Method and device for determining course angle of target carrier, computer equipment and medium

Abstract

The invention provides a course angle determination method and device of a target carrier, computer equipment and a medium, and the method comprises the steps: traversing each initial course angle in an initial course angle set, and for each initial course angle, determining the course angle of the target carrier according to the fixed baseline length of double antennas of a global navigation satellite system and the fixed pitch angle of the target carrier; determining a double-difference ambiguity residual value under each initial course angle and a corresponding reverse course angle, determining a detection amount corresponding to each initial course angle based on the double-difference ambiguity residual value under the initial course angle and the double-difference ambiguity residual value under the reverse course angle, and determining a detection amount corresponding to each initial course angle based on each detection amount. The target course angle of the target carrier is determined from the multiple initial course angles, bidirectional verification of the initial course angles is achieved, the precision of the target course angle is improved, matrix operation during ambiguity solving is not needed, the determination speed of the target course angle is increased, and then the determination efficiency of the target course angle is improved.

Description

Technical Field

[0001] The present application relates to the field of positioning technology, and in particular to a method, device, computer equipment and medium for determining a heading angle of a target carrier. Background Art

[0002] The heading angle of a carrier (such as a vehicle) is very important for real-time navigation and abnormal behavior monitoring. Taking logistics vehicles as an example, the heading angle of a logistics vehicle can be used to monitor its driving status, especially some special vehicles carrying liquids or dangerous goods.

[0003] In the related art, the positioning result of the carrier is usually obtained through dynamic differential positioning technology, and then the heading angle information of the carrier is obtained by using geometric projection. However, for low-cost complex scenarios (low-cost receivers usually have weak anti-interference capabilities, resulting in low availability and high noise levels of their observation data in some cities or more complex environments), the positioning results obtained by differential positioning technology take a long time and cannot output heading information in a timely and accurate manner, which reduces the efficiency of determining the heading angle of the carrier. Summary of the invention

[0004] Based on this, it is necessary to provide a method, device, computer equipment and storage medium for determining the heading angle of a target carrier in order to solve the technical problem of low efficiency in determining the heading angle of a target carrier in the prior art.

[0005] In a first aspect, the present application provides a method for determining a heading angle of a target carrier, wherein the target carrier is equipped with a dual antenna of a global navigation satellite system, and the method comprises:

[0006] Traversing an initial heading angle set, wherein the initial heading angle set includes initial heading angles within a plurality of preset angle ranges;

[0007] For each of the initial heading angles in the initial heading angle set, determining a double difference ambiguity residual value under each of the initial heading angles and the corresponding reverse heading angle according to a fixed baseline length of the dual antennas of the global navigation satellite system and a fixed pitch angle of the target carrier;

[0008] Determine the detection amount corresponding to each initial heading angle based on the double difference ambiguity residual value under the initial heading angle and the double difference ambiguity residual value under the reverse heading angle;

[0009] Based on each of the detection amounts, a target heading angle of the target carrier is determined from the initial heading angle set.

[0010] In some embodiments of the present application, determining the detection amount corresponding to each initial heading angle based on the double difference ambiguity residual value under the initial heading angle and the double difference ambiguity residual value under the reverse heading angle includes:

[0011] For each of the initial heading angles, a ratio between a double difference ambiguity residual value under the initial heading angle and a double difference ambiguity residual value under the reverse heading angle is determined as a corresponding detection amount, to obtain a detection amount corresponding to each of the initial heading angles;

[0012] Or, for each of the initial heading angles, the ratio between the double difference ambiguity residual value at the reverse heading angle and the double difference ambiguity residual value at the initial heading angle is determined as the corresponding detection amount, so as to obtain the detection amount corresponding to each of the initial heading angles.

[0013] In some embodiments of the present application, determining the target heading angle of the target carrier from the initial heading angle set based on each of the detection amounts includes:

[0014] If the ratio between the double difference ambiguity residual value under the initial heading angle and the double difference ambiguity residual value under the reverse heading angle is determined as the corresponding detection amount, the initial heading angle corresponding to the minimum detection amount is used as the target heading angle;

[0015] If the ratio between the double difference ambiguity residual value under the reverse heading angle and the double difference ambiguity residual value under the initial heading angle is determined as the corresponding detection amount, the initial heading angle corresponding to the maximum detection amount is used as the target heading angle.

[0016] In some embodiments of the present application, before determining the detection amount corresponding to each initial heading angle based on the double difference ambiguity residual value at the initial heading angle and the double difference ambiguity residual value at the reverse heading angle, the method further includes:

[0017] Determining a noise interval of each of the initial heading angles according to the fixed baseline length;

[0018] According to the noise interval, a plurality of noise heading angles for each initial heading angle are obtained.

[0019] In some embodiments of the present application, for each of the initial heading angles in the initial heading angle set, determining a double difference ambiguity residual value under each of the initial heading angles and the corresponding reverse heading angle according to a fixed baseline length of the dual antennas of the global navigation satellite system and a fixed pitch angle of the target carrier, comprises:

[0020] For each of the multiple noise heading angles corresponding to each initial heading angle and the reverse heading angle, determine a double difference ambiguity residual value of each of the noise heading angles according to a fixed baseline length of the dual antennas of the global navigation satellite system and a fixed pitch angle of the target carrier;

[0021] According to the double difference ambiguity residual value of each of the noise heading angles, the double difference ambiguity residual value at each of the initial heading angles and the reverse heading angle is determined.

[0022] In some embodiments of the present application, determining the noise interval of each of the initial heading angles according to the fixed baseline length includes:

[0023] Determining the smoothing interval length of each of the initial heading angles according to the reciprocal of the fixed baseline length;

[0024] According to the length of the smoothing interval and each of the initial heading angles, the corresponding noise interval is determined.

[0025] In some embodiments of the present application, for each of the initial heading angles in the initial heading angle set, determining a double difference ambiguity residual value under each of the initial heading angles and the corresponding reverse heading angle according to a fixed baseline length of the dual antennas of the global navigation satellite system and a fixed pitch angle of the target carrier, includes:

[0026] For each of the initial heading angle and the reverse heading angle in the initial heading angle set, determining a baseline increment under the initial heading angle and the reverse heading angle according to the fixed baseline length and the fixed pitch angle;

[0027] Determine the double difference ambiguity at the initial heading angle and the reverse heading angle according to the baseline increment;

[0028] The double difference ambiguity residual values ​​at the initial heading angle and the reverse heading angle are determined according to the double difference ambiguity by utilizing the characteristic that the ambiguity is an integer.

[0029] In a second aspect, the present application provides a heading angle determination device for a target carrier, wherein the target carrier is equipped with a dual antenna of a global navigation satellite system, and the heading angle determination device for the target carrier comprises:

[0030] A traversal module, used for traversing an initial heading angle set, wherein the initial heading angle set includes initial heading angles within a plurality of preset angle ranges;

[0031] A first determination module is used to determine, for each of the initial heading angles in the initial heading angle set, a double difference ambiguity residual value under each of the initial heading angles and the corresponding reverse heading angle according to a fixed baseline length of the dual antennas of the global navigation satellite system and a fixed pitch angle of the target carrier;

[0032] A second determination module is used to determine the detection amount corresponding to each initial heading angle based on the double difference ambiguity residual value under the initial heading angle and the double difference ambiguity residual value under the reverse heading angle;

[0033] The third determination module is used to determine the target heading angle of the target carrier from the initial heading angle set based on each of the detection amounts.

[0034] In a third aspect, the present application further provides a computer device, the computer device comprising:

[0035] one or more processors;

[0036] and one or more application programs, wherein the one or more application programs are stored in the memory and configured to be executed by the processor to implement the method for determining the heading angle of the target carrier.

[0037] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, and the computer program is loaded by a processor to execute the steps in the method for determining the heading angle of a target carrier.

[0038] In a fifth aspect, the present application also provides a computer program product, comprising a computer program or instructions, which, when executed by a processor, are used to execute the steps of the method for determining the heading angle of a target carrier as described in any one of the first aspects above.

[0039] The method, device, computer equipment and storage medium for determining the heading angle of the target carrier first traverse each initial heading angle in the initial heading angle set, and then, for each initial heading angle, determine the double difference ambiguity residual value under each initial heading angle and the corresponding reverse heading angle according to the fixed baseline length of the dual antennas of the global navigation satellite system and the fixed pitch angle of the target carrier. Then, based on the double difference ambiguity residual value under the initial heading angle and the double difference ambiguity residual value under the reverse heading angle, determine the detection amount corresponding to each initial heading angle. Finally, based on each detection amount, determine the target heading angle of the target carrier from multiple initial heading angles. Since the detection amount is determined based on the double difference ambiguity residual value under the initial heading angle and the double difference ambiguity residual value under the reverse heading angle, a two-way verification of the initial heading angle is realized, and the accuracy of the target heading angle is improved. Moreover, since there is no need to perform matrix operations when solving the ambiguity, the computing power requirements are reduced, the risk of matrix inversion failure is eliminated, the determination speed of the target heading angle is improved, and the determination efficiency of the target heading angle is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0041] Figure 1 is a flow chart of a method for determining a heading angle of a target carrier in an embodiment of the present application;

[0042] Figure 2 is a schematic diagram of a process for determining a double difference ambiguity residual value in one embodiment of the present application;

[0043] Figure 3 is a schematic diagram of a process for determining a target heading angle in an embodiment of the present application;

[0044] Figure 4 is a schematic structural diagram of a device for determining a heading angle of a target carrier in an embodiment of the present application;

[0045] Figure 5 It is a structural diagram of a computer device in one embodiment of the present application. DETAILED DESCRIPTION

[0046] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of this application.

[0047] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, "plurality" means two or more, unless otherwise clearly and specifically defined.

[0048] In the description of the present application, the word "for example" is used to mean "used as an example, illustration or explanation". Any embodiment described as "for example" in the present application is not necessarily to be construed as being more preferred or advantageous than other embodiments. The following description is given to enable any technician in the field to implement and use the present invention. In the following description, details are listed for the purpose of explanation. It should be understood that a person of ordinary skill in the art can recognize that the present invention can be implemented without using these specific details. In other examples, well-known structures and processes will not be elaborated in detail to avoid obscuring the description of the present invention with unnecessary details. Therefore, the present invention is not intended to be limited to the embodiments shown, but is consistent with the widest scope consistent with the principles and features disclosed in the present application.

[0049] In related technologies, the heading angle is usually determined by differential positioning technology, which usually requires matrix operations to resolve double-difference ambiguities, increasing computing power and the risk of matrix inversion failure. In addition, complex filtering parameter estimation is required during the calculation process, which increases the computational complexity and reduces the efficiency of determining the heading angle.

[0050] In order to solve the above problems, an embodiment of the present application provides a method for determining the heading angle of a target carrier, wherein a positioning system is installed on the target carrier, wherein the positioning system includes but is not limited to a global navigation satellite system (GlobalNavigation Satellite System, GNSS), a Beidou Navigation Satellite System (Beidou NavigationSatellite System, BDS), etc., by traversing a given initial heading angle set containing multiple initial heading angles, collecting positioning data in the positioning system, wherein the positioning data includes a baseline length and a pitch angle, and determining, according to the positioning data and each initial heading angle, a double difference ambiguity residual value under each initial heading angle and the corresponding reverse heading angle, and determining a detection value corresponding to each initial heading angle based on the double difference ambiguity residual value under the initial heading angle and the double difference ambiguity residual value under the reverse heading angle, and determining, based on each detection value, the target heading angle of the target carrier from the initial heading angle set.

[0051] An embodiment of the present application also provides a method for determining a heading angle of a target carrier, by traversing each initial heading angle in an initial heading angle set, for each initial heading angle, according to the fixed baseline length of the dual antennas of the global navigation satellite system and the fixed pitch angle of the target carrier, determining the double difference ambiguity residual value under each initial heading angle and the corresponding reverse heading angle, based on the double difference ambiguity residual value under the initial heading angle and the double difference ambiguity residual value under the reverse heading angle, determining the detection amount corresponding to each initial heading angle, based on each detection amount, determining the target heading angle of the target carrier from multiple initial heading angles, thereby realizing two-way verification of the initial heading angle, improving the accuracy of the target heading angle, and because there is no need to perform matrix operations when solving the ambiguity, the determination speed of the target heading angle is improved, thereby improving the determination efficiency of the target heading angle.

[0052] like Figure 1 As shown, it is a flow chart of an embodiment of a method for determining a heading angle of a target carrier in an embodiment of the present application. The target carrier is equipped with dual antennas of a global navigation satellite system. The method for determining a heading angle of the target carrier is applied to a computer device. The method for determining a heading angle of the target carrier may include the following steps 101 to 104, which are specifically as follows:

[0053] 101 , traverse an initial heading angle set, where the initial heading angle set includes initial heading angles within a plurality of preset angle ranges.

[0054] The target carrier is a carrier that needs to be positioned, for example, the target carrier may be a vehicle, an airplane, etc.

[0055] The Global Navigation Satellite System (GNSS) dual antenna is installed on the target carrier to collect the pitch angle of the target carrier. The pitch angle of the target carrier is the pitch angle between the two directions where the dual antennas are located. The distance between the two antennas in the GNSS dual antenna is the baseline length. The target carrier can be positioned based on the baseline length and the pitch angle.

[0056] The initial heading angle set is a pre-configured set of multiple initial heading angles within a preset angle range. The initial heading angles in the initial heading angle set can be all possible values ​​of the heading angle of the target carrier. For example, the preset angle range can be [1°, 360°], and the initial heading angle azi k It can be [1°, 360°]. If the step size of the initial heading angle is 1°, the corresponding initial heading angle azi k It can be 1°, 2°, 3°, ... 360°. The reverse heading angle corresponding to the initial heading angle is azi k +180°, can be a value in [361°, 540°].

[0057] As a possible implementation, the computer device traverses the initial heading angle set to obtain multiple initial heading angles included in the initial heading angle set. It can be understood that in this embodiment, the initial heading angle set is traversed so that the traversed initial heading angles can be detected later, and the accurate initial heading angle can be quickly searched according to the detection results.

[0058] 102. For each of the initial heading angles in the initial heading angle set, determine a double difference ambiguity residual value under each of the initial heading angles and the corresponding reverse heading angle according to a fixed baseline length of the dual antennas of the global navigation satellite system and a fixed pitch angle of the target carrier.

[0059] The double difference ambiguity residual value is the residual value of the double difference ambiguity. The double difference ambiguity residual value can be determined according to the characteristic that the double difference ambiguity is an integer. The double difference ambiguity can be determined according to the fixed baseline length of the dual antennas, the fixed pitch angle of the target carrier and the initial heading angle.

[0060] The inventors found that without considering the noise, the rule between the double difference ambiguity residual value and the true value of the heading angle is: the closer the heading angle value is to the true value, the smaller the double difference ambiguity residual value is. However, in actual observation, due to the influence of noise, the solution result of the double difference ambiguity residual value will not strictly conform to the above rule. Therefore, in order to improve the accuracy of the heading angle, that is, to ensure that the determined heading angle is close to the true value of the heading angle, in this embodiment, for each initial heading angle, the double difference ambiguity residual value (called the positive residual value) under the initial heading angle is determined, and the double difference ambiguity residual value (called the negative residual) under the reverse heading angle is determined, so as to facilitate the subsequent two-way verification analysis of each initial heading angle based on the positive residual value and the negative residual, thereby reducing the interference of the actual observation noise and improving the accuracy of the subsequent heading angle.

[0061] As a possible implementation method, the computer device determines the baseline increment according to the traversed single initial heading angle, the fixed baseline length of the GNSS dual antenna, the fixed pitch angle of the target carrier and the initial heading angle, and then determines the double difference ambiguity according to the baseline increment and the carrier double difference formula, and determines the double difference ambiguity residual value under the initial heading angle based on the integer characteristic of the double difference ambiguity. For the corresponding reverse heading angle, the same calculation method as the determination method of the double difference ambiguity residual value under the single initial heading angle is used to calculate the double difference ambiguity residual value under the reverse heading angle. It can be understood that in this embodiment, the double difference ambiguity residual value is determined based on the fixed baseline length, the fixed pitch angle of the target carrier and the traversed initial heading angle, which avoids matrix operations when solving ambiguities, reduces computing power requirements, eliminates the risk of matrix inversion failure, and is conducive to improving the search speed of the heading angle.

[0062] It is worth noting that the double difference ambiguity residual value under a single initial heading angle and the double difference ambiguity residual value under the corresponding reverse heading angle in this embodiment can be a double difference ambiguity residual value corresponding to two satellites, or can be obtained by statistically calculating N-1 double difference ambiguity residual values ​​corresponding to N (N is an integer greater than 2) satellites, wherein the statistical calculation includes but is not limited to summing up the N-1 double difference ambiguity residual values, taking the average value after the summation, etc. As a preferred embodiment of this embodiment, the sum of the N-1 double difference ambiguity residual values ​​corresponding to N satellites can be selected as the double difference ambiguity residual value under a single initial heading angle and the double difference ambiguity residual value under the corresponding reverse heading angle, thereby avoiding the problem of double difference ambiguity residual value error caused by an abnormal double difference ambiguity residual value, and improving the fault tolerance of double difference ambiguity residual value calculation.

[0063] In a specific embodiment, for each of the initial heading angles in the initial heading angle set, a double difference ambiguity residual value at each of the initial heading angles and the corresponding reverse heading angle is determined according to a fixed baseline length of the dual antennas of the global navigation satellite system and a fixed pitch angle of the target carrier, including: for each of the initial heading angles and the reverse heading angle in the initial heading angle set, a baseline increment at the initial heading angle and the reverse heading angle is determined according to the fixed baseline length and the fixed pitch angle; the double difference ambiguity at the initial heading angle and the reverse heading angle is determined according to the baseline increment; and the double difference ambiguity residual value at the initial heading angle and the reverse heading angle is determined according to the double difference ambiguity by utilizing the characteristic that the ambiguity is an integer.

[0064] As a possible implementation, the computer device can calculate the heading angle azi according to the fixed baseline length, the fixed pitch angle and the current traversal. k , calculate the baseline increment. Then, substitute the baseline increment into the carrier double difference formula to calculate the double difference ambiguity. Using the integer property of the double difference ambiguity, calculate the initial heading angle azi k The double difference ambiguity residual value. Figure 2 As shown, it is a schematic diagram of the process of determining the double difference ambiguity residual value.

[0065] The baseline increment can be calculated using formula (1):

[0066]

[0067] In formula (1), is the baseline increment, L is the fixed baseline length, azi k is the initial heading angle, and elv is the fixed pitch angle.

[0068] The double difference ambiguity can be calculated using the carrier double difference formula (Formula (2)):

[0069]

[0070] In formula (2), is the double difference ambiguity corresponding to satellite s; is the carrier double difference, in cycles; is the double difference geometric distance after error correction; λ is the wavelength; Δl s The baseline increment calculated by formula (1) The result of single difference after linearization.

[0071] Using the following formula (3), according to the double difference ambiguity Calculate the corresponding double difference ambiguity residual value:

[0072]

[0073] In formula (3), V k is the initial heading angle azi k The double difference ambiguity residual value under the condition; fabs() represents the absolute value operation, int() represents the integer operation, e s and R s are the altitude angle and signal-to-noise ratio of satellite s respectively.

[0074] It should be noted that when there are N (N is an integer greater than 2) satellites, for the initial heading angle azi k , corresponding to N-1 double difference ambiguities, and correspondingly N-1 double difference ambiguity residual values, V k Update to sum(V k ), sum() represents the sum operation, that is, the sum of N-1 double difference ambiguity residual values ​​is used as the initial heading angle azi k The double difference ambiguity residual value under .

[0075] For the initial heading angle azi k The reverse heading angle azi k +180°, using the above formulas (1), (2) and (3), calculate the reverse heading angle azi k Double difference ambiguity residual value at +180°

[0076] It can be understood that in this embodiment, based on the fixed baseline length, the fixed pitch angle and the currently traversed initial heading angle, the double difference ambiguity residual value at the initial heading angle is calculated by utilizing the characteristic that the double difference ambiguity is an integer, thereby avoiding matrix operations when solving the ambiguity, reducing computing power requirements, eliminating the risk of matrix inversion failure, and improving the calculation speed of the double difference ambiguity residual value, which is beneficial to improving the subsequent heading angle search efficiency.

[0077] 103. Determine a detection value corresponding to each initial heading angle based on the double difference ambiguity residual value at the initial heading angle and the double difference ambiguity residual value at the reverse heading angle.

[0078] The detection amount is used as an indicator parameter for detecting an initial heading angle close to the true value of the heading angle from the initial heading angle set.

[0079] As a possible implementation method, the computer device can determine the detection amount according to the double difference ambiguity residual value at the initial heading angle and the double difference ambiguity residual value at the reverse heading angle, combined with the forward residual and the reverse residual. The detection amount function model can be customized, for example, the detection amount function model can be the ratio of the forward residual and the reverse residual, or the difference between the forward residual and the reverse residual. It can be understood that in this embodiment, by using the double difference ambiguity residual value at the initial heading angle of the detection amount and the double difference ambiguity residual value at the reverse heading angle, the initial heading angle can be verified in both directions, which can reduce the influence of noise in actual observation on the heading angle determination, which is beneficial to improve the accuracy of the determined heading angle.

[0080] In a specific embodiment, the detection amount corresponding to each initial heading angle is determined based on the double difference ambiguity residual value at the initial heading angle and the double difference ambiguity residual value at the reverse heading angle, including: for each of the initial heading angles, the ratio between the double difference ambiguity residual value at the initial heading angle and the double difference ambiguity residual value at the reverse heading angle is determined as the corresponding detection amount, so as to obtain the detection amount corresponding to each of the initial heading angles; or, for each of the initial heading angles, the ratio between the double difference ambiguity residual value at the reverse heading angle and the double difference ambiguity residual value at the initial heading angle is determined as the corresponding detection amount, so as to obtain the detection amount corresponding to each of the initial heading angles.

[0081] As a possible implementation method, the inventors found that when the heading angle is closest to the true value, the double difference ambiguity residual value under the initial heading angle is the smallest, and the double difference ambiguity residual value under the reverse heading angle is the largest. Based on this rule, the ratio between the double difference ambiguity residual value under the initial heading angle and the double difference ambiguity residual value under the reverse heading angle is determined as the corresponding detection amount, or the ratio between the double difference ambiguity residual value under the reverse heading angle and the double difference ambiguity residual value under the initial heading angle is determined as the corresponding detection amount, so that the detection amount can accurately reflect whether the heading angle is close to the true value, thereby improving the rationality and accuracy of the detection amount.

[0082] Continue with the reverse heading angle azi in the above embodiment k The double difference ambiguity residual at +180° is Initial heading angle azi k The double difference ambiguity residual value under k For example, the calculation formula of the detection amount can be formula (4) or (5):

[0083]

[0084] In formulas (4) and (5), ratio k is the initial heading angle azi k The detection measurement.

[0085] 104. Determine a target heading angle of the target carrier from the initial heading angle set based on each of the detection amounts.

[0086] As a possible implementation method, the computer device analyzes and compares the detection values ​​of each initial heading angle, searches for the initial heading angle closest to the true value of the heading angle from the initial heading angle set, and obtains the target heading angle of the target carrier. It can be understood that since the detection value has high rationality and accuracy, the heading angle searched according to the detection value is more accurate, thereby improving the accuracy of the target heading angle, and since there is no need to perform matrix operations when solving ambiguities, the computing power requirements are reduced, the risk of matrix inversion failure is eliminated, the speed of determining the target heading angle is increased, and the efficiency of determining the target heading angle is improved.

[0087] In this embodiment, each initial heading angle in the initial heading angle set is traversed first, and then, for each initial heading angle, the double difference ambiguity residual value under each initial heading angle and the corresponding reverse heading angle is determined according to the fixed baseline length of the dual antennas of the global navigation satellite system and the fixed pitch angle of the target carrier. Then, based on the double difference ambiguity residual value under the initial heading angle and the double difference ambiguity residual value under the reverse heading angle, the detection amount corresponding to each initial heading angle is determined. Finally, based on each detection amount, the target heading angle of the target carrier is determined from the multiple initial heading angles. The detection amount is determined according to the double difference ambiguity residual value under the initial heading angle and the double difference ambiguity residual value under the reverse heading angle, thereby realizing two-way verification of the initial heading angle and improving the accuracy of the target heading angle. In addition, since there is no need to perform matrix operations when solving the ambiguity, the computing power requirements are reduced, the risk of matrix inversion failure is eliminated, the determination speed of the target heading angle is improved, and the determination efficiency of the target heading angle is improved.

[0088] In a specific embodiment, the target heading angle of the target carrier is determined from the initial heading angle set based on each of the detection quantities, including: if the ratio between the double difference ambiguity residual value under the initial heading angle and the double difference ambiguity residual value under the reverse heading angle is determined as the corresponding detection quantity, the initial heading angle corresponding to the minimum detection quantity is used as the target heading angle; if the ratio between the double difference ambiguity residual value under the reverse heading angle and the double difference ambiguity residual value under the initial heading angle is determined as the corresponding detection quantity, the initial heading angle corresponding to the maximum detection quantity is used as the target heading angle.

[0089] As a possible implementation method, when the ratio between the double difference ambiguity residual value under the initial heading angle and the double difference ambiguity residual value under the reverse heading angle is determined as the corresponding detection amount, the smaller the detection amount, the more accurate the corresponding initial heading angle, and therefore, the initial heading angle of the minimum detection amount is determined as the target heading angle. When the ratio between the double difference ambiguity residual value under the reverse heading angle and the double difference ambiguity residual value under the initial heading angle is determined as the corresponding detection amount, the larger the detection amount, the more accurate the corresponding initial heading angle, and therefore, the initial heading angle of the maximum detection amount is determined as the target heading angle.

[0090] In a specific embodiment, before determining the detection value corresponding to each initial heading angle based on the double difference ambiguity residual value at the initial heading angle and the double difference ambiguity residual value at the reverse heading angle, it also includes: determining the noise interval of each initial heading angle according to the fixed baseline length; and obtaining multiple noise heading angles for each initial heading angle according to the noise interval.

[0091] The noise interval is a smoothing interval of the heading angle, which is used to reduce the probability of wrong heading angle determination caused by observation noise. It can be determined according to the fixed baseline length L. For example, the noise interval of the initial heading angle can be determined by rounding the reciprocal of the fixed baseline length L.

[0092] As a possible implementation, the computer device can determine the range of each initial heading angle according to the fixed baseline length, and obtain multiple noise heading angles of each initial heading angle from the noise interval according to the step size of the initial heading angle. It can be understood that in this embodiment, multiple noise heading angles of each initial heading angle are used to determine the residual value of the initial heading angle in the subsequent multiple residual values ​​under the multiple noise heading angles, thereby avoiding the problem of inaccurate residual value caused by abnormal single initial heading angle, reducing the probability of wrong heading angle determination caused by observation noise, and improving fault tolerance.

[0093] In a specific embodiment, determining the noise interval of each of the initial heading angles according to the fixed baseline length includes: determining the smoothing interval length of each of the initial heading angles according to the inverse of the fixed baseline length; and determining the corresponding noise interval according to the smoothing interval length and each of the initial heading angles.

[0094] As a possible implementation method, the computer device rounds the reciprocal of the fixed baseline length L as the smoothing interval length b, which can be calculated using formula (6):

[0095] b = int(1 / L); (6)

[0096] After determining the length of the smoothing interval b, the initial heading angle azi k -b is used as the minimum noise heading angle, and the initial heading angle azi k +b is the maximum noise heading angle, that is, the noise interval is [azi k -b,azi k + b]. For example, azi k =3°, b=2°, the noise interval is [1°, 5°], where the multiple noise heading angles can be 1°, 2°, 3°, 4°, 5°, a total of 5 noise heading angles. The setting of b in this embodiment is based on the idea of ​​error ellipse. The longer the baseline, the greater the error. In order to reduce the influence range of a certain large error, the length of the smoothing interval is set to be inversely proportional to the baseline length to ensure the accuracy of the noise interval.

[0097] In a specific embodiment, for each of the initial heading angles in the initial heading angle set, a double difference ambiguity residual value at each of the initial heading angles and the corresponding reverse heading angle is determined according to a fixed baseline length of the dual antennas of the global navigation satellite system and a fixed pitch angle of the target carrier, including: for a plurality of noise heading angles corresponding to each of the initial heading angles and the reverse heading angle, a double difference ambiguity residual value of each of the noise heading angles is determined according to the fixed baseline length of the dual antennas of the global navigation satellite system and the fixed pitch angle of the target carrier; and a double difference ambiguity residual value at each of the initial heading angles and the reverse heading angle is determined according to the double difference ambiguity residual value of each of the noise heading angles.

[0098] As a possible implementation method, the computer device calculates the double difference ambiguity residual value of each noise heading angle for each initial heading angle and the reverse heading angle in a manner consistent with the method for calculating the double difference ambiguity residual value of the initial heading angle in the above embodiment, and then counts the double difference ambiguity residual value of each noise heading angle. The statistical method may be to sum up the double difference ambiguity residual values ​​of the multiple noise heading angles to obtain the double difference ambiguity residual value of the initial heading angle. For example, when the initial heading angle is 3° and the corresponding multiple noise heading angles are 1°, 2°, 3°, 4°, and 5°, the double difference ambiguity residual values ​​of the noise heading angles of 1°, 2°, 3°, 4°, and 5° may be summed up to obtain the double difference ambiguity residual value of the initial heading angle of 3°. It can be understood that in the present embodiment, the double difference ambiguity residual value at each initial heading angle and reverse heading angle is determined according to the double difference ambiguity residual value of each noise heading angle, thereby avoiding the problem of double difference ambiguity residual value error caused by a single initial heading angle anomaly, improving the fault tolerance rate, thereby improving the double difference ambiguity residual value at the initial heading angle and the reverse heading angle, and further facilitating improving the accuracy of the target heading angle.

[0099] In a specific embodiment, Figure 3 As shown, it is a schematic diagram of the process of determining the target heading angle.

[0100] In order to better implement the method for determining the heading angle of the target carrier in the embodiment of the present application, on the basis of the method for determining the heading angle of the target carrier, an apparatus for determining the heading angle of the target carrier is also provided in the embodiment of the present application. The target carrier is equipped with dual antennas of a global navigation satellite system, such as Figure 4 As shown, the heading angle determination device 200 of the target carrier includes:

[0101] A traversal module 201, configured to traverse an initial heading angle set, wherein the initial heading angle set includes initial heading angles within a plurality of preset angle ranges;

[0102] A first determining module 202 is configured to determine, for each of the initial heading angles in the initial heading angle set, a double difference ambiguity residual value under each of the initial heading angles and the corresponding reverse heading angle according to a fixed baseline length of the dual antennas of the global navigation satellite system and a fixed pitch angle of the target carrier;

[0103] A second determination module 203 is used to determine the detection amount corresponding to each initial heading angle based on the double difference ambiguity residual value under the initial heading angle and the double difference ambiguity residual value under the reverse heading angle;

[0104] The third determination module 204 is configured to determine a target heading angle of the target carrier from the plurality of initial heading angles based on each of the detection amounts.

[0105] In some embodiments of the present application, the second determining module 203 is specifically used to:

[0106] For each of the initial heading angles, a ratio between a double difference ambiguity residual value under the initial heading angle and a double difference ambiguity residual value under the reverse heading angle is determined as a corresponding detection amount, to obtain a detection amount corresponding to each of the initial heading angles;

[0107] Or, for each of the initial heading angles, the ratio between the double difference ambiguity residual value at the reverse heading angle and the double difference ambiguity residual value at the initial heading angle is determined as the corresponding detection amount, so as to obtain the detection amount corresponding to each of the initial heading angles.

[0108] In some embodiments of the present application, the third determination module 204 is specifically used to:

[0109] If the ratio between the double difference ambiguity residual value under the initial heading angle and the double difference ambiguity residual value under the reverse heading angle is determined as the corresponding detection amount, the initial heading angle corresponding to the minimum detection amount is used as the target heading angle;

[0110] If the ratio between the double difference ambiguity residual value under the reverse heading angle and the double difference ambiguity residual value under the initial heading angle is determined as the corresponding detection amount, the initial heading angle corresponding to the maximum detection amount is used as the target heading angle.

[0111] In some embodiments of the present application, the target carrier heading angle determination device 200 further includes:

[0112] A fourth determination module, configured to determine a noise interval of each of the initial heading angles according to the fixed baseline length;

[0113] The fifth determination module is used to obtain multiple noise heading angles for each initial heading angle according to the noise interval.

[0114] In some embodiments of the present application, the fourth determination module is specifically used to:

[0115] Determining the smoothing interval length of each of the initial heading angles according to the reciprocal of the fixed baseline length;

[0116] According to the length of the smoothing interval and each of the initial heading angles, the corresponding noise interval is determined.

[0117] In some embodiments of the present application, the first determining module 202 is specifically used to:

[0118] For each of the initial heading angle and the reverse heading angle in the initial heading angle set, determining a baseline increment under the initial heading angle and the reverse heading angle according to the fixed baseline length and the fixed pitch angle;

[0119] Determine the double difference ambiguity at the initial heading angle and the reverse heading angle according to the baseline increment;

[0120] The double difference ambiguity residual values ​​at the initial heading angle and the reverse heading angle are determined according to the double difference ambiguity by utilizing the characteristic that the ambiguity is an integer.

[0121] The embodiment of the present application further provides a computer device, which may be a terminal or a server, and in which any device for determining a heading angle of a target carrier provided in the embodiment of the present application is integrated, and the computer device includes:

[0122] one or more processors;

[0123] Memory; and

[0124] One or more applications, wherein the one or more applications are stored in the memory and are configured to be executed by the processor in the steps of the method for determining the heading angle of the target carrier described in any of the embodiments of the method for determining the heading angle of the target carrier.

[0125] The present application also provides a computer device that integrates any of the target carrier heading angle determination devices provided in the present application. Figure 5 As shown, it shows a schematic diagram of the structure of the computer device involved in the embodiment of the present application, specifically:

[0126] The computer device may include one or more processing core processors 301, one or more computer readable storage media memories 302, a power supply 303, an input unit 304 and other components. Those skilled in the art will appreciate that Figure 5The computer device structure shown in the figure does not constitute a limitation on the computer device, and may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently. Among them:

[0127] The processor 301 is the control center of the computer device. It uses various interfaces and lines to connect various parts of the entire computer device. By running or executing software programs and / or modules stored in the memory 302 and calling data stored in the memory 302, it executes various functions of the computer device and processes data, thereby monitoring the computer device as a whole. Optionally, the processor 301 may include one or more processing cores; preferably, the processor 301 may integrate an application processor and a modem processor, wherein the application processor mainly processes the operating system, user interface, and application programs, and the modem processor mainly processes wireless communications. It is understandable that the above-mentioned modem processor may not be integrated into the processor 301.

[0128] The memory 302 can be used to store software programs and modules. The processor 301 executes various functional applications and data processing by running the software programs and modules stored in the memory 302. The memory 302 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function (such as a sound playback function, an image playback function, etc.), etc.; the data storage area may store data created according to the use of the computer device, etc. In addition, the memory 302 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other volatile solid-state storage devices. Accordingly, the memory 302 may also include a memory controller to provide the processor 301 with access to the memory 302.

[0129] The computer device also includes a power supply 303 for supplying power to various components. Preferably, the power supply 303 can be logically connected to the processor 301 through a power management system, so as to manage charging, discharging, and power consumption through the power management system. The power supply 303 can also include any combination of one or more DC or AC power supplies, recharging systems, power failure detection circuits, power converters or inverters, power status indicators, etc.

[0130] The computer device may further include an input unit 304, which may be used to receive input digital or character information and generate keyboard, mouse, joystick, optical or trackball signal input related to user settings and function control.

[0131] Although not shown, the computer device may further include a display unit, etc., which will not be described in detail herein. Specifically in this embodiment, the processor 301 in the computer device will load the executable files corresponding to the processes of one or more application programs into the memory 302 according to the following instructions, and the processor 301 will run the application programs stored in the memory 302, thereby realizing various functions, as follows:

[0132] Traversing an initial heading angle set, wherein the initial heading angle set includes initial heading angles within a plurality of preset angle ranges;

[0133] For each of the initial heading angles in the initial heading angle set, determining a double difference ambiguity residual value under each of the initial heading angles and the corresponding reverse heading angle according to a fixed baseline length of the dual antennas of the global navigation satellite system and a fixed pitch angle of the target carrier;

[0134] Determine the detection amount corresponding to each initial heading angle based on the double difference ambiguity residual value under the initial heading angle and the double difference ambiguity residual value under the reverse heading angle;

[0135] Based on each of the detected amounts, a target heading angle of the target carrier is determined from the plurality of initial heading angles.

[0136] A person of ordinary skill in the art will appreciate that all or part of the steps in the various methods of the above embodiments may be completed by instructions, or by controlling related hardware through instructions. The instructions may be stored in a computer-readable storage medium and loaded and executed by a processor.

[0137] To this end, an embodiment of the present application provides a computer-readable storage medium, which may include: a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk, etc. A computer program is stored thereon, and the computer program is loaded by a processor to execute the steps in any method for determining the heading angle of a target carrier provided in an embodiment of the present application. For example, the computer program may be loaded by a processor to execute the following steps:

[0138] Traversing an initial heading angle set, wherein the initial heading angle set includes initial heading angles within a plurality of preset angle ranges;

[0139] For each of the initial heading angles in the initial heading angle set, determine each of the initial heading angles and the corresponding reverse heading angle according to a fixed baseline length of the dual antennas of the global navigation satellite system and a fixed pitch angle of the target carrier;

[0140] Determine the detection amount corresponding to each initial heading angle based on the double difference ambiguity residual value under the initial heading angle and the double difference ambiguity residual value under the reverse heading angle;

[0141] Based on each of the detected amounts, a target heading angle of the target carrier is determined from the plurality of initial heading angles.

[0142] The embodiments of the present application provide a computer program product or a computer program, which includes computer instructions stored in a computer-readable storage medium. The processor of the communication module reads the computer instructions from the computer-readable storage medium and executes the computer instructions, so that the communication module executes to implement the steps in any method for determining the heading angle of a target carrier provided in the embodiments of the application.

[0143] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, please refer to the detailed description of other embodiments above, and will not be repeated here.

[0144] In specific implementation, the above units or structures can be implemented as independent entities, or can be arbitrarily combined to be implemented as the same or several entities. The specific implementation of the above units or structures can refer to the previous method embodiments, which will not be repeated here.

[0145] The specific implementation of the above operations can be found in the previous embodiments, which will not be described in detail here.

[0146] The above is a detailed introduction to a method, device, computer equipment and storage medium for determining the heading angle of a target carrier provided in an embodiment of the present application. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea; at the same time, for technical personnel in this field, according to the idea of ​​the present application, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A method for determining a heading angle of a target carrier, characterized in that: The target carrier is equipped with dual antennas of a global navigation satellite system, and the method for determining the heading angle of the target carrier includes: Traversing an initial heading angle set, wherein the initial heading angle set includes initial heading angles within a plurality of preset angle ranges; For each of the initial heading angles in the initial heading angle set, determining a double difference ambiguity residual value under each of the initial heading angles and the corresponding reverse heading angle according to a fixed baseline length of the dual antennas of the global navigation satellite system and a fixed pitch angle of the target carrier; Determine the detection amount corresponding to each initial heading angle based on the double difference ambiguity residual value under the initial heading angle and the double difference ambiguity residual value under the reverse heading angle; Based on each of the detection amounts, a target heading angle of the target carrier is determined from the initial heading angle set.

2. The method for determining the heading angle of a target carrier according to claim 1, characterized in that: The determining of the detection amount corresponding to each initial heading angle based on the double difference ambiguity residual value under the initial heading angle and the double difference ambiguity residual value under the reverse heading angle comprises: For each of the initial heading angles, a ratio between a double difference ambiguity residual value under the initial heading angle and a double difference ambiguity residual value under the reverse heading angle is determined as a corresponding detection amount, to obtain a detection amount corresponding to each of the initial heading angles; Or, for each of the initial heading angles, the ratio between the double difference ambiguity residual value at the reverse heading angle and the double difference ambiguity residual value at the initial heading angle is determined as the corresponding detection amount, so as to obtain the detection amount corresponding to each of the initial heading angles.

3. The method for determining the heading angle of a target carrier according to claim 2, characterized in that: The step of determining the target heading angle of the target carrier from the initial heading angle set based on each of the detection amounts comprises: If the ratio between the double difference ambiguity residual value under the initial heading angle and the double difference ambiguity residual value under the reverse heading angle is determined as the corresponding detection amount, the initial heading angle corresponding to the minimum detection amount is used as the target heading angle; If the ratio between the double difference ambiguity residual value under the reverse heading angle and the double difference ambiguity residual value under the initial heading angle is determined as the corresponding detection amount, the initial heading angle corresponding to the maximum detection amount is used as the target heading angle.

4. The method for determining the heading angle of a target carrier according to any one of claims 1 to 3, characterized in that: Before determining the detection amount corresponding to each initial heading angle based on the double difference ambiguity residual value at the initial heading angle and the double difference ambiguity residual value at the reverse heading angle, the method further includes: Determining a noise interval of each of the initial heading angles according to the fixed baseline length; According to the noise interval, a plurality of noise heading angles for each initial heading angle are obtained.

5. The method for determining the heading angle of a target carrier according to claim 4, characterized in that: The step of determining, for each of the initial heading angles in the initial heading angle set, a double difference ambiguity residual value under each of the initial heading angles and the corresponding reverse heading angle according to a fixed baseline length of the dual antennas of the global navigation satellite system and a fixed pitch angle of the target carrier, comprises: For each of the multiple noise heading angles of the initial heading angle, determining a double difference ambiguity residual value of each of the noise heading angles according to a fixed baseline length of the dual antennas of the global navigation satellite system and a fixed pitch angle of the target carrier; According to the double difference ambiguity residual value of each of the noise heading angles, the double difference ambiguity residual value at each of the initial heading angles and the reverse heading angle is determined.

6. The method for determining the heading angle of a target carrier according to claim 4, characterized in that: The step of determining the noise interval of each of the initial heading angles according to the fixed baseline length comprises: Determining the smoothing interval length of each of the initial heading angles according to the reciprocal of the fixed baseline length; According to the length of the smoothing interval and each of the initial heading angles, the corresponding noise interval is determined.

7. The method for determining the heading angle of a target carrier according to claim 1, characterized in that: The step of determining, for each of the initial heading angles in the initial heading angle set, a double difference ambiguity residual value under each of the initial heading angles and the corresponding reverse heading angle according to a fixed baseline length of the dual antennas of the global navigation satellite system and a fixed pitch angle of the target carrier, comprises: For each of the initial heading angle and the reverse heading angle in the initial heading angle set, determining a baseline increment under the initial heading angle and the reverse heading angle according to the fixed baseline length and the fixed pitch angle; Determine the double difference ambiguity at the initial heading angle and the reverse heading angle according to the baseline increment; The double difference ambiguity residual values ​​at the initial heading angle and the reverse heading angle are determined according to the double difference ambiguity by utilizing the characteristic that the ambiguity is an integer.

8. A device for determining a heading angle of a target carrier, characterized in that: The target carrier is equipped with a dual antenna of a global navigation satellite system, and the heading angle determination device of the target carrier comprises: A traversal module, used for traversing an initial heading angle set, wherein the initial heading angle set includes initial heading angles within a plurality of preset angle ranges; A first determination module is used to determine, for each of the initial heading angles in the initial heading angle set, a double difference ambiguity residual value under each of the initial heading angles and the corresponding reverse heading angle according to a fixed baseline length of the dual antennas of the global navigation satellite system and a fixed pitch angle of the target carrier; A second determination module is used to determine the detection amount corresponding to each initial heading angle based on the double difference ambiguity residual value under the initial heading angle and the double difference ambiguity residual value under the reverse heading angle; The third determination module is used to determine the target heading angle of the target carrier from the initial heading angle set based on each of the detection amounts.

9. A computer device, characterized in that: The computer device comprises: one or more processors; A memory; and one or more applications, wherein one or more of the applications are stored in the memory and configured to be executed by the processor to implement the method for determining the heading angle of the target carrier according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: A computer program is stored thereon, and the computer program is loaded by a processor to execute the steps in the method for determining the heading angle of a target carrier according to any one of claims 1 to 7.

Images