Satellite-borne navigation receiver three-antenna RTK test system and method based on rotary table

Abstract

The invention relates to a satellite-borne navigation receiver three-antenna RTK test system and method based on a rotary table, and the test system comprises a three-antenna module, a satellite-borne navigation receiver, a fiber-optic gyroscope inertial navigation module and a ground detection conversion module. The feasibility of the three-antenna alternating RTK technology is verified through an outdoor rotary table rotation actual receiving mode, and the ground evaluation of the multi-antenna RTK measurement precision of the satellite-borne navigation receiver through full-physical simulation is realized through a real-time resolving and post data processing mode.

Description

Technical Field

[0001] The invention relates to a three-antenna RTK test system and method for a satellite-borne navigation receiver based on a turntable, and belongs to the technical field of spacecraft motion attitude test. Background Art

[0002] Relative navigation technology based on differential GNSS has been widely used in spacecraft rendezvous and docking and formation flying missions. However, in current applications, the attitudes of the two spacecraft are strictly facing the ground. If any spacecraft has an attitude movement such as flipping, which causes the GNSS antenna to be blocked and unable to receive satellites normally, it will seriously affect the navigation accuracy of the system and even fail. In order to adapt to the availability of RTK technology based on onboard navigation receivers under the current spacecraft motion attitude, a more stable test simulation system is needed. Summary of the invention

[0003] The technical problem solved by the present invention is: in view of the problem that the traditional navigation technology in the current prior art easily affects the navigation accuracy, a three-antenna RTK test system and method for a satellite-borne navigation receiver based on a turntable are proposed.

[0004] The present invention solves the above technical problems by the following technical solutions:

[0005] A three-antenna RTK test system for a satellite-borne navigation receiver based on a turntable, comprising a three-antenna module, a satellite-borne navigation receiver, a fiber optic gyro inertial navigation module, and a ground detection conversion module;

[0006] The three antenna modules are mounted on a turntable, and perform dual-vector attitude determination by aligning the turntable surface with the antenna center baseline of the target spacecraft and receiving the base station data of the target spacecraft, and sending the real-time attitude determination results to the onboard navigation receiver; receiving the turntable attitude update data sent back by the onboard navigation receiver, and adjusting the turntable attitude in real time;

[0007] The satellite navigation receiver receives the real-time attitude determination result and forwards it to the fiber optic gyro inertial navigation module and the ground detection conversion module. At the same time, it receives the turntable attitude update data sent back by the ground detection conversion module and forwards it to the turntable; receives the external base station data and sends it to the ground detection conversion module; receives the fiber optic gyro real-time attitude data sent back by the fiber optic gyro inertial navigation module and forwards it to the ground detection conversion module;

[0008] The fiber optic gyro inertial navigation module receives the attitude determination result sent by the satellite navigation receiver, performs initial alignment of the fiber optic gyro, continuously performs attitude integration at the output frequency of the fiber optic gyro, and returns the real-time attitude data of the fiber optic gyro to the satellite navigation receiver;

[0009] The ground inspection conversion module receives external instructions to generate turntable attitude update data and sends it to the satellite navigation receiver to adjust the turntable attitude, obtain the relative position relationship of the antenna and collect the real-time rotation speed information of the turntable, and calculate the RTK result based on the real-time attitude determination result, the real-time attitude data of the fiber optic gyroscope, the real-time rotation speed information of the turntable, and the external base station data.

[0010] The three-antenna module includes antenna a, antenna b, and antenna c, which are installed on a turntable at a preset angle. The center of the turntable surface is relative to the baseline of the target spacecraft antenna center for dual-vector attitude determination. The attitude determination result is the initial value of the gyro attitude. According to the relative distance vector between antenna a, antenna b, and antenna c Sure.

[0011] The gyro attitude initial value The determination method is:

[0012] The center of antenna a is taken as the origin of the coordinate system (0,0,0), and the coordinate of antenna b in this system is Length of mold The coordinates of antenna c in this system are determined by the law of cosines:

[0013]

[0014] Perform RTK calculations on antenna a and antenna b, and antenna a and antenna c to obtain relative vector measurement values. Sum vector product Then, the initial value of the gyro attitude is determined based on the obtained data.

[0015] The fiber optic gyro navigation module performs initial alignment based on the dual vector attitude determination results, using the gyro attitude initial value Assign the initial value of the fiber optic gyro attitude, perform attitude integration with the fiber optic gyro output frequency, and determine the fiber optic gyro angle increment angle increment The calculation method is:

[0016]

[0017] The calculated fiber optic gyro angle increment is used as the output fiber optic gyro real-time attitude data.

[0018] When the onboard navigation receiver receives the real-time attitude data of the fiber optic gyro, the turntable is slowly rotated to the vertical direction, and the three antennas are replaced with the same preset angle outward, and the differential single vector between antenna a and antenna b, and between antenna a and antenna c is calculated. According to the real-time attitude data of the fiber optic gyroscope Determine the position coordinates of the phase center of antenna b relative to the phase center of antenna a and antenna c in this system:

[0019]

[0020] The satellite-borne navigation receiver records the obtained position coordinates.

[0021] The ground detection conversion module is based on the position coordinate information of the phase center of antenna b relative to the phase center of antenna a and antenna c in this system, and the real-time attitude data of the fiber optic gyroscope. The real-time rotation speed and real-time attitude results of the turntable are used to calculate the RTK results in the WGS84 system and the J2000 inertial system, and are compared with the calibrated RTK results to evaluate the test accuracy.

[0022] Build a ground test system, install each antenna in the three-antenna module on a turntable at a preset angle and point it upward, and perform dual-vector attitude determination at the center of the turntable surface relative to the baseline of the target spacecraft antenna center;

[0023] Define this system and determine the initial attitude value based on the double vector attitude determination result

[0024] The relative distance vector between antennas a, b, and c is obtained by relative positioning using carrier phase difference

[0025] Taking the center of antenna a as the origin of the coordinate system, determine the position coordinates of antenna b and antenna c in the system respectively;

[0026] Perform RTK calculations on antenna a and antenna b, and antenna a and antenna c to obtain relative vector measurement values. Sum vector product Then, the initial value of the gyro attitude is determined based on the obtained data.

[0027] According to the initial value of gyro attitude Perform initial alignment with the gyro attitude initial value Assigning the initial value of the FOG attitude, integrating the attitude with the output frequency of the FOG, and determining the FOG angle increment as the output FOG real-time attitude data;

[0028] After rotating the turntable to the vertical direction, replace the antenna and obtain the differential single vector between antenna a and antenna b, and antenna a and antenna c. According to the real-time attitude data of the fiber optic gyroscope Determine the position coordinates of the phase center of antenna b relative to the phase centers of antenna a and antenna c in this system;

[0029] According to the position coordinate relationship of the phase center of antenna b relative to the phase center of antenna a and antenna c in this system, the real-time attitude data of the fiber optic gyroscope is used to The real-time rotation speed and real-time attitude results of the turntable are used to calculate the RTK results in the WGS84 system and the J2000 inertial system and compared with the calibrated RTK results to evaluate the test accuracy.

[0030] After determining the position coordinates of the phase center of antenna b relative to the phase centers of antenna a and antenna c in this system, set the turntable to rotate and make antenna a, antenna b, and antenna c face the sky in turn, and record the current rotation speed as the real-time rotation speed of the turntable required for RTK result solution.

[0031] In the initial state, the antenna a, antenna b, and antenna c are oriented upward. Before determining the position coordinate relationship between the antennas, the antenna a, antenna b, and antenna c are replaced so that the antenna a, antenna b, and antenna c are oriented outward. After determining the position coordinate relationship between the antennas, the turntable is reset so that the antenna a, antenna b, and antenna c are oriented upward.

[0032] The reference station air-to-air communication data received by the antenna a, antenna b, and antenna c through the wireless link is used as an RTK calculation input value.

[0033] The advantages of the present invention compared with the prior art are:

[0034] (1) The present invention provides a three-antenna RTK test system and method for a satellite-borne navigation receiver based on a turntable, which uses a fiber optic gyroscope to measure the turntable attitude information in real time for measurement value calculation. The feasibility of the three-antenna alternating RTK technology is verified by rotating the outdoor turntable. The ground evaluation of the multi-antenna RTK measurement accuracy of the satellite-borne navigation receiver is realized by a full physical simulation method through real-time solution + post-data processing.

[0035] (2) The present invention solves the problem of testing and verifying the multi-antenna RTK technology of satellite-borne navigation receivers by simulating the full physical ground simulation of three-antenna switching relay RTK during spacecraft attitude maneuvers by rotating a turntable. At the same time, the attitude information is introduced into the test system by using the fiber optic gyro dual-vector attitude determination method, solving the problem of real-time calculation of the center of multi-antenna observation quantity in ground testing. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 Diagram of the three-antenna RTK ground test system for the satellite-borne navigation receiver based on a turntable provided for the invention;

[0037] Figure 2 A schematic diagram of the coordinate system of the turntable plane three-antenna layout provided by the invention; DETAILED DESCRIPTION

[0038] A turntable-based satellite navigation receiver three-antenna RTK test system and method, involving a test method that uses a fiber optic gyroscope to measure the turntable attitude information in real time for measurement value calculation, verifies the feasibility of the three-antenna alternating RTK technology by actual collection through outdoor turntable rotation, and realizes ground evaluation of the multi-antenna RTK measurement accuracy of the satellite navigation receiver by full physical simulation through real-time solution + post-data processing.

[0039] The three-antenna RTK test system of the satellite-borne navigation receiver based on the turntable, the ground test setup includes:

[0040] Three antenna modules, onboard navigation receiver, fiber optic gyro inertial navigation module, and ground detection conversion module;

[0041] The three antenna modules are mounted on a turntable, and perform dual-vector attitude determination by aligning the turntable surface with the antenna center baseline of the target spacecraft and receiving the base station data of the target spacecraft, and sending the real-time attitude determination results to the onboard navigation receiver; receiving the turntable attitude update data sent back by the onboard navigation receiver, and adjusting the turntable attitude in real time;

[0042] The satellite navigation receiver receives the real-time attitude determination result and forwards it to the fiber optic gyro inertial navigation module and the ground detection conversion module. At the same time, it receives the turntable attitude update data sent back by the ground detection conversion module and forwards it to the turntable; receives the external base station data and sends it to the ground detection conversion module; receives the fiber optic gyro real-time attitude data sent back by the fiber optic gyro inertial navigation module and forwards it to the ground detection conversion module;

[0043] The fiber optic gyro inertial navigation module receives the attitude determination result sent by the satellite navigation receiver, performs initial alignment of the fiber optic gyro, continuously performs attitude integration at the output frequency of the fiber optic gyro, and returns the real-time attitude data of the fiber optic gyro to the satellite navigation receiver;

[0044] The ground inspection conversion module receives external instructions to generate turntable attitude update data and sends it to the satellite navigation receiver to adjust the turntable attitude, obtain the relative position relationship of the antenna and collect the real-time rotation speed information of the turntable, and calculate the RTK result based on the real-time attitude determination result, the real-time attitude data of the fiber optic gyroscope, the real-time rotation speed information of the turntable, and the external base station data.

[0045] The three-antenna module includes antenna a, antenna b, and antenna c, which are installed on the turntable at a preset angle. The center of the turntable surface is relative to the baseline of the target spacecraft antenna center for dual-vector attitude determination. The attitude determination result is the initial value of the gyro attitude. According to the relative distance vector between antenna a, antenna b, and antenna c Sure.

[0046] Gyro attitude initial value The determination method is:

[0047] The center of antenna a is taken as the origin of the coordinate system (0,0,0), and the coordinate of antenna b in this system is Length of mold The coordinates of antenna c in this system are determined by the law of cosines;

[0048] Perform RTK calculations on antenna a and antenna b, and antenna a and antenna c to obtain relative vector measurement values. Sum vector product Then, the initial value of the gyro attitude is determined based on the obtained data.

[0049] The fiber optic gyro navigation module performs initial alignment based on the dual vector attitude determination results, using the gyro attitude initial value Assign the initial value of the fiber optic gyro attitude, perform attitude integration with the fiber optic gyro output frequency, and determine the fiber optic gyro angle increment angle increment The calculated fiber optic gyro angle increment is used as the output fiber optic gyro real-time attitude data;

[0050] When the onboard navigation receiver receives the real-time attitude data of the fiber optic gyro, the turntable is slowly rotated to the vertical direction, and the three antennas are replaced with the same preset angle outward, and the differential single vector between antenna a and antenna b, and between antenna a and antenna c is calculated. According to the real-time attitude data of the fiber optic gyroscope Determine the position coordinates of the phase center of antenna b relative to the phase centers of antenna a and antenna c in this system, and the satellite-borne navigation receiver records the obtained position coordinates;

[0051] The ground detection conversion module is based on the position coordinate information of the phase center of antenna b relative to the phase center of antenna a and antenna c in this system, and the real-time attitude data of the fiber optic gyroscope. The turntable real-time speed and real-time attitude results are used to calculate the RTK results in the WGS84 system and the J2000 inertial system, and compared with the calibrated RTK results to evaluate the test accuracy;

[0052] The test method implemented by the RTK test system includes the following steps:

[0053] Build a ground test system, install each antenna in the three-antenna module on a turntable at a preset angle and point it upward, and perform dual-vector attitude determination at the center of the turntable surface relative to the baseline of the target spacecraft antenna center;

[0054] Define this system and determine the initial attitude value based on the double vector attitude determination result

[0055] The relative distance vector between antennas a, b, and c is obtained by relative positioning using carrier phase difference

[0056] Taking the center of antenna a as the origin of the coordinate system, determine the position coordinates of antenna b and antenna c in the system respectively;

[0057] Perform RTK calculations on antenna a and antenna b, and antenna a and antenna c to obtain relative vector measurement values. Sum vector product Then, the initial value of the gyro attitude is determined based on the obtained data.

[0058] According to the initial value of gyro attitude Perform initial alignment with the gyro attitude initial value Assigning the initial value of the FOG attitude, integrating the attitude with the output frequency of the FOG, and determining the FOG angle increment as the output FOG real-time attitude data;

[0059] After rotating the turntable to the vertical direction, replace the antenna and obtain the differential single vector between antenna a and antenna b, and antenna a and antenna c. According to the real-time attitude data of the fiber optic gyroscope Determine the position coordinates of the phase center of antenna b relative to the phase centers of antenna a and antenna c in this system;

[0060] According to the position coordinate relationship of the phase center of antenna b relative to the phase center of antenna a and antenna c in this system, the real-time attitude data of the fiber optic gyroscope is used to The real-time rotation speed and real-time attitude results of the turntable are used to calculate the RTK results in the WGS84 system and the J2000 inertial system and compared with the calibrated RTK results to evaluate the test accuracy.

[0061] After determining the position coordinates of the phase center of antenna b relative to the phase centers of antenna a and antenna c in this system, set the turntable to rotate and make antenna a, antenna b, and antenna c face the sky in turn, and record the current rotation speed as the real-time rotation speed of the turntable required for RTK result solution.

[0062] In the initial state, antenna a, antenna b, and antenna c face upward. Before determining the position coordinate relationship between the antennas, they are replaced so that antenna a, antenna b, and antenna c face outward. After determining the position coordinate relationship between the antennas, the turntable is reset so that antenna a, antenna b, and antenna c face upward.

[0063] The following is further described in conjunction with the accompanying drawings and preferred embodiments of the specification:

[0064] In the current embodiment, the three-antenna RTK test method of the satellite-borne navigation receiver based on the turntable is actually a full-physical ground simulation real-time system based on the turntable, fiber optic gyroscope, satellite-borne navigation receiver, reference station and other equipment and products, combined with dual-vector attitude determination, observation center reduction and three-antenna relay switching to realize the RTK test method under attitude maneuvering. Taking the center of antenna a as the reduction origin as an example, the three-antenna RTK test method of the satellite-borne navigation receiver based on the turntable includes the following steps:

[0065] 1) According to Figure 1 The ground system is connected in the state shown; the three antennas are installed on the turntable at an angle of 120°, and the center of the turntable surface is calibrated relative to the baseline of the antenna center of the reference station (target spacecraft);

[0066] 2) Define the system OXYZ b ,like Figure 2 As shown, when the turntable is placed horizontally, three antennas a, b, and c complete the double vector attitude determination to obtain the initial attitude value.

[0067] The relative distance vector between antennas a, b, and c is obtained by relative positioning using carrier phase difference The center of antenna a is the origin of the coordinate system, i.e. (0,0,0). According to the coordinate system diagram (2), the coordinates of antenna b in this system are The modulus length is: The coordinates of the antenna c system are solved by the cosine theorem, that is:

[0068] The relative vector measurement value in the navigation system is obtained by performing RTK by antenna a, antenna b and antenna a, antenna c respectively. Sum vector product

[0069] Solve the initial value from this posture:

[0070] 3) using the attitude determination result obtained in step 2) to initially align the fiber optic gyroscope; using the fiber optic gyroscope to measure the angular velocity, the attitude update equation is approximately obtained, and then the turntable attitude quaternion is obtained;

[0071] Use the dual-vector attitude determination results to initially align the fiber optic gyroscope: The initial value of the FOG attitude is assigned; the attitude integration is performed using the output frequency of the FOG, and the assumption that the angular velocity is a constant is often used, that is, The attitude update equation can be expressed as the angle increment In the form of:

[0072]

[0073] By expanding the power series and taking the first-order approximation, the attitude update calculation formula represented by the angle increment can be obtained as follows:

[0074]

[0075] The initial value is get;

[0076] 4) Slowly rotate the turntable to the vertical direction and then replace the three antennas with a 120° angle facing outward. Use the single vector obtained by the difference of the two antennas (a and b, a and c) and fiber optic gyro attitude Determine the position coordinates of the phase center of antenna b relative to a and the phase center of antenna c relative to a in this system;

[0077]

[0078] 5) The relative position relationship of the antennas obtained in step 4) is annotated to the differential satellite navigation receiver, and the turntable is set to rotate slowly so that the three antennas face the sky in turn. The RTK results in the WGS84 system and the J2000 inertial system are calculated using the turntable real-time rotation speed, the attitude information output by the fiber optic gyro, the base station air-to-air communication data (wireless link) and the real-time original observation data of the three antennas. The RTK measurement accuracy is evaluated by comparing with the calibration value.

[0079] In step 2), the center of antenna a is defined as OXYZ in this system. b Origin O b , the line connecting the centers of antennas a and b is the X-axis, the turntable plane where antennas a, b, and c are evenly distributed is the XOY plane, the Z-axis is perpendicular to the XOY plane and is positive upward, and the Y-axis, X-axis, and Z-axis satisfy the right-hand screw theorem.

[0080] In step 5), the base station's air-to-air communication data (wireless link) and the real-time original observation data of each antenna are solved in real time to obtain the RTK result based on the center of the antenna. Due to the relative position coordinates and attitude information of antenna a in this system, the RTK result of antenna b / c relative to the center of antenna a can be reduced (the reduction process for any other point can be similar).

[0081] Although the present invention has been disclosed as above in the form of a preferred embodiment, it is not intended to limit the present invention. Any person skilled in the art may make possible changes and modifications to the technical solution of the present invention by using the methods and technical contents disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention shall fall within the protection scope of the technical solution of the present invention.

[0082] The contents not described in detail in the specification of the present invention belong to the common knowledge of those skilled in the art.

Claims

1. A three-antenna RTK test system for a satellite-borne navigation receiver based on a turntable, characterized in that: It includes three antenna modules, satellite navigation receiver, fiber optic gyro inertial navigation module, and ground detection conversion module; The three antenna modules are mounted on a turntable, which aligns the antenna center baseline of the target spacecraft with the turntable surface and receives the base station data of the target spacecraft for dual-vector attitude determination, and sends the real-time attitude determination results to the onboard navigation receiver; Receive the turntable attitude update data sent back by the satellite navigation receiver and adjust the turntable attitude in real time; The satellite navigation receiver receives the real-time attitude determination results and forwards them to the fiber optic gyro inertial navigation module and the ground detection conversion module. At the same time, it receives the turntable attitude update data sent back by the ground detection conversion module and forwards it to the turntable; it receives the external base station data and sends it to the ground detection conversion module; Receive the fiber optic gyro real-time attitude data sent back by the fiber optic gyro inertial navigation module and forward it to the ground detection conversion module; The fiber optic gyro inertial navigation module receives the attitude determination result sent by the satellite navigation receiver, performs initial alignment of the fiber optic gyro, continuously performs attitude integration at the output frequency of the fiber optic gyro, and returns the real-time attitude data of the fiber optic gyro to the satellite navigation receiver; The ground inspection conversion module receives external instructions to generate turntable attitude update data and sends it to the satellite navigation receiver to adjust the turntable attitude, obtain the relative position relationship of the antenna and collect the real-time rotation speed information of the turntable, and calculate the RTK result based on the real-time attitude determination result, the real-time attitude data of the fiber optic gyroscope, the real-time rotation speed information of the turntable, and the external base station data.

2. The three-antenna RTK test system for a satellite-borne navigation receiver based on a turntable according to claim 1, characterized in that: The three-antenna module includes antenna a, antenna b, and antenna c, which are installed on a turntable at a preset angle. The center of the turntable surface is relative to the baseline of the target spacecraft antenna center for dual-vector attitude determination. The attitude determination result is the initial value of the gyro attitude. According to the relative distance vector between antenna a, antenna b, and antenna c Sure.

3. The three-antenna RTK test system for a satellite-borne navigation receiver based on a turntable according to claim 2, characterized in that: The gyro attitude initial value The determination method is: The center of antenna a is taken as the origin of the coordinate system (0,0,0), and the coordinate of antenna b in this system is Length of mold The coordinates of antenna c in this system are determined by the law of cosines: Perform RTK calculations on antenna a and antenna b, and antenna a and antenna c to obtain relative vector measurement values. Sum vector product Then, the initial value of the gyro attitude is determined based on the obtained data.

4. The three-antenna RTK test system for a satellite-borne navigation receiver based on a turntable according to claim 2, characterized in that: The fiber optic gyro navigation module performs initial alignment based on the dual vector attitude determination result, with the gyro attitude initial value Assign the initial value of the fiber optic gyro attitude, perform attitude integration with the fiber optic gyro output frequency, and determine the fiber optic gyro angle increment angle increment The calculation method is: The calculated fiber optic gyro angle increment is used as the output fiber optic gyro real-time attitude data.

5. The three-antenna RTK test system for a satellite-borne navigation receiver based on a turntable according to claim 2, characterized in that: When the onboard navigation receiver receives the real-time attitude data of the fiber optic gyro, it slowly rotates the turntable to the vertical direction, replaces the three antennas with the same preset angle, and calculates the differential single vector between antenna a and antenna b, and between antenna a and antenna c. According to the real-time attitude data of the fiber optic gyroscope Determine the position coordinates of the phase center of antenna b relative to the phase center of antenna a and antenna c in this system: The satellite-borne navigation receiver records the obtained position coordinates.

6. The three-antenna RTK test system for a satellite-borne navigation receiver based on a turntable according to claim 5, characterized in that: The ground detection conversion module is based on the position coordinate information of the phase center of antenna b relative to the phase center of antenna a and antenna c in this system, and the real-time attitude data of the fiber optic gyroscope. The real-time rotation speed and real-time attitude results of the turntable are used to calculate the RTK results in the WGS84 system and the J2000 inertial system, and are compared with the calibrated RTK results to evaluate the test accuracy.

7. A test method implemented by the RTK test system according to claim 2, characterized in that include: Build a ground test system, install each antenna in the three-antenna module on a turntable at a preset angle and point it upward, and perform dual-vector attitude determination at the center of the turntable surface relative to the baseline of the target spacecraft antenna center; Define this system and determine the initial attitude value based on the double vector attitude determination result The relative distance vector between antennas a, b, and c is obtained by relative positioning using carrier phase difference Taking the center of antenna a as the origin of the coordinate system, determine the position coordinates of antenna b and antenna c in the system respectively; Perform RTK calculations on antenna a and antenna b, and antenna a and antenna c to obtain relative vector measurement values. Sum vector product Then, the initial value of the gyro attitude is determined based on the obtained data. According to the initial value of gyro attitude Perform initial alignment with the gyro attitude initial value Assigning a value as the initial value of the FOG attitude, performing attitude integration with the output frequency of the FOG, and determining the FOG angle increment as the output FOG real-time attitude data; After rotating the turntable to the vertical direction, replace the antenna and obtain the differential single vector between antenna a and antenna b, and antenna a and antenna c. According to the real-time attitude data of the fiber optic gyroscope Determine the position coordinates of the phase center of antenna b relative to the phase centers of antenna a and antenna c in this system; According to the position coordinate relationship of the phase center of antenna b relative to the phase center of antenna a and antenna c in this system, the real-time attitude data of the fiber optic gyroscope is used to The real-time rotation speed and real-time attitude results of the turntable are used to calculate the RTK results in the WGS84 system and the J2000 inertial system and compared with the calibrated RTK results to evaluate the test accuracy.

8. The testing method according to claim 7, characterized in that: After determining the position coordinates of the phase center of antenna b relative to the phase centers of antenna a and antenna c in this system, set the turntable to rotate and make antenna a, antenna b, and antenna c face the sky in turn, and record the current rotation speed as the real-time rotation speed of the turntable required for RTK result solution.

9. The testing method according to claim 7, characterized in that: In the initial state, the antenna a, antenna b, and antenna c are oriented upward. Before determining the position coordinate relationship between the antennas, the antenna a, antenna b, and antenna c are replaced so that the antenna a, antenna b, and antenna c are oriented outward. After determining the position coordinate relationship between the antennas, the turntable is reset so that the antenna a, antenna b, and antenna c are oriented upward.

10. The testing method according to claim 7, characterized in that: The reference station air-to-air communication data received by the antenna a, antenna b, and antenna c through the wireless link is used as an RTK calculation input value.

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