Directional attitude determination method and device, electronic equipment and storage medium

Abstract

The invention provides a directional attitude determination method and device, electronic equipment and a storage medium. The method comprises the following steps: acquiring observed quantities of a master receiver in two continuous epochs, observed quantities of a slave receiver in two continuous epochs, ephemeris data and a historical state vector, wherein the master receiver and the slave receiver are arranged at the same terminal equipment to move together; a baseline vector is obtained according to the observed quantity of the master receiver, the observed quantity of the slave receiver, ephemeris data and a historical state vector, and then the position variation of the master receiver is obtained according to the observed quantity of the master receiver in two continuous epochs. According to the baseline vector and the position variation, the orientation result is determined, the orientation result is used for indicating the attitude of the terminal equipment in the current epoch, the position variation of the main receiver can be used for compensating the time asynchronous error between the main receiver and the slave receiver, the accurate orientation result is obtained, and therefore the orientation accuracy is improved.

Description

Technical Field

[0001] The present application relates to the field of electronic technology, and in particular to a method, device, electronic device and storage medium for orientation and attitude measurement. Background Art

[0002] Global Navigation Satellite System (GNSS) technology is a technology that uses satellite signals to observe the earth. In addition to being used for positioning, speed measurement and timing, GNSS technology is also widely used in the field of orientation, such as: drones, radar antennas and automatic driving of agricultural machinery.

[0003] In the related art, the GNSS dual-antenna dynamic orientation method is usually used to orient the terminal equipment (UE). In the GNSS dual-antenna dynamic orientation, the observations of the base station and the mobile station located on the UE are obtained, and the baseline vector between the mobile station and the base station is solved according to the observations of the base station and the mobile station. Then, the heading angle and pitch angle corresponding to the baseline vector are calculated according to the trigonometric function, so as to obtain the attitude information of the UE and complete the orientation of the UE.

[0004] However, in the above-mentioned related technologies, the clock error or frequency of the observation quantity of the receiver in the base station and the receiver in the mobile station is usually inconsistent, and there is also a transmission delay in the process of transmitting the observation quantity. Therefore, the time synchronization of the solution cannot be determined, resulting in the baseline vector being unable to reflect the current posture of the UE in real time, resulting in poor orientation accuracy. Summary of the invention

[0005] The present application provides an orientation attitude measurement method, device, electronic device and storage medium to solve the problem that the baseline vector cannot reflect the current attitude of the UE in real time, resulting in poor orientation accuracy, thereby achieving the purpose of improving orientation accuracy.

[0006] In a first aspect, the present application provides a method for orientation and attitude measurement, comprising:

[0007] Acquire a first observation value, a second observation value, ephemeris data and a historical state vector, wherein the first observation value includes a first pseudorange observation value and a first carrier observation value of a master receiver for multiple satellites at a first epoch, and a second pseudorange observation value and a Doppler observation value of a slave receiver for multiple satellites at the first epoch, the second observation value includes a third pseudorange observation value and a second carrier observation value of a master receiver for multiple satellites at a second epoch, and a fourth pseudorange observation value and a third carrier observation value of a slave receiver for multiple satellites at the second epoch, the historical state vector is used to indicate a state vector of the master receiver at the first epoch, the second epoch is continuous with the first epoch, the second epoch is later than the first epoch, and the master receiver and the slave receiver are placed in the same terminal device and move together;

[0008] Determine a baseline vector according to the historical state vector, the second pseudorange observation, the Doppler observation, the second observation and the ephemeris data, where the baseline vector is used to indicate the position coordinate difference between the master receiver and the slave receiver at the second epoch;

[0009] Determine a position change according to the first pseudorange observation, the first carrier observation, the third pseudorange observation, the second carrier observation and the ephemeris data, wherein the position change is used to compensate for a time asynchronous error between a master receiver and a slave receiver;

[0010] An orientation result is determined based on the baseline vector and the position change, and the orientation result is used to indicate the posture of the terminal device at the second epoch.

[0011] Through the method provided in the first aspect, the observations of the main receiver in two consecutive epochs, the observations of the slave receiver in two consecutive epochs, the ephemeris data and the historical state vector are obtained. According to the historical state vector, the second pseudorange observation, the Doppler observation, the second observation and the ephemeris data, the current state of the system is predicted, and then compared with the actual observation of the second epoch to obtain the optimal state estimate, thereby updating the predicted state vector of the main receiver in the second epoch, and finally obtaining the baseline vector. This method of determining the baseline vector can take into account the uncertainty of the system, thereby obtaining a more accurate baseline vector. Then, the position change of the main receiver is obtained based on the observations of the main receiver in two consecutive epochs. According to the baseline vector and the position change, the orientation result is determined. The orientation result is used to indicate the posture of the terminal device in the current epoch. The position change of the main receiver can be used to compensate for the baseline vector with time asynchronous error, and an accurate orientation result is obtained, thereby improving the accuracy of orientation.

[0012] In one possible design, determining the position change according to the first pseudorange observation, the first carrier observation, the third pseudorange observation, the second carrier observation and the ephemeris data includes:

[0013] Determine a first single-difference carrier observation value according to the first carrier observation value, determine a second single-difference carrier observation value according to the second carrier observation value, determine a first single-difference geometric distance according to the ephemeris data and the first pseudorange observation value, and determine a second single-difference geometric distance according to the ephemeris data and the third pseudorange observation value;

[0014] Establishing a plurality of double-difference observation equations according to the first single-difference carrier observation value, the second single-difference carrier observation value, the first single-difference geometric distance, and the second single-difference geometric distance;

[0015] Determine the position change according to multiple double-difference observation equations;

[0016] Among them, the double difference observation equation is:

[0017] in, is the single difference carrier observation value corresponding to satellite i and satellite j in the second single difference carrier observation value, is the single difference carrier observation value corresponding to satellite i and satellite j in the first single difference carrier observation value, is the single difference geometric distance between satellite i and satellite j in the second single difference geometric distance, is the single difference geometric distance between satellite i and satellite j in the first single difference geometric distance, The noise is measured for the double-difference carrier.

[0018] In one possible design, the position change is determined based on multiple double-difference observation equations, including:

[0019] Linearize multiple double-difference observation equations to obtain coefficient matrices and observation vectors;

[0020] According to the coefficient matrix and the observation vector, the position change is obtained through formula 1;

[0021] Wherein, formula 1 is: dX=(H T PH) -1 H T PL;

[0022] Among them, dX is the position change, H is the coefficient matrix, P is the preset weight matrix, (·) T represents the transpose operation, (·) -1 represents the inverse operation, and L is the observation vector.

[0023] In one possible design, determining a baseline vector according to a historical state vector, a second pseudorange observation, a Doppler observation, a second observation, and ephemeris data includes:

[0024] Determine a predicted state vector according to the historical state vector, the second pseudorange observation and the Doppler observation, where the predicted state vector is used to indicate the predicted state vector of the main receiver at the second epoch;

[0025] A baseline vector is determined according to the second observation value, the ephemeris data and the predicted state vector.

[0026] In one possible design, determining a predicted state vector according to the historical state vector, the second pseudorange observation, and the Doppler observation includes:

[0027] Determine a first approximate position and an approximate velocity of the slave receiver at a first epoch based on the second pseudorange observation and the Doppler observation;

[0028] Inputting the historical state vector into the first prediction model to obtain a first state vector, the first state vector is used to indicate the predicted carrier phase ambiguity parameter of the main receiver at the second epoch, the first prediction model is established according to the initial observation quantity and the main receiver state transfer matrix, and the first prediction model is used to predict the carrier phase ambiguity parameter;

[0029] Inputting the historical state vector, the first approximate position and the approximate velocity into a second prediction model to obtain a second state vector, where the second state vector is used to indicate the predicted position, velocity and acceleration parameters of the main receiver at the second epoch;

[0030] Merge the first state vector and the second state vector to obtain a predicted state vector;

[0031] Among them, the second prediction model is: X r (k|k-1)=Φ k，k-1 (r)·X r (k-1|k-1)-Φ k，k-1 (b) ·X b (k-1|k-1);

[0032] Among them, X r (k|k-1) is the second state vector, k-1 is the first epoch, k is the second epoch, Φ k，k-1 (r) is the main receiver state transfer matrix, X r (k-1|k-1) is the historical state vector, Φ k，k-1 (b) is the transfer matrix from the receiver state, X b (k-1|k-1) is a slave receiver state vector, and the slave receiver state vector is determined according to the approximate position and the approximate velocity.

[0033] In one possible design, the method further includes:

[0034] Before receiving the observation value from the receiver at the second epoch, input the historical state vector, the first approximate position and the approximate velocity into the third prediction model to obtain the second state vector;

[0035] Among them, the third prediction model is: X r (k|k-1)=Φ k，k-1 (r)·X r (k-1|k-1)-X b (k-1| k-1);

[0036] Among them, X r (k|k-1) is the second state vector, k-1 is the first epoch, k is the second epoch, Φ k，k-1 (r) is the main receiver state transfer matrix, X r (k-1|k-1) is the historical state vector, X b (k-1|k-1) is a slave receiver state vector, and the slave receiver state vector is determined according to the approximate position and the approximate velocity.

[0037] In a possible design, an orientation result is determined according to the baseline vector and the position change, including:

[0038] According to the position change and the baseline vector, a correction vector is obtained;

[0039] The correction vector is converted to the station center coordinate system to obtain the orientation result, which is used to indicate the heading angle and pitch angle of the terminal device.

[0040] In a second aspect, the present application provides an orientation and attitude measurement device, which is a module for executing the orientation and attitude measurement method in the first aspect and any possible involvement of the first aspect.

[0041] In a third aspect, the present application provides an electronic device, comprising a memory and a processor, wherein the memory stores a computer executable program or instructions, and when the processor executes the computer executable program or instructions, it implements the orientation and attitude measurement method as described in the first aspect.

[0042] In a fourth aspect, the present application provides an electronic device, comprising a processor, wherein the processor implements the orientation and attitude measurement method as described in the first aspect when executing a computer executable program or instruction in a memory.

[0043] In a fifth aspect, the present application provides a computer-readable storage medium, on which a computer-executable program or instruction is stored. When the computer-executable program or instruction is executed by a processor, the orientation and attitude measurement method provided in the first aspect of the embodiment of the present application is implemented.

[0044] In a sixth aspect, the present application provides a computer program product, comprising: execution instructions, the execution instructions are stored in a readable storage medium, at least one processor of an electronic device can read the execution instructions from the readable storage medium, and at least one processor executes the execution instructions so that the electronic device implements any possible design method in the first aspect.

[0045] The above description is only an overview of the technical solution of the embodiment of the present application. In order to more clearly understand the technical means of the embodiment of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the embodiment of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 A schematic diagram of an application scenario provided for an embodiment of the present application.

[0047] Figure 2 A flowchart of an orientation and attitude measurement method provided in one embodiment of the present application.

[0048] Figure 3 A timing diagram is provided for an embodiment of the present application.

[0049] Figure 4 A flow chart of a method for determining position change provided in one embodiment of the present application.

[0050] Figure 5 A flow chart of a method for determining position change provided in one embodiment of the present application.

[0051] Figure 6 A flowchart of an orientation and attitude measurement method provided in one embodiment of the present application.

[0052] Figure 7 A flow chart of a method for determining a predicted state vector provided in one embodiment of the present application.

[0053] Figure 8 A flow chart of a method for determining an orientation result provided in one embodiment of the present application.

[0054] Fig. 9 A schematic structural diagram of an orientation and attitude measurement device provided in one embodiment of the present application.

[0055] Fig.10 A schematic diagram of the structure of an electronic device provided in one embodiment of the present application.

[0056] Fig.11 A schematic diagram of the structure of an electronic device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0057] In this application, "at least one" means one or more, and "plurality" means two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The character " / " generally indicates that the associated objects before and after are in an "or" relationship. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b, or c alone can represent: a, b, c, a and b, a and c, or a, b, and c, where a, b, and c can be single or multiple. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0058] The directions or positional relationships indicated by terms such as "center", "longitudinal", "lateral", "up", "down", "left", "right", "front", and "back" are based on the directions or positional relationships shown in the accompanying drawings and are only for the convenience of describing the present application and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present application.

[0059] The terms "connected" and "connected" should be understood in a broad sense. For example, the "connected" or "connected" of a circuit structure can refer to not only physical connection, but also electrical connection or signal connection. For example, it can be directly connected, that is, physically connected, or indirectly connected through at least one intermediate element, as long as the circuit is connected, or it can be the internal connection of two elements; signal connection can refer to signal connection through a circuit or through a media medium, such as radio waves. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0060] Exemplarily, the present application provides an orientation and attitude measurement method, device, electronic device, storage medium, program and chip. By acquiring pseudo-range observations and carrier observations of a master receiver for multiple satellites in two consecutive epochs, pseudo-range observations and carrier observations of a slave receiver for multiple satellites in two consecutive epochs, and the historical state vector of the master receiver, a baseline vector can be obtained, and then the position change of the master receiver is determined according to the pseudo-range observations and carrier observations of the master receiver for multiple satellites in two consecutive epochs. Since the master receiver and the slave receiver are placed in the same UE and move together, the position change of the master receiver can be used to compensate for the time asynchronous error between the master receiver and the slave receiver, thereby compensating for the error of the baseline vector and obtaining an accurate orientation result.

[0061] Next, combine Figure 1 , describing the application scenarios of the embodiments of the present application.

[0062] See also Figure 1 , Figure 1 A schematic diagram of an application scenario provided by an embodiment of the present application. Figure 1 As shown, the application scenario includes: a mobile station, a base station, multiple satellites and UE.

[0063] The mobile station and the base station are connected in communication with each other, and the mobile station and the base station are connected in communication with the UE respectively.

[0064] The mobile station includes a first receiver and a first antenna, and the base station includes a second receiver and a second antenna.

[0065] The first antenna and the second antenna are used to receive satellite signals from multiple satellites.

[0066] The first receiver is used to obtain the observation amount according to the satellite signal received by the first antenna, and the second receiver is used to obtain the observation amount according to the satellite signal received by the second antenna. The frequencies of the observation amount of the first receiver and the observation amount of the second receiver can be the same or different.

[0067] Among them, the observations include pseudorange observations, Doppler observations, and carrier observations.

[0068] The satellites include all visible navigation satellites, which may be medium earth orbit (MEO) satellites, inclined geosynchronous orbit (IGSO) satellites or geostationary earth orbit (GEO) satellites.

[0069] The number of satellites may be at least 4. Figure 1 The number of satellites is 4 for illustration, and this application does not limit this.

[0070] Among them, UE can be equipment such as drones, radars or agricultural machinery. UE can also be user equipment, access terminal, user unit, user station, mobile station, mobile station, remote station, remote terminal, mobile device, user terminal, wireless communication equipment, user agent or user device. UE may also be a satellite phone, a cellular phone, a smart phone, a wireless data card, a wireless modem, a machine type communication device, a cordless phone, a session initiation protocol (SIP) phone, a wireless local loop (WLL) station, a personal digital assistant (PDA), a handheld device with wireless communication function, a computing device or other processing device connected to a wireless modem, a vehicle-mounted device or a wearable device, a virtual reality (VR) terminal device, an augmented reality (AR) terminal device, a wireless terminal in industrial control, a wireless terminal in self-driving, a wireless terminal in remote medical, a wireless terminal in a smart grid, a wireless terminal in transportation safety, a wireless terminal in a smart city, a wireless terminal in a smart home, a terminal device in a 5G mobile communication system, a terminal device in a 6G mobile communication system, or a terminal device in a future mobile communication system, etc. In addition, UE can also be a terminal device in the Internet of Things (IoT) system.

[0071] The mobile station and the reference station are placed in the same UE and move together with the UE, so the first receiver and the second receiver are also placed in the same UE and move together. Therefore, the position changes of the mobile station / first receiver and the reference station / second receiver over a period of time are the same.

[0072] It should be noted that the orientation and attitude measurement method provided in the present application can be executed by a mobile station or a base station, or by an orientation and attitude measurement device in the mobile station or a base station, or by a first receiver or a second receiver, or by an orientation and attitude measurement device in the first receiver or a second receiver.

[0073] When executed by the mobile station, the orientation and attitude measurement device in the mobile station, the first receiver or the orientation and attitude measurement device in the first receiver, the first receiver is the master receiver, the second receiver is the slave receiver, the first antenna is the master antenna, and the second antenna is the slave antenna.

[0074] When executed by the reference station, the orientation and attitude measurement device in the reference station, the second receiver or the orientation and attitude measurement device in the second receiver, the second receiver is the master receiver, the first receiver is the slave receiver, the first antenna is the slave antenna, and the second antenna is the master antenna.

[0075] The orientation and attitude measurement device may be implemented by a combination of software and / or hardware. To simplify the description, the embodiment of the present application is described by taking the orientation and attitude measurement device as an example.

[0076] The orientation and attitude measurement method provided in the embodiment of the present application is described in detail below with reference to the accompanying drawings.

[0077] See also Figure 2 , Figure 2 This is a flow chart of a method for orientation and attitude measurement provided in one embodiment of the present application. Figure 2 As shown, the method includes:

[0078] S101, obtaining a first observation value, a second observation value, ephemeris data and a historical state vector.

[0079] The first observations include first pseudorange observations and first carrier observations of the master receiver for multiple satellites in the first epoch, and second pseudorange observations and Doppler observations of the slave receiver for multiple satellites in the first epoch.

[0080] The second observations include third pseudorange observations and second carrier observations of the master receiver for multiple satellites in the second epoch, and fourth pseudorange observations and third carrier observations of the slave receiver for multiple satellites in the second epoch.

[0081] Among them, the second epoch is continuous with the first epoch, and the second epoch is later than the first epoch.

[0082] For one epoch, the main antenna and the slave antenna receive satellite signals from multiple satellites, so that the main receiver can obtain observations through the main antenna, and the slave receiver can obtain observations through the slave antenna.

[0083] Assuming that the current epoch is the second epoch, the first epoch is the previous epoch that is continuous with the current epoch. The orientation and attitude measurement device obtains the observations of the master receiver and the slave receiver in the first epoch and the second epoch respectively.

[0084] Among them, the observations include pseudorange observations, carrier observations and Doppler observations.

[0085] Among them, the pseudorange observation is a measure of the distance between the receiver and the satellite.

[0086] When the number of satellites is multiple, the first pseudorange observation amount includes the pseudorange observation amount between the master receiver and each of the multiple satellites at the first epoch. The third pseudorange observation amount includes the pseudorange observation amount between the master receiver and each of the multiple satellites at the second epoch. The second pseudorange observation amount includes the pseudorange observation amount between the slave receiver and each of the multiple satellites at the first epoch, and the fourth pseudorange observation amount includes the pseudorange observation amount between the slave receiver and each of the multiple satellites at the second epoch.

[0087] The carrier observation is used to indicate the phase of the carrier signal between the receiver and the satellite.

[0088] When the number of satellites is multiple, the first carrier observation amount includes the carrier observation amount between the master receiver and each of the multiple satellites at the first epoch. The second carrier observation amount includes the carrier observation amount between the master receiver and each of the multiple satellites at the second epoch. The third carrier observation amount includes the carrier observation amount between the slave receiver and each of the multiple satellites at the second epoch.

[0089] Among them, the Doppler observation is used to indicate the Doppler frequency shift between the receiver and the satellite.

[0090] When there are multiple satellites, the Doppler observations include Doppler observations between the receiver and each of the multiple satellites at the first epoch.

[0091] Each satellite may have one or more frequency points, each frequency point corresponds to a different frequency, and for multiple satellites, the frequency points of the multiple satellites may be the same or different.

[0092] For one satellite, the master receiver / slave receiver can obtain one or more observations based on one or more frequency points in one epoch. For multiple satellites, the frequency points corresponding to the multiple observations obtained by the master receiver / slave receiver can be the same or different, and the frequency points corresponding to the observations obtained by the orientation and attitude measurement device from the master receiver and the slave receiver can be the same or different, and this application does not limit this.

[0093] While acquiring the observation data, the orientation and attitude measurement device also needs to obtain ephemeris data.

[0094] Among them, ephemeris data is a set of parameters broadcast by each satellite about its own position. According to the ephemeris data, the precise position coordinates of each satellite in space at each epoch can be known to facilitate subsequent calculations.

[0095] In addition to observations and ephemeris data, the orientation and attitude measurement device also obtains the historical state vector.

[0096] The historical state vector is used to indicate the state vector of the main receiver at the first epoch.

[0097] The historical state vector may include velocity, position, and acceleration parameters of the master receiver at the first epoch.

[0098] Assuming that the current epoch is the second epoch, the first epoch is the previous epoch that is continuous with the current epoch. The state vector of the orientation and attitude measurement device for the first epoch is known, and the orientation and attitude measurement device can directly obtain the state vector of the main receiver at the first epoch, thereby obtaining the historical state vector. In addition, if the second epoch is the initial epoch, the orientation and attitude measurement device can preset a state vector as the state vector of the main receiver at the first epoch.

[0099] In some examples, after acquiring the first observation value and the second observation value, the orientation and attitude measurement device may further preprocess the first observation value and the second observation value.

[0100] Among them, the preprocessing methods may include: observation quantity quality control, carrier cycle slip detection, etc.

[0101] Based on this, the orientation and attitude measurement device obtains the first observation value, the second observation value, the ephemeris data and the historical state vector, so as to solve the observation values ​​of two consecutive epochs of the master receiver and the slave receiver to obtain the baseline vector.

[0102] S102: Determine a baseline vector according to the historical state vector, the second pseudorange observation, the Doppler observation, the second observation and the ephemeris data.

[0103] The baseline vector is used to indicate the position coordinate difference between the master receiver and the slave receiver at the second epoch.

[0104] Among them, the orientation and attitude measurement device can predict the state vector of the main receiver at the second epoch based on the Kalman filtering prediction method, and update the state vector of the main receiver at the second epoch through the Kalman filtering update method, so as to obtain the baseline vector.

[0105] Specifically, the orientation and attitude measurement device can input the historical state vector, the second pseudorange observation and the Doppler observation into the Kalman filter prediction model, and predict the state vector of the main receiver at the second epoch based on the observation of the slave receiver at the first epoch and the state vector of the main receiver at the first epoch.

[0106] At the same time, the orientation and attitude measurement device establishes multiple double-difference observation equations of pseudorange and carrier according to pseudorange observation quantities and carrier observation quantities for two satellites among the multiple satellites.

[0107] Therefore, the orientation and attitude measurement device can update the state vector of the main receiver at the second epoch obtained by the above prediction through the Kalman filter update model based on the double difference observation equations of multiple pseudoranges and carriers and the state vector of the main receiver at the second epoch, and obtain the updated state vector of the main receiver at the second epoch.

[0108] The orientation and attitude measurement device performs double-difference ambiguity fixing processing and baseline vector resolution processing on the state vector of the updated main receiver at the second epoch, and obtains the position of the main receiver after the double-difference ambiguity is fixed.

[0109] The orientation and attitude measuring device obtains the baseline vector based on the position of the main receiver after the double difference ambiguity is fixed and the approximate position of the slave receiver at the second epoch.

[0110] Based on this, the orientation and attitude measurement device can predict the current state of the system according to the historical state vector, the second pseudorange observation, the Doppler observation, the second observation and the ephemeris data through the Kalman filter prediction and update method, and then compare it with the actual observation of the second epoch to obtain the optimal state estimate, thereby updating the predicted state vector of the main receiver at the second epoch, and finally obtaining the baseline vector. This method of determining the baseline vector can take into account the uncertainty of the system, thereby obtaining a more accurate baseline vector.

[0111] S103: Determine a position change according to the first pseudorange observation value, the first carrier observation value, the third pseudorange observation value, the second carrier observation value and the ephemeris data.

[0112] The position change is used to compensate for the time asynchronous error between the master receiver and the slave receiver.

[0113] Considering that there is a clock difference between the master receiver and the slave receiver, and the time when the orientation and attitude measurement device obtains the observations of the master receiver and the slave receiver is usually asynchronous, there is a time asynchronous error in the baseline vector due to the clock difference and time asynchrony.

[0114] like Figure 3 As shown in Figure 1, the observations of the master receiver and the slave receiver are both generated at time T0. Since the orientation and attitude measurement device is located at the master receiver, there is a delay in the transmission of the observations from the slave receiver to the master receiver. Therefore, the time when the orientation and attitude measurement device obtains the observations of the master receiver is earlier than the time when the observations of the slave receiver are obtained. Figure 3The time when the orientation and attitude measurement device obtains the observation value of the main receiver is expressed as time t0, and the time when the orientation and attitude measurement device obtains the observation value of the slave receiver is expressed as time s0. When the observation values ​​of the main receiver and the slave receiver are received at the same time, the orientation and attitude measurement device can output the orientation result at time s0+dt after solving the delay dt. The later the orientation and attitude measurement device obtains the observation value of the slave receiver, the higher the delay in obtaining the orientation result.

[0115] Since the master receiver and the slave receiver are placed in the same UE and move together with the UE, the position changes of the master receiver and the slave receiver between the first epoch and the second epoch are basically the same. The orientation and attitude measurement device has received the observations of the master receiver at the first epoch and the observations of the second epoch at the time of calculating the baseline vector, that is, the orientation and attitude measurement device can use the observations of the master receiver at the first epoch and the observations of the second epoch to obtain the position change of the master receiver between the two epochs.

[0116] Based on this, the orientation and attitude measurement device can determine the position change based on the pseudorange observation values ​​and carrier observation values ​​of the main receiver at the first epoch and the second epoch and the ephemeris data, that is, based on the first pseudorange observation value, the first carrier observation value, the third pseudorange observation value, the second carrier observation value and the ephemeris data.

[0117] Specifically, the orientation and attitude measurement device establishes inter-epoch and inter-satellite double difference observation equations for two satellites among the multiple satellites according to the first pseudorange observation value, the first carrier observation value, the third pseudorange observation value, the second carrier observation value and the ephemeris data.

[0118] In some examples, for satellite i and satellite j, the orientation and attitude measurement device determines the single-difference carrier observation value and single-difference geometric distance of the main receiver in the first epoch, and the single-difference carrier observation value and single-difference geometric distance in the second epoch based on the first pseudorange observation value, the first carrier observation value, the third pseudorange observation value, the second carrier observation value and the ephemeris data.

[0119] Therefore, the orientation and attitude measurement device establishes inter-epoch and inter-satellite double-difference observation equations based on the single-difference carrier observation value and single-difference geometric distance of the main receiver in the first epoch, and the single-difference carrier observation value and single-difference geometric distance in the second epoch, so as to obtain a set of equations that can reflect the position change of the main receiver between the two epochs.

[0120] The orientation and attitude measurement device linearizes the above-mentioned inter-epoch and inter-satellite double difference observation equations to obtain the position change.

[0121] Based on this, the orientation and attitude measurement device obtains the position change, and then uses the position change of the main receiver between two epochs to correct the position change of the slave receiver between two epochs, thereby eliminating the error introduced by the clock difference and time asynchrony in the baseline vector, which helps to improve the accuracy of orientation.

[0122] It should be noted that the orientation attitude measurement device may determine the baseline vector first, or may determine the position change first, or may determine the baseline vector and the position change at the same time. That is, the orientation attitude measurement device may first execute S102 and then S103, or may first execute S103 and then S102. Of course, the orientation attitude measurement device may also execute S102 and S103 at the same time. Figure 2 What is shown in FIG. 1 is the case where the baseline vector is determined first, and the present application does not limit this.

[0123] S104: Determine the orientation result according to the baseline vector and the position change.

[0124] The orientation result is used to indicate the posture of the UE at the second epoch.

[0125] The orientation and attitude measuring device can compensate the baseline vector by the position change to obtain the compensated baseline vector, and convert the compensated baseline vector to the station center coordinate system to obtain the orientation result of the second epoch. The orientation result compensates the time asynchronous error by the position change, thereby improving the accuracy of orientation.

[0126] In the embodiment of the present application, the orientation attitude measurement device obtains the observations of the main receiver in two consecutive epochs, the observations of the slave receiver in two consecutive epochs, the ephemeris data and the historical state vector, and predicts the current state of the system through the Kalman filter prediction and update method according to the historical state vector, the second pseudorange observation, the Doppler observation, the second observation and the ephemeris data, and then compares it with the actual observation of the second epoch to obtain the optimal state estimate, thereby updating the predicted state vector of the main receiver in the second epoch, and finally obtaining the baseline vector. This method of determining the baseline vector can take into account the uncertainty of the system, thereby obtaining a more accurate baseline vector. Then, the position change of the main receiver is obtained according to the observations of the main receiver in two consecutive epochs. According to the baseline vector and the position change, the orientation result is determined, and the orientation result is used to indicate the attitude of the terminal device in the current epoch. The position change of the main receiver can be used to compensate for the baseline vector with time asynchronous error, and an accurate orientation result is obtained, thereby improving the accuracy of orientation.

[0127] Based on the above exemplary description, in S103, the orientation and attitude measurement device can be as follows: Figure 4 The method shown is used to determine the position change.

[0128] See also Figure 4 , Figure 4 A flow chart of a method for determining position change provided in one embodiment of the present application. Figure 4 As shown, the method includes:

[0129] S201. Determine a first single-difference carrier observation value based on the first carrier observation value, determine a second single-difference carrier observation value based on the second carrier observation value, determine a first single-difference geometric distance based on the ephemeris data and the first pseudorange observation value, and determine a second single-difference geometric distance based on the ephemeris data and the third pseudorange observation value.

[0130] The first single-difference carrier observation value is a single-difference carrier observation value of the primary receiver at the first epoch.

[0131] The second single-difference carrier observation value is a single-difference carrier observation value of the main receiver at the second epoch.

[0132] The single-difference carrier observation value represents a difference of the carrier observation values ​​of two satellites at the same epoch by the receiver. That is, for two satellites among the multiple satellites, the directional attitude measurement device can perform a difference of the carrier observation values ​​of the two satellites respectively by the main receiver at the first epoch according to the first carrier observation value, and obtain the single-difference carrier observation values ​​corresponding to the two satellites. The directional attitude measurement device performs multiple differential operations on multiple satellites, thereby obtaining multiple single-difference carrier observation values, and determines the multiple single-difference carrier observation values ​​as the first single-difference carrier observation value. For the second carrier observation value, the directional attitude measurement device performs an operation similar to the first carrier observation value to obtain a second single-difference carrier observation value, which will not be repeated here.

[0133] The first single-difference geometric distance is the single-difference geometric distance of the primary receiver at the first epoch.

[0134] The second single-difference geometric distance is the single-difference geometric distance of the primary receiver at the second epoch.

[0135] Among them, the orientation and attitude measurement device can obtain the approximate position of the main receiver in the first epoch based on the first pseudorange observation, and obtain the approximate position of the main receiver in the second epoch based on the third pseudorange observation, and then obtain the position of each satellite in the first epoch and the second epoch through the ephemeris data.

[0136] Thus, the orientation and attitude measurement device can determine the distance between the main receiver and each satellite in the first epoch through the approximate position of the main receiver in the first epoch and the position of each satellite in the first epoch. For two satellites among the multiple satellites, the orientation and attitude measurement device performs a difference between the distance between the main receiver and the two satellites in the first epoch respectively, so as to obtain the single difference geometric distance of the two satellites in the first epoch. The orientation and attitude measurement device performs multiple difference operations on the multiple satellites to obtain multiple single difference geometric distances, and determines the multiple single difference geometric distances as the first single difference geometric distance. For the second single difference geometric distance, the orientation and attitude measurement device performs an operation similar to the first single difference geometric distance to obtain the second single difference geometric distance, which will not be repeated here.

[0137] It should be noted that if the number of satellites is N, the respective numbers of the first single-difference carrier observation value, the second single-difference carrier observation value, the first single-difference geometric distance and the second single-difference geometric distance are N-1, where N is a positive integer greater than 1.

[0138] For example, the multiple satellites are satellite A, satellite B, satellite C and satellite D. The orientation and attitude measurement device needs to determine the first single-difference carrier observation value and the first single-difference geometric distance of satellite A-satellite B, satellite A-satellite C, and satellite A-satellite D in the first epoch, and the second single-difference carrier observation value and the second single-difference geometric distance of satellite A-satellite B, satellite A-satellite C, and satellite A-satellite D in the second epoch, for satellite A and satellite B, satellite A and satellite C, and satellite A and satellite D, respectively.

[0139] S202. Establish a plurality of double-difference observation equations according to the first single-difference carrier observation value, the second single-difference carrier observation value, the first single-difference geometric distance, and the second single-difference geometric distance.

[0140] Among them, the double difference observation equation can be expressed as the following formula 2:

[0141]

[0142] in, is the single difference carrier observation value corresponding to satellite i and satellite j in the second single difference carrier observation value, is the single difference carrier observation value corresponding to satellite i and satellite j in the first single difference carrier observation value, is the single difference geometric distance between satellite i and satellite j in the second single difference geometric distance, is the single difference geometric distance between satellite i and satellite j in the first single difference geometric distance, The noise is measured for the double-difference carrier.

[0143] The double-difference carrier measurement noise is a preset value.

[0144] Based on this, the orientation and attitude measurement device selects multiple pairs of satellites from multiple satellites, and respectively determines the double-difference observation variances corresponding to each of the multiple pairs of satellites, thereby obtaining multiple double-difference observation equations.

[0145] Among them, if the number of satellites is N, the number of the first single-difference carrier observation value, the first single-difference geometric distance of the second single-difference carrier observation value and the second single-difference geometric distance are each N-1, and the number of double-difference observation equations is also N-1.

[0146] S203. Determine the position change according to multiple double-difference observation equations.

[0147] When no cycle slip occurs between the first epoch and the second epoch, the double-difference observation equation can eliminate the ambiguity parameters, thereby only containing the position change of the primary receiver between the first epoch and the second epoch.

[0148] Based on this, the orientation and attitude measurement device can accurately obtain the position change of the main receiver through multiple double-difference observation equations, which is conducive to improving the accuracy of correcting the baseline vector according to the position change, thereby improving the accuracy of the corrected baseline vector, and then improving the accuracy of orientation.

[0149] Based on the above exemplary description, in S203, the orientation and attitude measurement device can be as follows: Figure 5 In S203A to S203B shown, the position change amount is determined.

[0150] See also Figure 5 , Figure 5 A flow chart of a method for determining position change provided in one embodiment of the present application. Figure 5 As shown, S203 can be implemented by the following S203A to S203B:

[0151] S203A. Linearize multiple double-difference observation equations to obtain coefficient matrices and observation vectors.

[0152] The coefficient matrix is ​​obtained by linearizing the first single-difference geometric distance and the second single-difference geometric distance in multiple double-difference observation equations by the orientation and attitude measurement device.

[0153] Among them, the observation vector is obtained by linearizing the first single-difference carrier observation value, the second single-difference carrier observation value, the first single-difference geometric distance and the second single-difference geometric distance in multiple double-difference observation equations by the orientation and attitude measurement device.

[0154] S203B. According to the coefficient matrix and the observation vector, the position change is obtained through formula 1.

[0155] The orientation and attitude measurement device can obtain the position change through the least squares method (LSM) method through the following formula 1.

[0156] dX=(H T PH) -1 H T PL formula 1;

[0157] Among them, dX is the position change, H is the coefficient matrix, P is the preset weight matrix, (·) T represents the transpose operation, (·) -1 represents the inverse operation, and L is the observation vector.

[0158] Based on this, the orientation and attitude measurement device accurately determines the position change of the main receiver between the first epoch and the second epoch through the least squares adjustment method, which improves the accuracy of determining the position change, thereby helping to improve the accuracy of correcting the baseline vector.

[0159] Based on the above exemplary description, in S102, the orientation and attitude measurement device can be as follows: Figure 6 In S102A to S102B shown, a baseline vector is determined.

[0160] See also Figure 6 , Figure 6 A flowchart of an orientation and attitude measurement method provided in one embodiment of the present application.

[0161] like Figure 6 As shown, S102 can be implemented by S102A to S102B as follows:

[0162] S102A, determining a predicted state vector according to the historical state vector, the second pseudorange observation and the Doppler observation.

[0163] The predicted state vector is used to indicate the predicted state vector of the primary receiver at the second epoch.

[0164] Specifically, the orientation and attitude measurement device can determine the predicted state vector through the Kalman filter prediction method, input the historical state vector and the second pseudorange observation and the Doppler observation into a preset Kalman filter prediction model to obtain the predicted state vector.

[0165] S102B, determining a baseline vector according to the second observation value, the ephemeris data and the predicted state vector.

[0166] Specifically, the orientation and attitude measurement device first determines the pseudorange double difference observation equation and the carrier double difference observation equation according to the second observation quantity and the ephemeris data.

[0167] The pseudorange double difference observation equation can be shown as the following formula three, and the carrier double difference observation equation can be shown as the following formula four.

[0168]

[0169] in, represents the double-difference pseudorange observations of satellite i and satellite j and the master receiver r and slave receiver b, represents the double difference geometric distances between the master receiver r and the slave receiver b and satellite i and satellite j respectively, Represents the preset pseudorange measurement noise.

[0170]

[0171] in, represents the double difference carrier observation value of satellite i and satellite j and the main receiver r and the slave receiver b, λ represents the carrier wavelength, represents the double difference ambiguity parameter to be estimated, Indicates the preset carrier measurement noise.

[0172] Based on this, the orientation and attitude measurement device can obtain multiple double-difference pseudorange observation values ​​and multiple double-difference carrier observation values ​​according to the pseudo-range double-difference observation equation and the carrier double-difference observation equation, and obtain a double-difference observation vector according to the multiple double-difference pseudo-range observation values ​​and multiple double-difference carrier observation values.

[0173] The orientation and attitude measurement device is based on the Kalman filter update method. Through the following formulas 5 and 6, according to the double difference observation vector and the predicted state vector, the updated state vector of the main receiver and the variance-covariance matrix of the updated state vector are obtained:

[0174] X(k|k)=X(k|k-1)+Kg·(ZH·X r (k|k-1))Formula 5;

[0175] Where X(k|k) represents the updated state vector of the master receiver, X r (k|k-1) represents the predicted state vector, Kg represents the Kalman filter gain matrix, Z represents the double difference observation vector, H represents the coefficient matrix of the linearization of the double difference observation equation, and I represents the unit matrix.

[0176] Among them, the updated state vector of the main receiver is used to indicate the position, velocity, acceleration parameters and carrier ambiguity parameters of the main receiver in the second epoch.

[0177] P(k|k)=(I-Kg·H)·P r (k|k-1) Formula 6;

[0178] Where P(k|k) represents the variance-covariance matrix of the updated state vector, I represents the identity matrix, Kg represents the Kalman filter gain matrix, H represents the coefficient matrix of the linearization of the double difference observation equation, and P r (k|k-1) represents the variance-covariance matrix of the predicted state vector.

[0179] In the above formula 5 and formula 6, the Kalman filter gain matrix can be obtained by the following formula 7.

[0180] Kg=Pr(k|k-1)·H T ·[H·Pr(k|k-1)·H T +R]- 1 Formula 7;

[0181] Where Kg represents the Kalman filter gain matrix, P r (k|k-1) represents the variance-covariance matrix of the predicted state vector, H represents the coefficient matrix of the linearization of the double-difference observation equation, (·) T represents the transpose operation, (·) -1 represents the inversion operation, and R represents the preset measurement noise matrix.

[0182] Among them, the orientation and attitude measurement device can obtain the coefficient matrix of the linearization of the double difference observation equation by linearizing the double difference observation equation, and obtain the variance-covariance matrix of the predicted state vector by performing variance and covariance processing on the double difference observation equation.

[0183] After obtaining the updated state vector of the main receiver and the variance-covariance matrix of the updated state vector, the orientation and attitude measurement device can also perform double difference ambiguity fixation processing to improve the accuracy of obtaining the baseline vector.

[0184] Specifically, the orientation and attitude measurement device can process the updated state vector and the variance-covariance matrix of the updated state vector based on the least squares AMBiguityDecorrelationAdjustment (LAMBDA) algorithm through the following formula 8, fix the floating point ambiguity to an integer, and obtain an ambiguity fixed solution.

[0185]

[0186] in, represents the floating point solution of ambiguity, represents the ambiguity fixed solution, represents the ambiguity variance-covariance.

[0187] Among them, the ambiguity floating-point solution is determined according to the vector corresponding to the carrier ambiguity parameter in the updated state vector, and the ambiguity variance-covariance is the variance-covariance corresponding to the carrier ambiguity parameter in the variance-covariance matrix of the updated state vector.

[0188] After obtaining the ambiguity fixed solution, the orientation attitude measurement device can obtain the position parameters of the main receiver after the ambiguity is fixed by the following formula 9:

[0189]

[0190] in, represents the position parameters of the main receiver after the ambiguity is fixed, represents the position parameter component (X(k|k)), represents the floating point solution of ambiguity, represents the ambiguity fixed solution, represents the position and ambiguity variance-covariance, represents the ambiguity variance-covariance, represents the location variance-covariance.

[0191] Among them, the position parameter component is the position parameter in the state vector after the main receiver is updated. The position and ambiguity variance-covariance is the variance-covariance corresponding to the position and carrier phase ambiguity parameters in the variance-covariance matrix of the updated state vector. The position variance is the variance-covariance corresponding to the position in the variance-covariance matrix of the updated state vector.

[0192] Next, the orientation and attitude measurement device can obtain the baseline vector through the following formula 10:

[0193] B(k|k)=X r (k|k)-X b (k|k) Formula 10;

[0194] Among them, B(k|k) is the baseline vector, represents the position parameter of the master receiver after the ambiguity is fixed, and Xb(k|k) represents the approximate position of the slave receiver at the second epoch.

[0195] Based on this, the orientation and attitude measurement device obtains the baseline vector, predicts the current state of the system through the above-mentioned Kalman filter prediction and Kalman filter update method, and then compares it with the actual observation value of the second epoch to obtain the optimal state estimate, thereby updating the predicted state vector of the main receiver in the second epoch, and finally obtaining the baseline vector. This method of determining the baseline vector can take into account the uncertainty of the system, thereby obtaining a more accurate baseline vector.

[0196] Based on the above exemplary description, in S102A, the orientation and attitude measurement device can be as follows: Figure 7 The method shown determines the predicted state vector.

[0197] See also Figure 7 , Figure 7 A flow chart of a method for determining a predicted state vector provided in one embodiment of the present application. Figure 7 As shown, the method includes:

[0198] S301. Determine a first approximate position and an approximate velocity of a slave receiver at a first epoch based on a second pseudorange observation and a Doppler observation.

[0199] The orientation and attitude measurement device can determine the first probable position of the slave receiver at the first epoch through the second pseudorange observation, and determine the approximate speed of the slave receiver at the first epoch according to the Doppler observation.

[0200] S302: Input the historical state vector into the first prediction model to obtain a first state vector.

[0201] The first state vector is used to indicate the predicted carrier phase ambiguity parameters of the primary receiver at the second epoch.

[0202] The first prediction model is established based on the initial observations and the main receiver state transfer matrix.

[0203] The orientation and attitude measurement device can establish a first prediction model through a Kalman filter prediction method according to the initial observation quantities of the master receiver and the slave receiver and the master receiver state transfer matrix.

[0204] Among them, the first prediction model is used to predict the carrier phase ambiguity parameters.

[0205] Among them, the main receiver state transfer matrix is ​​a pre-set matrix. In the Kalman filter, initially, the main receiver state transfer matrix is ​​determined based on the initial observation quantity. As the epoch changes, the orientation and attitude measurement device can update the main receiver state transfer matrix based on the state vectors of the two epochs.

[0206] In some examples, the first prediction model may be as shown in the following formula 11:

[0207] X(k| k-1)=Φ Φ k ,k-1X(k-1| k-1)Formula 11;

[0208] Among them, X(k|k-1) is the first state vector, Φ k,k-1 is the main receiver state transfer matrix, and X(k-1|k-1) is the historical state vector.

[0209] S303: Input the historical state vector, the first approximate position and the approximate speed into the second prediction model to obtain a second state vector.

[0210] The second state vector is used to indicate the predicted position, velocity and acceleration parameters of the primary receiver at the second epoch.

[0211] The second prediction model is shown in the following formula 12:

[0212] X r (k|k-1)=Φ k,k-1 (r)·X r (k-1|k-1)-Φ k,k-1 (b) ·X b (k-1|k-1) Formula 12;

[0213] Among them, X r (k|k-1) is the second state vector, k-1 is the first epoch, k is the second epoch, Φ k,k-1 (r) is the main receiver state transfer matrix, X r (k-1|k-1) is the historical state vector, Φ k,k-1 (b) is the transfer matrix from the receiver state, X b (k-1|k-1) is the slave receiver state vector.

[0214] The slave receiver state vector is determined based on the approximate position and the approximate velocity.

[0215] The method for determining the slave receiver state transfer matrix is ​​similar to the method for determining the master receiver state transfer matrix, and will not be described in detail here.

[0216] The orientation attitude measurement device may execute S302 and S303 sequentially, or execute S303 first and then S302. Of course, the orientation attitude measurement device may also execute S302 and S303 simultaneously, and this application does not impose any limitation on this.

[0217] S304: Combine the first state vector and the second state vector to obtain a predicted state vector.

[0218] The orientation and attitude measurement device merges the first state vector with the second state vector, thereby merging the predicted carrier phase ambiguity parameters of the main receiver at the second epoch, and the predicted position, velocity and acceleration parameters of the main receiver at the second epoch, thereby obtaining a predicted state vector.

[0219] Based on the above exemplary description, after S302, considering that the observation frequency of the slave receiver is usually lower than that of the master receiver, when the orientation and attitude measurement device first receives the observation value of the master receiver in the second epoch, but has not yet received the observation value of the slave receiver in the second epoch, the orientation and attitude measurement device can input the historical state vector, the first approximate position and the approximate velocity into the third prediction model to obtain the second state vector.

[0220] The third prediction model can be expressed as the following formula 13:

[0221] X r (k|k-1)=Φ k，k-1 (r)·X r (k-1|k-1)-X b (k-1|k-1) Formula 13;

[0222] Among them, X r (k|k-1) is the second state vector, k-1 is the first epoch, k is the second epoch, Φ k，k-1 (r) is the main receiver state transfer matrix, X r (k-1|k-1) is the historical state vector, X b (k-1|k-1) is a slave receiver state vector, and the slave receiver state vector is determined according to the approximate position and the approximate velocity.

[0223] Based on the above exemplary description, in S104, the orientation and attitude measurement device can be as follows: Figure 8 The method shown determines the orientation result.

[0224] See also Figure 8 , Figure 8 A flow chart of a method for determining an orientation result provided in an embodiment of the present application. Figure 8 As shown, the method includes:

[0225] S401. Obtain a correction vector according to the position change and the baseline vector.

[0226] The orientation and attitude measurement device can obtain the correction vector by the following formula 14:

[0227] B=B(k|k)+dX Formula 14;

[0228] Among them, B is the correction vector, B(k| k) is the baseline vector, and dX is the position change.

[0229] Therefore, the orientation attitude measurement device can compensate for the time asynchronous error in the baseline vector through the position change, thereby eliminating the error of the baseline vector and obtaining a correction vector that can accurately reflect the attitude of the UE, thereby improving the accuracy of orientation.

[0230] S402, convert the correction vector to the station center coordinate system to obtain the orientation result.

[0231] The orientation result is used to indicate the heading angle and pitch angle of the UE.

[0232] The orientation and attitude measurement device can convert the correction vector into the station-centered coordinate system to obtain the components of the correction vector in the east, north and northeast directions in the station-centered coordinate system, and obtain the heading angle and pitch angle of the UE based on these three components.

[0233] The orientation and attitude measurement device can obtain the heading angle and pitch angle of the UE through the following formula 15 and formula 16.

[0234]

[0235] Among them, yaw is the heading angle of UE, B n is the component of the correction vector in the north direction, B e is the component of the correction vector in the east direction.

[0236]

[0237] Among them, pitch is the pitch angle of UE, B u is the component of the correction vector in the northeast direction, B n is the component of the correction vector in the north direction, B e is the component of the correction vector in the east direction.

[0238] Based on this, the orientation attitude measurement device obtains an orientation result, which eliminates the time asynchronous error between the master receiver and the slave receiver, thereby improving the accuracy of orientation.

[0239] Fig. 9 This is a schematic diagram of the structure of an orientation and attitude measurement device provided in one embodiment of the present application. Fig. 9 As shown, the device includes: an acquisition module 101, a baseline vector determination module 102, a position change determination module 103 and an orientation module 104.

[0240] The acquisition module 101 is used to acquire a first observation value, a second observation value, ephemeris data and a historical state vector, wherein the first observation value includes a first pseudorange observation value and a first carrier observation value of a master receiver for multiple satellites in a first epoch, and a second pseudorange observation value and a Doppler observation value of a slave receiver for multiple satellites in the first epoch, the second observation value includes a third pseudorange observation value and a second carrier observation value of a master receiver for multiple satellites in a second epoch, and a fourth pseudorange observation value and a third carrier observation value of a slave receiver for multiple satellites in the second epoch, the historical state vector is used to indicate a state vector of the master receiver in the first epoch, the second epoch is continuous with the first epoch, the second epoch is later than the first epoch, and the master receiver and the slave receiver are placed in the same terminal device and move together.

[0241] The baseline vector determination module 102 is used to determine the baseline vector according to the historical state vector, the second pseudorange observation, the Doppler observation, the second observation and the ephemeris data. The baseline vector is used to indicate the position coordinate difference between the master receiver and the slave receiver at the second epoch.

[0242] The position change determination module 103 is used to determine the position change according to the first pseudorange observation, the first carrier observation, the third pseudorange observation, the second carrier observation and the ephemeris data, and the position change is used to compensate for the time asynchronous error between the master receiver and the slave receiver.

[0243] The orientation module 104 is used to determine an orientation result according to the baseline vector and the position change, and the orientation result is used to indicate the posture of the terminal device in the second epoch.

[0244] It should be noted that the orientation and attitude measurement device of the embodiment of the present application can be used to execute the technical solution of the above-mentioned method embodiment, and its implementation principle and technical effect are similar, which will not be repeated here.

[0245] In some examples, the position change determination module 103 is specifically used to determine a first single-difference carrier observation value based on the first carrier observation value, determine a second single-difference carrier observation value based on the second carrier observation value, determine a first single-difference geometric distance based on the ephemeris data and the first pseudorange observation value, and determine a second single-difference geometric distance based on the ephemeris data and the third pseudorange observation value.

[0246] A plurality of double-difference observation equations are established according to the first single-difference carrier observation value, the second single-difference carrier observation value, the first single-difference geometric distance and the second single-difference geometric distance.

[0247] Based on multiple double-difference observation equations, the position change is determined.

[0248] Among them, the double difference observation equation is:

[0249] in, is the single difference carrier observation value corresponding to satellite i and satellite j in the second single difference carrier observation value, is the single difference carrier observation value corresponding to satellite i and satellite j in the first single difference carrier observation value, is the single difference geometric distance between satellite i and satellite j in the second single difference geometric distance, is the single difference geometric distance between satellite i and satellite j in the first single difference geometric distance, The noise is measured for the double-difference carrier.

[0250] In some examples, the position change determination module 103 is specifically used to linearize multiple double-difference observation equations to obtain coefficient matrices and observation vectors.

[0251] According to the coefficient matrix and the observation vector, the position change is obtained through formula 1.

[0252] Wherein, formula 1 is: dX=(H T PH) -1 H T PL.

[0253] Among them, dX is the position change, H is the coefficient matrix, P is the preset weight matrix, (·) T represents the transpose operation, (·) -1 represents the inverse operation, and L is the observation vector.

[0254] In some examples, the baseline vector determination module 102 is specifically used to determine a predicted state vector based on the historical state vector, the second pseudorange observation and the Doppler observation, where the predicted state vector is used to indicate the predicted state vector of the primary receiver at the second epoch.

[0255] A baseline vector is determined according to the second observation value, the ephemeris data and the predicted state vector.

[0256] In some examples, the baseline vector determination module 102 is specifically configured to determine a first approximate position and an approximate velocity of the slave receiver at a first epoch based on the second pseudorange observation and the Doppler observation.

[0257] The historical state vector is input into the first prediction model to obtain a first state vector, which is used to indicate the predicted carrier phase ambiguity parameters of the main receiver at the second epoch. The first prediction model is established based on the initial observations and the main receiver state transfer matrix. The first prediction model is used to predict the carrier phase ambiguity parameters.

[0258] The historical state vector, the first approximate position and the approximate velocity are input into the second prediction model to obtain a second state vector, where the second state vector is used to indicate the predicted position, velocity and acceleration parameters of the main receiver at the second epoch.

[0259] The first state vector and the second state vector are combined to obtain a predicted state vector.

[0260] Among them, the second prediction model is: X r (k|k-1)=Φ k，k-1 (r)·X r (k-1|k-1)-Φ k，k-1 (b) ·X b (k-1|k-1).

[0261] Among them, X r (k|k-1) is the second state vector, k-1 is the first epoch, k is the second epoch, Φ k，k-1 (r) is the main receiver state transfer matrix, X r (k-1|k-1) is the historical state vector, Φ k，k-1 (b) is the transfer matrix from the receiver state, X b (k-1|k-1) is a slave receiver state vector, and the slave receiver state vector is determined according to the approximate position and the approximate velocity.

[0262] In some examples, the baseline vector determination module 102 is further used to input the historical state vector, the first approximate position and the approximate velocity into the third prediction model to obtain the second state vector when the observation value from the receiver at the second epoch has not been received.

[0263] Among them, the third prediction model is: X r (k|k-1)=Φ k，k-1 (r)·X r (k-1|k-1)-X b (k-1| k-1).

[0264] Among them, X r (k|k-1) is the second state vector, k-1 is the first epoch, k is the second epoch, Φ k，k-1 (r) is the main receiver state transfer matrix, X r (k-1|k-1) is the historical state vector, X b (k-1|k-1) is a slave receiver state vector, and the slave receiver state vector is determined according to the approximate position and the approximate velocity.

[0265] In some examples, the orientation module 104 is specifically configured to obtain a correction vector according to the position change and the baseline vector.

[0266] The correction vector is converted to the station center coordinate system to obtain the orientation result, which is used to indicate the heading angle and pitch angle of the terminal device.

[0267] Fig.10 This is a schematic diagram of the structure of an electronic device provided by an embodiment of the present application. Fig.10 As shown, the electronic device may include: a processor 201 and a memory 202, wherein the memory 202 stores a computer program, and when the processor 201 executes the computer program, the embodiment of the present application is implemented. Figures 1 to 8 The orientation pose measurement method shown.

[0268] Fig.11 This is a schematic diagram of the structure of an electronic device provided by an embodiment of the present application. Fig.11 As shown, the electronic device may include: a processor 301, and when the processor 301 executes a computer executable program or an instruction in a memory to execute a computer program, the embodiment of the present application is implemented. Figures 1 to 8 The orientation pose measurement method shown.

[0269] The electronic device of the present application can be used to execute the technical solution of the above method embodiment, and its implementation principle and technical effect are similar. The operations implemented by each module can be further referred to the relevant description of the method embodiment, which will not be repeated here. The modules here can also be replaced by components or circuits.

[0270] Another embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the present application can be implemented. Figures 1 to 8 The orientation measurement method shown.

[0271] Another embodiment of the present application further provides a computer program product, including: an execution instruction, the execution instruction is stored in a readable storage medium, at least one processor of the electronic device can read the execution instruction from the readable storage medium, and at least one processor executes the execution instruction so that the electronic device implements the embodiment of the present application Figures 1 to 8 The orientation pose measurement method shown.

[0272] Another embodiment of the present application further provides a chip, which is connected to a memory, or has a memory integrated thereon. When a software program stored in the memory is executed, the orientation and attitude measurement method in the above method embodiment is implemented.

[0273] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation, for example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed.

[0274] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loading and executing computer program instructions on a computer, the process or function according to the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from a website site, a computer, a server or a data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server, a data center, etc. that contains one or more available media integrated. The available medium can be a magnetic medium, (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state hard disk Solid State Disk (SSD)), etc.

[0275] Those skilled in the art will appreciate that, although some embodiments herein include certain features included in other embodiments, the combination of features of different embodiments is meant to be within the scope of the present application and form different embodiments. For example, in the claims, any one of the claimed embodiments may be used in any combination.

[0276] As described above, the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for orientation and attitude measurement, characterized in that: The method comprises: Acquire a first observation value, a second observation value, ephemeris data, and a historical state vector, wherein the first observation value includes a first pseudorange observation value and a first carrier observation value of a master receiver for multiple satellites at a first epoch, and a second pseudorange observation value and a Doppler observation value of a slave receiver for multiple satellites at the first epoch, the second observation value includes a third pseudorange observation value and a second carrier observation value of a master receiver for multiple satellites at a second epoch, and a fourth pseudorange observation value and a third carrier observation value of a slave receiver for multiple satellites at the second epoch, the historical state vector is used to indicate a state vector of the master receiver at the first epoch, the second epoch is continuous with the first epoch, the second epoch is later than the first epoch, and the master receiver and the slave receiver are placed in the same terminal device and move together; Determine a baseline vector according to the historical state vector, the second pseudorange observation, the Doppler observation, the second observation and the ephemeris data, wherein the baseline vector is used to indicate a position coordinate difference between the master receiver and the slave receiver at the second epoch; Determine a position change according to the first pseudorange observation value, the first carrier observation value, the third pseudorange observation value, the second carrier observation value and the ephemeris data, wherein the position change is used to compensate for a time asynchrony error between the master receiver and the slave receiver; An orientation result is determined based on the baseline vector and the position change, and the orientation result is used to indicate the posture of the terminal device in the second epoch.

2. The method according to claim 1, characterized in that The determining of the position change according to the first pseudorange observation value, the first carrier observation value, the third pseudorange observation value, the second carrier observation value and the ephemeris data comprises: Determine a first single-difference carrier observation value according to the first carrier observation value, determine a second single-difference carrier observation value according to the second carrier observation value, determine a first single-difference geometric distance according to the ephemeris data and the first pseudorange observation value, and determine a second single-difference geometric distance according to the ephemeris data and the third pseudorange observation value; Establishing a plurality of double-difference observation equations according to the first single-difference carrier observation value, the second single-difference carrier observation value, the first single-difference geometric distance, and the second single-difference geometric distance; Determining the position change according to the multiple double-difference observation equations; Wherein, the double difference observation equation is: in, is the single difference carrier observation value corresponding to satellite i and satellite j in the second single difference carrier observation value, is the single difference carrier observation value corresponding to satellite i and satellite j in the first single difference carrier observation value, is the single difference geometric distance between satellite i and satellite j in the second single difference geometric distance, is the single difference geometric distance between satellite i and satellite j in the first single difference geometric distance, The noise is measured for the double-difference carrier.

3. The method according to claim 2, characterized in that Determining the position change according to the multiple double-difference observation equations includes: Linearizing the multiple double-difference observation equations to obtain coefficient matrices and observation vectors; According to the coefficient matrix and the observation vector, the position change is obtained by formula 1; Wherein, the formula 1 is: dX=(H T PH) -1 H T PL; Wherein, dX is the position change, H is the coefficient matrix, P is the preset weight matrix, (·) T represents the transpose operation, (·) -1 represents the inverse operation, and L is the observation vector.

4. The method according to any one of claims 1 to 3, characterized in that: The determining of the baseline vector according to the historical state vector, the second pseudorange observation quantity, the Doppler observation quantity, the second observation quantity and the ephemeris data comprises: Determine a predicted state vector according to the historical state vector, the second pseudorange observation and the Doppler observation, wherein the predicted state vector is used to indicate a predicted state vector of the primary receiver at the second epoch; A baseline vector is determined according to the second observation, the ephemeris data and the predicted state vector.

5. The method according to claim 4, characterized in that The step of determining a predicted state vector according to the historical state vector, the second pseudorange observation quantity and the Doppler observation quantity comprises: Determining a first approximate position and an approximate velocity of the slave receiver at the first epoch based on the second pseudorange observation and the Doppler observation; Inputting the historical state vector into a first prediction model to obtain a first state vector, wherein the first state vector is used to indicate a predicted carrier phase ambiguity parameter of the primary receiver at a second epoch, wherein the first prediction model is established based on an initial observation and a state transfer matrix of the primary receiver, and the first prediction model is used to predict a carrier phase ambiguity parameter; Inputting the historical state vector, the first approximate position and the approximate velocity into a second prediction model to obtain a second state vector, wherein the second state vector is used to indicate the predicted position, velocity and acceleration parameters of the primary receiver at the second epoch; Combining the first state vector and the second state vector to obtain the predicted state vector; Wherein, the second prediction model is: r (k|k-1)=Φ k,k-1 (r)·X r (k-1|k-1)-Φ k,k-1 (b) ·X b (k-1|k-1); Among them, X r (k|k-1) is the second state vector, k-1 is the first epoch, k is the second epoch, Φ k,k-1 (r) is the main receiver state transfer matrix, X r (k-1|k-1) is the historical state vector, Φ k,k-1 (b) is the state transfer matrix from the receiver, X b (k-1|k-1) is a slave receiver state vector, and the slave receiver state vector is determined according to the approximate position and the approximate speed.

6. The method according to claim 5, characterized in that The method further comprises: When the observation value from the receiver at the second epoch has not yet been received, inputting the historical state vector, the first approximate position and the approximate velocity into a third prediction model to obtain the second state vector; Wherein, the third prediction model is: r (k|k-1)=Φ k,k-1 (r)·X r (k-1|k-1)-X b (k-1|k-1); Among them, X r (k|k-1) is the second state vector, k-1 is the first epoch, k is the second epoch, Φ k,k-1 (r) is the main receiver state transfer matrix, X r (k-1|k-1) is the historical state vector, X b (k-1|k-1) is a slave receiver state vector, and the slave receiver state vector is determined according to the approximate position and the approximate speed.

7. The method according to any one of claims 1 to 3, characterized in that: The determining of the orientation result according to the baseline vector and the position change comprises: Obtaining a correction vector according to the position change and the baseline vector; The correction vector is converted into the station center coordinate system to obtain an orientation result, and the orientation result is used to indicate the heading angle and pitch angle of the terminal device.

8. A device for orientation and attitude measurement, characterized in that: It is characterized in that it comprises: a module for executing the method as described in any one of claims 1 to 7.

9. An electronic device, characterized in that: The method comprises a memory and a processor, wherein the memory stores a computer program that can be run on the processor, and when the processor executes the program, the method according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

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