vector triangle closure error observation equation is combined in the multi-antenna multi-receiver RTK observation equation group, which can verify the consistency of the RTK solution and provide additional geometric constraints to enhance the stability of the solution.

[0130] against Figure 2 In the dual-antenna four-receiver configuration shown, in addition to receivers R1, R3 and B, the triangular closed loop formed by other three receivers such as receivers R1, R2 and B, receivers R1, R2, R4, etc. can also construct the baseline vector triangle closure difference observation equation as shown in formula (6). Figure 1 The five receivers in (the base station b is also regarded as a receiver) can form a total of The baseline vector closure error is 0, as shown in formula (6). Extending to a configuration with L receivers, we can establish The baseline vector triangle closure difference observation equation is as shown in formula (6).

[0131] Combining the above formulas (4), (5) and (6), the multi-antenna multi-receiver RTK observation equation group can be constructed. Compared with the traditional single-receiver RTK, the multi-antenna multi-receiver (e.g. Figure 2 The dual-antenna four-receiver) scheme shown in the figure not only has more observation quantities, but also can obtain the dual-antenna baseline length observation equation and the baseline vector triangle closure difference observation equation, thereby significantly improving the problem of insufficient number of observations in complex observation environments and helping to improve the accuracy and reliability of positioning.

[0132] Step 4: Solve the multi-antenna multi-receiver RTK observation equation group to obtain an RTK floating point solution and a fixed solution.

[0133] The process of estimating the RTK floating point solution and then calculating the RTK fixed solution has been introduced above, so it will not be repeated here. At the same time, the baseline length observation equation and the baseline vector triangle closure error observation equation play an important auxiliary role in the solution process, which helps to improve the accuracy and reliability of the solution.

[0134] Step 5: Using the geometric relationship between the zero baseline configuration and the receiver, the RTK fixed solution is verified through coordinate closure error constraints and ambiguity closure error constraints.

[0135] In some embodiments, validating the RTK fixed solution using coordinate closure constraints includes:

[0136] The RTK fixed solution is verified based on the following coordinate closure constraints:

[0137]

[0138] Among them, r1 and r3 are two receivers connected to the antenna, b is the reference station, is the position coordinate of the receiver r1 relative to the base station in the RTK fixed solution, is the position coordinate of the receiver r3 relative to the base station in the RTK fixed solution, is the position coordinate of receiver r1 relative to receiver r3 in the RTK fixed solution, ε d is the RTK fixed solution estimation error.

[0139] Ideally, the three baseline vectors should form a completely closed triangle, i.e. However, due to measurement errors and calculation errors in actual engineering, there may also be certain systematic errors between non-zero baseline receivers, so a small error ε can be allowed d If the coordinate closure error ε in formula (9) d Within the allowable error range, that is, the RTK fixed solution estimation error ε d If the absolute value of is less than the preset coordinate closure error threshold, the position coordinates in the RTK fixed solution can be considered reliable.

[0140] The selection of the coordinate closure error threshold can comprehensively consider a variety of factors, such as the expected accuracy of the RTK fixed solution, the complexity of the test environment, the performance of the receiver and antenna, the baseline length, etc. When selecting the coordinate closure error threshold, a balance can be achieved between the detection capability and the false alarm rate. If the coordinate closure error threshold is set too small, many valid fixed solutions may be mistakenly denied, while if it is set too large, the wrong fixed solution may not be effectively identified. In practical applications, those skilled in the art can determine the coordinate closure error threshold based on experiments and experience to adapt to specific application scenarios and requirements.

[0141] In some embodiments, validating the RTK fixed solution using ambiguity closure constraints includes:

[0142] The RTK fixed solution is verified based on the following ambiguity closure constraints:

[0143]

[0144] Among them, r1 and r3 are two receivers connected to the antenna, b is the reference station, They are the double difference ambiguity of receiver r1 and base station b to satellite j and satellite k in the RTK fixed solution, the double difference ambiguity of receiver r3 and base station b to satellite j and satellite k, and the double difference ambiguity of receiver r1 and receiver r3 to satellite j and satellite k.

[0145] Since the ambiguity is an integer value, the formula (10) should be accurate in the verification. If the formula (10) is not true, it means that there may be an error in the ambiguity fixation.

[0146] The ambiguity closure error constraint condition of formula (10) can also be used to check abnormal observations. Once the observation of a certain satellite does not meet the above ambiguity closure error constraint condition of 0, it can be considered that the observation is abnormal. The abnormal observation can be eliminated to update the available observation set, and RTK positioning can be re-performed based on the updated available observation set.

[0147] By applying coordinate closure constraints and ambiguity closure constraints, the correctness of the RTK fixed solution can be fully verified and abnormal observations can be eliminated. This multiple verification mechanism greatly improves the reliability of the RTK fixed solution, especially in complex urban environments.

[0148] In addition, for single-antenna dual-receiver RTK positioning, a necessary prerequisite for effective fixed solution verification based on the closure error constraints of formulas (9) and (10) is that there is an observation difference when the two zero-baseline receivers process the signal of the same antenna. Because if there is no observation difference between the two zero-baseline receivers, the closure error constraints of formulas (9) and (10) are always valid, and the detection meaning is lost. However, for the multi-antenna multi-receiver (e.g. Figure 2 In the dual antenna and four receiver configuration shown in FIG. 1 , due to the different antenna positions, the observed values ​​are significantly different. Therefore, the multi-antenna (eg, dual antenna) solution according to this embodiment can also make up for the problem of insufficient difference in zero baseline observed values ​​of a single antenna.

[0149] Step 6: Get the final positioning result based on the verified RTK fixed solution.

[0150] The verified RTK fixed solution can be used as the final positioning result.

[0151] The multi-antenna multi-receiver satellite positioning method proposed in this embodiment can significantly improve the positioning accuracy and reliability in complex urban environments. Figure 2 The dual-antenna, four-receiver satellite positioning shown can achieve a nearly 100% RTK fix rate in an urban environment, a significant improvement over the 65% fix rate of traditional single-receiver RTK positioning, and can better meet the needs of applications such as autonomous driving that have strict requirements for high-precision positioning.

[0152] The advantages of the above multi-antenna multi-receiver satellite positioning method are particularly evident in complex observation environments such as urban areas. The multi-antenna configuration provides more observation quantities and geometric constraints, while the multi-receiver configuration enhances the detection capability of abnormal observation quantities, so that the multi-antenna multi-receiver satellite positioning method according to the embodiment of the present disclosure can effectively cope with complex situations such as urban building occlusion and multipath effects, and maintain high-precision and high-reliability positioning performance.

[0153] In order to better understand the multi-antenna multi-receiver satellite positioning method proposed in the present disclosure, the following takes a dual-antenna four-receiver RTK positioning system as an example to describe its working process in detail. Figure 5 A schematic diagram of the dual-antenna four-receiver positioning process is shown.

[0154] First, the observations are obtained through the single antenna dual receiver and dual antenna dual receiver parts. The single antenna dual receiver part calculates the zero baseline observations and performs abnormal observation detection according to formula (1). This step can effectively detect and process abnormal carrier phase observations such as cycle slips, half cycle and non-full cycle deviations, as well as abnormal pseudorange observations, thereby significantly improving the quality of the observations.

[0155] Next, we enter the RTK floating-point solution estimation stage. In this stage, multiple key equations are combined. The single-antenna dual-receiver observations after processing the abnormal observations are used to establish the single-antenna dual-receiver observation equation (reference formula (4)) and the baseline vector triangle closure error observation equation (reference formula (6)). The dual-antenna dual-receiver observations are used to establish the dual-antenna dual-receiver RTK observation equation (reference formula (4)), the baseline vector triangle closure error observation equation (reference formula (6)), and the dual-antenna baseline length observation equation (reference formula (5)). With the help of these formulas, the RTK floating-point solution observation equation is solved, and the RTK floating-point solution is obtained by least squares estimation, including the estimated coordinate position and ambiguity floating-point solution, and the carrier phase integer ambiguity is fixed.

[0156] Finally, the RTK fixed solution estimation phase is entered. In this phase, the fixed solution is first verified using the constraint that the ambiguity closure error after fixation is 0, refer to formula (10), and then the fixed solution is verified using the constraint that the fixed solution coordinate closure error is 0, refer to formula (9). The verified fixed solution is obtained as a reliable RTK fixed solution.

[0157] Figure 5 The multi-step, multi-verification process design shown in the figure fully utilizes the geometric advantages of the multi-antenna multi-receiver system, which not only improves the positioning accuracy, but also greatly enhances the positioning robustness in complex observation environments. Especially in environments where satellite signals are susceptible to interference, such as urban canyons, this method can significantly improve the success rate and reliability of RTK fixed solutions.

[0158] The embodiment of the present disclosure also provides a multi-antenna multi-receiver satellite positioning system, which is arranged at a user end and includes multiple antennas, at least one power splitter, multiple receivers, a communication module and a data processing module, wherein:

[0159] The antenna is used to receive satellite signals;

[0160] The receiver is connected to the antenna and is used to process the satellite signal to obtain an observed quantity, wherein at least one of the antennas is connected to at least two receivers via the corresponding power divider to form a zero baseline configuration;

[0161] The communication module is used to receive the observation value of the reference station;

[0162] The data processing module is connected to the multiple receivers and the communication module, and is used to perform the multi-antenna multi-receiver satellite positioning method as described above based on the observations of the receivers and the observations of the reference station.

[0163] For other details and advantages of the system, please refer to the above description of the multi-antenna multi-receiver satellite positioning method, which will not be repeated here.

[0164] The present disclosure also provides a multi-antenna multi-receiver satellite positioning device, including:

[0165] An observation acquisition unit, used to acquire observations of multiple receivers of multiple antennas at the user end and observations of the reference station, wherein at least one of the antennas is connected to at least two receivers via a power divider to form a zero baseline configuration;

[0166] A zero-baseline observation anomaly detection unit, used to detect anomaly observations using zero-baseline double-difference observations, and process the detected anomaly observations;

[0167] A multi-antenna multi-receiver RTK observation equation group establishing unit, used for jointly establishing a multi-antenna multi-receiver RTK observation equation group based on the RTK observation equation, the baseline length observation equation and the baseline vector triangle closure error observation equation;

[0168] An RTK solution unit, used for solving the multi-antenna multi-receiver RTK observation equation group to obtain an RTK floating point solution and a fixed solution;

[0169] A fixed solution verification unit is used to verify the RTK fixed solution by using the geometric relationship between receivers through coordinate closure constraints and ambiguity closure constraints;

[0170] The fixed solution positioning unit is used to obtain the final positioning result based on the verified RTK fixed solution.

[0171] For other details and advantages of the device, please refer to the above description of the multi-antenna multi-receiver satellite positioning method, which will not be repeated here.

[0172] FIG7(a) shows the statistical results of the positioning error of the traditional single-receiver RTK positioning method in the east, north and sky directions, and FIG7(b) shows the statistical results of the positioning error of the dual-antenna four-receiver satellite positioning method in the east, north and sky directions according to an exemplary embodiment of the present disclosure. In FIG7(a) and FIG7(b), red corresponds to a single-point positioning solution with meter-level accuracy, blue corresponds to a pseudo-range differential solution with meter-level accuracy, orange corresponds to a sub-meter-level RTK floating-point solution; and green corresponds to a centimeter-level RTK fixed solution. It can be seen from FIG7(a) and FIG7(b) that the success rate of the RTK fixed solution according to the exemplary embodiment of the present disclosure is 99%, and the success rate of the fixed solution of the traditional single-receiver RTK is 65%. The multi-antenna multi-receiver satellite positioning method proposed in the present disclosure has a significant improvement in the positioning success rate compared to the traditional single-receiver RTK method.

[0173] Figure 8 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 multi-antenna multi-receiver satellite positioning method described in any embodiment or implementation method of the present disclosure when executing the computer instructions.

[0174] 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 multi-antenna multi-receiver satellite positioning method described in any embodiment or implementation of the present disclosure.

[0175] It should be understood by those skilled in the art that one or more embodiments of the present specification may be provided as a method, system or computer program product. Therefore, one or more embodiments of the present specification may take the form of a complete hardware embodiment, a complete software embodiment or an embodiment combining software and hardware. Moreover, one or more embodiments of the present specification may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0176] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the data processing device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0177] The above is a description of a specific embodiment of the specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0178] The 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. The embodiments of the subject matter described in this specification may be implemented as one or more computer programs, i.e., one or more modules in computer program instructions encoded on a tangible non-temporary 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 a 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.

[0179] 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 corresponding functions by operating on input data and generating output. The processes and logic flows can also be performed by special purpose logic circuits, such as FPGAs (field programmable gate arrays) or ASICs (application-specific integrated circuits), and the apparatus can also be implemented as special purpose logic circuits.

[0180] Computers suitable for executing computer programs include, for example, general and / or special 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 a 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, the computer will also include one or more large-capacity storage devices for storing data, such as magnetic disks, magneto-optical disks, or optical disks, or the computer will be operably coupled to this large-capacity storage device to receive data from it or to transmit data to it, or both. However, the computer does not necessarily have such a device. In addition, the 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.

[0181] Computer readable media suitable for storing computer program instructions and data include all forms of non-volatile memory, media and memory 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 may be supplemented by, or incorporated in, special purpose logic circuitry.

[0182] 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 the specific embodiments of specific inventions. Certain features described in multiple embodiments in 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 claim protection, 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 a sub-combination.

[0183] 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 requiring 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.

[0184] Thus, specific embodiments of the subject matter have been described. Other embodiments are within the scope of the appended claims. In some cases, the actions recited in the claims can be performed in a different order and still achieve the desired results. In addition, the processes depicted in the drawings do not necessarily require the particular order or sequential order shown to achieve the desired results. In some implementations, multitasking and parallel processing may be advantageous.

[0185] The above description is merely a preferred embodiment of one or more embodiments of the present specification and is not intended to limit one or more embodiments of the present specification. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of one or more embodiments of the present specification shall be included in the scope of protection of one or more embodiments of the present specification.

Claims

1. A multi-antenna multi-receiver satellite positioning method, characterized in that: include: Obtaining observations of multiple receivers of multiple antennas at the user end and observations of the reference station, wherein at least one of the antennas is connected to at least two receivers via a power divider to form a zero baseline configuration; Detect abnormal observations using zero-baseline double-difference observations and process the detected abnormal observations; Based on the RTK observation equation, baseline length observation equation and baseline vector triangle closure error observation equation, a multi-antenna multi-receiver RTK observation equation group is jointly established; Solving the multi-antenna multi-receiver RTK observation equations to obtain an RTK floating point solution and a fixed solution; Using the geometric relationship between receivers, the RTK fixed solution is verified through coordinate closure constraints and ambiguity closure constraints; The final positioning result is obtained based on the verified RTK fixed solution.

2. The multi-antenna multi-receiver satellite positioning method according to claim 1, characterized in that: The method of detecting abnormal observations using zero-baseline double-difference observations includes: The zero baseline double difference pseudorange observation ZDO is calculated based on the following formula P and zero baseline double difference carrier phase observation ZDO φ : Among them, r1 and r2 are two receivers connected to the same antenna, is the double difference of pseudorange observations of satellites j and k from 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; The calculated zero baseline double difference pseudorange observation ZDO P and zero baseline double difference carrier phase observation ZDO φ Perform outlier detection separately.

3. The multi-antenna multi-receiver satellite positioning method according to claim 2, characterized in that: The calculated zero baseline double difference pseudorange observation ZDO P Outlier detection includes: If the calculated zero baseline double difference pseudorange observation ZDO P If the absolute value of exceeds the zero baseline pseudorange deviation threshold, the zero baseline double difference pseudorange observation ZDO is judged to be P There are anomalies in the related observations.

4. The multi-antenna multi-receiver satellite positioning method according to claim 3, characterized in that: The zero baseline pseudorange deviation threshold is 0.6m.

5. The multi-antenna multi-receiver satellite positioning method according to claim 2, characterized in that: The calculated zero baseline double difference carrier phase observation ZDO φ Outlier detection includes: If the calculated zero baseline double-difference carrier phase observation ZDO φ If there is a full cycle jump, a half cycle jump, or exceeds the zero baseline carrier phase deviation threshold, the zero baseline double difference carrier phase observation ZDO is determined. φ There are anomalies in the related observations.

6. The multi-antenna multi-receiver satellite positioning method according to claim 5, characterized in that: The zero baseline carrier phase deviation threshold is 10% of the carrier phase wavelength.

7. The multi-antenna multi-receiver satellite positioning method according to claim 1, characterized in that: The method further comprises: The RTK observation equation is established based on the following formula: 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 connected to the antenna relative to the reference station and the corresponding double difference ambiguity, and ε is the observation noise.

8. The multi-antenna multi-receiver satellite positioning method according to claim 1, characterized in that: The method further comprises: The baseline length observation equation is established based on the following formula: H e ·[r r3,b -r r1,b N r3,r1 ] T =d r3,r1 +ε e , Among them, r1 and r3 are two receivers connected to different antennas, b is the reference station, are the position coordinates of receivers r1 and r3 relative to the base station b in the RTK floating point solution, n is the number of double difference observations, and r r1,b 、r r3,b are the position coordinates of the receivers r1 and r3 to be estimated relative to the reference station b, N r3,r1 is the integer ambiguity of receiver r1 relative to receiver r3, d r3,r1 is the pre-measured distance between the two antennas connecting the receivers r1 and r3, ε e is the measurement error of the distance between the two antennas.

9. The multi-antenna multi-receiver satellite positioning method according to claim 1, characterized in that: The method further comprises: The baseline vector triangle closure error observation equation is established based on the following formula: Among them, r1, r2, r3 are all receivers connected to the antenna and three receivers in the reference station, H c =[II -I], I is the unit matrix, are the position coordinates of receiver r1 relative to receiver r2, the position coordinates of receiver r3 relative to receiver r2, and the position coordinates of receiver r1 relative to receiver r3 in the RTK floating point solution, ε c is the RTK floating point solution estimation error.

10. The multi-antenna multi-receiver satellite positioning method according to claim 1, characterized in that: Verification of the RTK fixed solution through coordinate closure constraints includes: The RTK fixed solution is verified based on the following coordinate closure constraints: Among them, r1 and r3 are two receivers connected to the antenna, b is the reference station, is the position coordinate of the receiver r1 relative to the base station in the RTK fixed solution, is the position coordinate of the receiver r3 relative to the base station in the RTK fixed solution, is the position coordinate of receiver r1 relative to receiver r3 in the RTK fixed solution, ε d is the pre-set RTK fixed solution estimated error.

11. The multi-antenna multi-receiver satellite positioning method according to claim 1, characterized in that: Verification of the RTK fixed solution through ambiguity closure constraints includes: The ambiguity terms corresponding to the RTK fixed solution are verified based on the following ambiguity closure constraints: Among them, r1 and r3 are two receivers connected to the antenna, b is the reference station, They are the double difference ambiguity of receiver r1 and base station b to satellite j and satellite k in the RTK fixed solution, the double difference ambiguity of receiver r3 and base station b to satellite j and satellite k, and the double difference ambiguity of receiver r1 and receiver r3 to satellite j and satellite k.

12. A multi-antenna multi-receiver satellite positioning system, characterized in that: The system is arranged at the user end, and includes a plurality of antennas, at least one power divider, a plurality of receivers, a communication module and a data processing module, wherein: The antenna is used to receive satellite signals; The receiver is connected to the antenna and is used to process the satellite signal to obtain an observation quantity, wherein at least one of the antennas is connected to at least two of the receivers via the corresponding power divider to form a zero baseline configuration; The communication module is used to receive the observation value of the reference station; The data processing module is connected to the multiple receivers and the communication module, and is used to execute the method according to any one of claims 1 to 11 based on the observations of the receivers and the observations of the reference station.

13. A multi-antenna multi-receiver satellite positioning device, characterized in that: include: An observation acquisition unit, used to acquire observations of multiple receivers of multiple antennas at the user end and observations of the reference station, wherein at least one of the antennas is connected to at least two receivers via a power divider to form a zero baseline configuration; A zero-baseline observation anomaly detection unit, used to detect anomaly observations using zero-baseline double-difference observations, and process the detected anomaly observations; A multi-antenna multi-receiver RTK observation equation group establishing unit, used for jointly establishing a multi-antenna multi-receiver RTK observation equation group based on the RTK observation equation, the baseline length observation equation and the baseline vector triangle closure error observation equation; An RTK solution unit, used for solving the multi-antenna multi-receiver RTK observation equation group to obtain an RTK floating point solution and a fixed solution; A fixed solution verification unit is used to verify the RTK fixed solution by using the geometric relationship between receivers through coordinate closure constraints and ambiguity closure constraints; The fixed solution positioning unit is used to obtain the final positioning result based on the verified RTK fixed solution.

14. An electronic device, characterized in that: The device comprises a memory and a processor, wherein the memory is used to store computer instructions executable on the processor, and the processor is used to implement the method according to any one of claims 1 to 11 when executing the computer instructions.

15. 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 11 is implemented.

Images