Target antenna pose measurement method, apparatus and device, and storage medium

Abstract

The invention discloses a pose measurement method, device and equipment of a target antenna and a storage medium, and the method comprises the steps: obtaining the pose data of the target antenna, and collecting the satellite navigation observation values of the target antenna and a reference antenna, including a satellite navigation message, a pseudo range and a carrier phase; and carrying out pseudorange difference on the pseudoranges of the two observation values, and calculating an initial positioning result through a least square method in combination with satellite orbit information. And carrying out carrier phase difference on the carrier phase, processing the carrier phase difference and satellite orbit information through an ambiguity search algorithm, solving integer ambiguity, and further calculating a target positioning result. And finally, analyzing the positioning result into longitude and latitude, altitude and azimuth angle, and fusing with the attitude data to obtain the pose information of the target antenna. Through a mode of acquiring the satellite navigation observation value, related parameters of the antenna can be remotely and accurately measured in various complex environments, the accuracy and reliability of measurement are greatly improved, and the problem of inaccurate antenna parameters caused by measurement errors is reduced.

Description

Technical Field

[0001] The present application relates to the field of signal processing technology, and in particular to a method, device, equipment and storage medium for measuring the posture of a target antenna. Background Art

[0002] Unpredictable factors such as typhoons, earthquakes, and material aging can directly affect antenna posture, which in turn affects signal coverage, leading to poor call quality and insufficient traffic absorption, severely impacting network performance and increasing customer complaints. Existing technologies primarily use mechanical compasses and traditional antenna parameter surveys to check antenna posture. However, mechanical compasses have significant limitations for high-altitude measurements, making accurate measurements difficult. Traditional antenna parameter surveys also suffer from inaccurate measurements, prone to errors, and limited controllability. To address this issue, it is necessary to improve the efficiency and accuracy of antenna parameter surveys.

[0003] Therefore, how to improve the efficiency and accuracy of antenna engineering parameter survey is an urgent problem to be solved. Summary of the Invention

[0004] In view of this, the present invention provides a method, device, equipment, and storage medium for measuring the position and posture of a target antenna, which can improve the efficiency and accuracy of antenna engineering parameter surveys. The present invention provides a method, device, equipment, and storage medium for measuring the position and posture of a target antenna, which can improve the efficiency and accuracy of antenna engineering parameter surveys. The present invention provides a method for measuring the position and posture of a target antenna, including: Obtain the attitude data of the target antenna; Obtaining a first satellite navigation observation value of a target antenna and a second satellite navigation observation value of a reference antenna, wherein the first satellite navigation observation value includes a pseudorange, a satellite navigation message, and a carrier phase, and the second satellite navigation observation value includes a pseudorange, a satellite navigation message, and a carrier phase; performing difference processing on the pseudorange of the first satellite navigation observation value and the pseudorange of the second satellite navigation observation value to obtain a pseudorange difference of the target antenna; performing least squares processing on the satellite orbit information in the satellite navigation message of the first satellite navigation observation value and the pseudorange difference to obtain an initial positioning result of the target antenna; performing difference processing on the carrier phase of the first satellite navigation observation value and the carrier phase of the second satellite navigation observation value to obtain a carrier phase difference of the target antenna; Processing the carrier phase difference and the satellite orbit information using an ambiguity search algorithm to obtain an integer ambiguity; Performing positioning calculation on the integer ambiguity, the initial positioning result, and the carrier phase difference to obtain a target positioning result of the target antenna; Analyzing the target positioning result to obtain the latitude, longitude, altitude, and azimuth of the target antenna; The attitude data, the longitude and latitude, the altitude, and the azimuth are fused to obtain the attitude information of the target antenna.

[0005] In some embodiments, obtaining a first satellite navigation observation value of a target antenna and a second satellite navigation observation value of a reference antenna includes: performing pseudo-random code synchronization processing on the first satellite navigation observation value of the target antenna and the second satellite navigation observation value of the reference antenna, respectively, to obtain processed first satellite navigation observation value of the target antenna and second satellite navigation observation value of the reference antenna; performing filtering processing on the processed first satellite navigation observation value of the target antenna and the second satellite navigation observation value of the reference antenna to obtain a first digital baseband signal and a second digital baseband signal; Performing synchronization operations on the first digital baseband signal and the second digital baseband signal respectively to obtain the first digital baseband signal and the second digital baseband signal after the synchronization operations, wherein the synchronization operations include bit synchronization operations and frame synchronization operations; performing satellite navigation message extraction processing on the first digital baseband signal and the second digital baseband signal after the synchronization operation, respectively, to obtain a satellite navigation message of the first satellite navigation observation value and a satellite navigation message of the second satellite navigation observation value; performing pseudorange extraction processing on the first digital baseband signal and the second digital baseband signal after the synchronization operation, respectively, to obtain a pseudorange of the first satellite navigation observation value and a pseudorange of the second satellite navigation observation value; Carrier phase extraction processing is performed on the first digital baseband signal and the second digital baseband signal after the synchronization operation to obtain the carrier phase of the first satellite navigation observation value and the carrier phase of the second satellite navigation observation value.

[0006] In some embodiments, extracting satellite navigation messages from the first digital baseband signal and the second digital baseband signal after the synchronization operation to obtain satellite navigation messages of the first satellite navigation observation value and satellite navigation messages of the second satellite navigation observation value includes: Obtain the frame format and coding rules of the satellite navigation message, divide the fields according to the frame format to parse the satellite navigation message data in the first digital baseband signal and the second digital baseband signal, and obtain the satellite navigation message of the first satellite navigation observation value and the satellite navigation message of the second satellite navigation observation value.

[0007] In some embodiments, extracting pseudoranges from the first digital baseband signal and the second digital baseband signal after the synchronization operation to obtain the pseudoranges of the first satellite navigation observation value and the pseudoranges of the second satellite navigation observation value respectively includes: Obtaining a first satellite navigation observation value of a target antenna and a second satellite navigation observation value of a reference antenna; performing pseudo-random code synchronization processing on the first satellite navigation observation value of the target antenna and the second satellite navigation observation value of the reference antenna, respectively, to obtain a code phase measurement value; performing analysis on the clock information of the satellite navigation message of the first satellite navigation observation value and the clock information of the satellite navigation message of the second satellite navigation observation value to obtain a satellite clock error; Obtaining a receiver clock error of a receiver that receives the first satellite navigation observation value and the second satellite navigation observation value; According to the code phase measurement value, the satellite clock difference and the receiver clock difference, pseudorange calculation processing is performed on the first digital baseband signal and the second digital baseband signal respectively to obtain the pseudorange of the first satellite navigation observation value and the pseudorange of the second satellite navigation observation value.

[0008] In some embodiments, performing carrier phase extraction on the first digital baseband signal and the second digital baseband signal after the synchronization operation to obtain the carrier phase of the first satellite navigation observation value and the carrier phase of the second satellite navigation observation value includes: Acquire a local carrier signal, where the local carrier signal is a local reference signal generated by a local oscillator within the receiver and matched with a satellite carrier frequency; Performing carrier tracking through phase-locked loops to recover carrier signals from the first digital baseband signal and the second digital baseband signal; performing a multiplication operation on the local carrier signal and the carrier signal of the first digital baseband signal, and comparing the local carrier signal and the carrier signal of the first digital baseband signal to obtain a phase difference of the carrier signal of the first digital baseband signal; extracting a carrier phase of the first satellite navigation observation value according to a phase difference of a carrier signal of the first digital baseband signal; performing a multiplication operation on the local carrier signal and the carrier signal of the second digital baseband signal, and comparing the local carrier signal and the carrier signal of the second digital baseband signal to obtain a phase difference of the carrier signal of the second digital baseband signal; The carrier phase of the second satellite navigation observation value is extracted according to the phase difference of the carrier signal of the second digital baseband signal.

[0009] In some embodiments, after obtaining the first satellite navigation observation value of the target antenna and the second satellite navigation observation value of the reference antenna, the method further includes: Signal amplification processing is performed on the first satellite navigation observation value of the target antenna and the second satellite navigation observation value of the reference antenna through a low noise amplifier.

[0010] In some embodiments, the attitude data of the target antenna is obtained by measuring the target antenna using an inertial measurement unit. An embodiment of the present application provides a target antenna attitude measurement device, comprising: An acquisition module is used to obtain the attitude data of the target antenna; The acquisition module is further configured to acquire a first satellite navigation observation value of the target antenna and a second satellite navigation observation value of the reference antenna, wherein the first satellite navigation observation value includes a pseudorange, a satellite navigation message, and a carrier phase, and the second satellite navigation observation value includes a pseudorange, a satellite navigation message, and a carrier phase; a processing module, configured to perform difference processing on the pseudorange of the first satellite navigation observation value and the pseudorange of the second satellite navigation observation value to obtain a pseudorange difference of the target antenna; The processing module performs least squares processing on the satellite orbit information in the satellite navigation message of the first satellite navigation observation value and the pseudorange difference to obtain an initial positioning result of the target antenna; The processing module is further configured to perform difference processing on the carrier phase of the first satellite navigation observation value and the carrier phase of the second satellite navigation observation value to obtain the carrier phase difference of the target antenna; The processing module is further configured to process the carrier phase difference and the satellite orbit information using an ambiguity search algorithm to obtain an integer ambiguity; a calculation module, configured to perform positioning calculation on the integer ambiguity, the initial positioning result, and the carrier phase difference to obtain a target positioning result of the target antenna; The processing module is further configured to analyze the target positioning result to obtain the latitude, longitude, altitude, and azimuth of the target antenna; The fusion processing is used to fuse the attitude data, the longitude and latitude, the altitude and the azimuth to obtain the posture information of the target antenna.

[0011] The computer device provided in an embodiment of the present application includes a memory and a processor, wherein the memory stores a computer program that can be run on the processor, and when the processor executes the program, the method described in the embodiment of the present application is implemented.

[0012] The computer-readable storage medium provided in the embodiment of the present application stores a computer program thereon, and when the computer program is executed by a processor, the method provided in the embodiment of the present application is implemented.

[0013] The embodiments of the present application provide a method, device, equipment and storage medium for measuring the position and posture of a target antenna, including: obtaining the target antenna attitude data, and simultaneously collecting satellite navigation observation values of the target antenna and the reference antenna, including satellite navigation messages, pseudoranges and carrier phases. The pseudoranges of the two observation values are differentiated to obtain pseudorange differentials, and the initial positioning result is calculated by the least squares method in combination with the satellite orbit information. The carrier phase is differentiated to obtain carrier phase differentials, and the ambiguity is processed with the satellite orbit information through an ambiguity search algorithm to obtain the whole-cycle ambiguity, and then the target positioning result is calculated. Finally, the positioning result is parsed into longitude and latitude, altitude, and azimuth, and fused with the attitude data to obtain the position and posture information of the target antenna. By obtaining satellite navigation observation values, it is possible to accurately measure antenna-related parameters remotely in various complex environments, greatly improving the accuracy and reliability of the measurement, and solving the technical problems raised in the background technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments of the present application or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0015] Figure 1 A schematic diagram of a method for measuring the position and posture of a target antenna according to an embodiment of the present invention; Figure 2 A schematic diagram of the implementation flow of another method for measuring the position and posture of a target antenna provided in an embodiment of the present application; Figure 3 A schematic structural diagram of a target antenna position and posture measurement device provided in an embodiment of the present application; Figure 4 A schematic diagram of the structure of a computer device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0016] To make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the specific technical solutions of the present application will be further described in detail below in conjunction with the drawings in the embodiments of the present application. The following embodiments are used to illustrate the present application but are not intended to limit the scope of the present application.

[0017] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application pertains. The terms used herein are for the purpose of describing the embodiments of this application only and are not intended to limit this application.

[0018] In the following description, reference is made to “some embodiments”, which describes a subset of all possible embodiments, but it will be understood that “some embodiments” may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict.

[0019] It should be pointed out that the terms "first\second\third" involved in the embodiments of the present application are used to distinguish similar or different objects, and do not represent a specific ordering of the objects. It can be understood that "first\second\third" can be interchanged with a specific order or sequence where permitted, so that the embodiments of the present application described here can be implemented in an order other than that illustrated or described here.

[0020] In view of this, the embodiment of the present application provides a method for measuring the position and posture of a target antenna, such as Figure 1 shown. Figure 1 10 is a schematic diagram of an implementation flow of a method for measuring the position and posture of a target antenna provided in an embodiment of the present application, including steps 101 to 109: Step 101: Acquire attitude data of a target antenna.

[0021] In this embodiment of the present application, the target antenna is connected to an inertial measurement unit (IMU). The IMU is connected to the main chip responsible for data processing through a hardware interface such as I2C (Inter-Integrated Circuit) or SPI (Serial Peripheral Interface).

[0022] The main chip sends a command to the IMU, requesting attitude data. The accelerometer and gyroscope within the IMU measure the acceleration and angular velocity of the target antenna in real time. The accelerometer detects acceleration based on Newton's second law, and the gyroscope measures angular velocity using the principle of conservation of angular momentum. The IMU processes and converts this measurement data internally and then transmits it to the main chip via an interface. After receiving the data, the main chip fuses the accelerometer and gyroscope data using a specific algorithm (such as complementary filtering or Kalman filtering) to obtain the target antenna's attitude data, such as pitch angle and roll angle. This is not a limitation of this application.

[0023] Step 102: Acquire a first satellite navigation observation value of the target antenna and a second satellite navigation observation value of the reference antenna.

[0024] In the embodiments of the present application, satellite navigation observations include satellite navigation messages, pseudoranges, and carrier phases. The target antenna and reference antenna each receive satellite signals. These antennas are designed to receive satellite signals in specific frequency bands, such as the GPS (Global Positioning System) L1 and L2 signals and the BeiDou (BeiDou) B1 and B2 satellite signals.

[0025] Received satellite signals first undergo RF front-end processing, including low-noise amplification, to convert the RF signal into a digital intermediate frequency (IF) signal. The digital signal processor then processes the IF signal. Through code correlation and carrier stripping, information such as the satellite navigation message, pseudorange, and carrier phase are extracted from the signal. Specifically, pseudorange is determined by correlation with a locally generated pseudorandom code; carrier phase is acquired through a carrier phase tracking loop; and the satellite navigation message is demodulated through bit and frame synchronization.

[0026] Step 103 : performing difference processing on the pseudorange of the first satellite navigation observation value and the pseudorange of the second satellite navigation observation value to obtain a pseudorange difference of the target antenna.

[0027] In an embodiment of the present application, pseudorange data P1 is extracted from a first satellite navigation observation value obtained by a target antenna, and pseudorange data P2 is extracted from a second satellite navigation observation value obtained by a reference antenna.

[0028] Perform difference processing on the two sets of pseudorange data, i.e. P1-P2, to obtain the pseudorange difference of the target antenna .

[0029] Step 104 : performing least squares processing on the satellite orbit information and pseudo-range difference in the satellite navigation message of the first satellite navigation observation value to obtain an initial positioning result of the target antenna.

[0030] In the embodiment of the present application, satellite orbit information is parsed from the satellite navigation message of the first satellite navigation observation value, including parameters such as the satellite's position and velocity, etc. This information is expressed in the form of Kepler orbit parameters.

[0031] Assuming the position of the target antenna is (x, y, z), the observation equation is established based on the satellite orbit information and pseudo-range differential. For example, for each visible satellite i, its observation equation can be expressed as: (1).

[0032] (2).

[0033] in, = - (3).

[0034] in, is the position of satellite i, is the position of the reference antenna is the speed of light, is the corresponding receiver clock error of the target antenna, is the corresponding receiver clock error of the reference antenna, is the observation noise of the target antenna, The reference antenna observation noise is used to adjust the target antenna position (x, y, z) and the receiver clock error by observing multiple satellites n (n ≥ 3) using the least squares method. , so that the residual square sum of the observation equation is minimized, thereby obtaining the initial positioning result of the target antenna .

[0035] Step 105 : performing difference processing on the carrier phase of the first satellite navigation observation value and the carrier phase of the second satellite navigation observation value to obtain a carrier phase difference of the target antenna.

[0036] In the embodiment of the present application, carrier phase data is extracted from the first satellite navigation observation value obtained by the target antenna. , extracting carrier phase data from the second satellite navigation observations obtained from the reference antenna .

[0037] Perform difference processing on the two sets of carrier phase data, that is, , carrier phase difference to the target antenna .

[0038] Step 106: Process the carrier phase difference and satellite orbit information using an ambiguity search algorithm to obtain the integer ambiguity.

[0039] In the embodiment of the present application, the integer ambiguity search space is determined based on the initial positioning result, satellite orbit information, and the characteristics of carrier phase differentials. The possible integer ambiguity range is estimated based on the geometric relationship between the satellite and the target antenna.

[0040] Within a defined search space, an ambiguity search algorithm (such as the LAMBDA algorithm) is used to search for integer ambiguities. This algorithm reduces the dimensionality of the integer ambiguity search space by decorrelating the observation equations, thereby reducing the computational effort. Within this reduced dimensionality space, all possible integer ambiguity combinations are then traversed, the positioning result for each combination is calculated, and the most likely integer ambiguity value is determined based on a specific criterion (such as minimizing the least-squares residual).

[0041] Step 107: Perform positioning calculation on the integer ambiguity, the initial positioning result, and the carrier phase difference to obtain the target positioning result of the target antenna.

[0042] In the embodiment of the present application, a more accurate positioning equation is established based on the integer ambiguity, the initial positioning result and the carrier phase difference. Considering the relationship between carrier phase and distance as follows: (4).

[0043] (5).

[0044] in, = (6).

[0045] in is the carrier wavelength, is the whole-cycle ambiguity, is the position coordinate of the receiver, is the position of the reference antenna, are the coordinates of the satellite.

[0046] By observing multiple satellites n (n ≥ 3), the positioning equation is solved by the least squares method to obtain more accurate three-dimensional coordinates of the target antenna. , that is, the target positioning result.

[0047] Step 108: Analyze the target positioning result to obtain the latitude, longitude, altitude, and azimuth of the target antenna.

[0048] In the embodiment of the present application, the three-dimensional coordinates of the target positioning result are Convert to longitude and latitude coordinates . Use the coordinate conversion formula in geodesy to convert from Cartesian coordinates to geodetic coordinates.

[0049] The altitude H can be calculated by the geoid height of the target positioning result and the geoid model. , where N is the geoid height.

[0050] According to the longitude and latitude information of the target antenna, the azimuth angle is calculated through trigonometric function relationship.

[0051] Step 109 , fusing the attitude data, longitude and latitude, altitude, and azimuth to obtain the attitude information of the target antenna.

[0052] In an embodiment of the present application, a suitable data fusion algorithm (such as extended Kalman filtering, particle filtering, etc.) is used to fuse attitude data (pitch angle, roll angle), latitude and longitude, altitude and azimuth.

[0053] After fusion processing, the complete position information of the target antenna is obtained, including the precise position (latitude and longitude, altitude) and attitude (azimuth, pitch angle, roll angle).

[0054] By comprehensively utilizing multiple data sources, including satellite navigation messages, pseudoranges, and carrier phase data, along with differential processing and specialized algorithms, this embodiment can accurately measure the target antenna's position and posture, effectively reducing measurement errors. This eliminates the need for traditional mechanical compasses and other measurement tools, which are limited in specialized environments (such as high altitudes), and enables stable acquisition of antenna position and posture data in complex environments. This facilitates remote, real-time acquisition of antenna parameters, facilitates timely detection of antenna attitude changes, and enables rapid response and adjustment, ensuring network signal stability and improving communication quality.

[0055] In the above Figure 1 Based on this, the embodiment of the present application also provides a method for measuring the position and posture of a target antenna, such as Figure 2 shown. Figure 2 20 is a schematic diagram of an implementation flow of a method for measuring the position and posture of a target antenna provided in an embodiment of the present application, including steps 201 to 206: Step 201 : Perform pseudo-random code synchronization processing on the first satellite navigation observation value of the target antenna and the second satellite navigation observation value of the reference antenna, respectively, to obtain the processed first satellite navigation observation value of the target antenna and the second satellite navigation observation value of the reference antenna.

[0056] In this embodiment of the present application, the receiver generates a corresponding local pseudo-random code for the first satellite navigation observation value and the second satellite navigation observation value of the reference antenna based on the satellite navigation system used (such as GPS, BeiDou, etc.). The code type, code length, and code rate of this local code must be the same as the pseudo-random code in the signal transmitted by the satellite.

[0057] For example, when processing BeiDou signals, a corresponding C / A code is generated for each satellite. Different satellites have different C / A codes, and the receiver uses a specific algorithm to generate a matching C / A code based on the satellite number.

[0058] The received first satellite navigation observation signal is correlated with the generated local code. The local code is moved within a certain range, and its correlation with the received signal at different locations is calculated. When the correlation value reaches a peak, it indicates that the local code and the pseudo-random code in the received signal have the highest match at that location, completing pseudo-random code synchronization for the first satellite navigation observation signal.

[0059] The same operation is performed on the second satellite navigation observation value signal of the reference antenna, and a correlation operation is performed on it with the corresponding local code to find the correlation peak, thereby completing the pseudo-random code synchronization processing of the signal.

[0060] Step 202 : Filter the processed first satellite navigation observation value of the target antenna and the second satellite navigation observation value of the reference antenna to obtain a first digital baseband signal and a second digital baseband signal.

[0061] In the embodiments of the present application, a low-pass filter is used to filter out high-frequency noise and interference. An appropriate low-pass filter is selected based on the characteristics of the satellite navigation signal. Generally, the low-frequency baseband signal portion of the satellite navigation signal is primarily retained, so a low-pass filter with an appropriate cutoff frequency is selected.

[0062] For example, a low-pass filter implemented in hardware or software can allow low-frequency signals to pass through while attenuating or blocking high-frequency signals.

[0063] The first satellite navigation observation value signal after pseudo-random code synchronization processing is passed through a low-pass filter to allow only the low-frequency portion of the signal to pass through, thereby obtaining a first digital baseband signal.

[0064] Similarly, the second satellite navigation observation value signal after pseudo-random code synchronization processing is also passed through a low-pass filter to obtain a second digital baseband signal.

[0065] Step 203 : Perform synchronization operations on the first digital baseband signal and the second digital signal respectively to obtain the first digital baseband signal and the second digital baseband signal after the synchronization operation.

[0066] In an embodiment of the present application, a bit synchronization operation is performed on a first digital baseband signal. First, the edges of data bits in the signal are determined, and the start and end positions of the data bits are determined by observing changes in the signal level, such as from a high level to a low level, or from a low level to a high level.

[0067] Use the local clock signal and align it with the edge of the signal so that the rising or falling edge of the local clock falls exactly on the edge of the data bit.

[0068] The same bit synchronization operation is performed on the second digital baseband signal to find the edge of its data bit and align the local clock with it.

[0069] Satellite navigation messages are typically organized into frames, each with a specific header. Within the first bit-synchronized digital baseband signal, the frame header is searched for based on known header characteristics. The frame header is a fixed binary sequence; finding an exact match within the signal determines the start of a frame.

[0070] For the second digital baseband signal, a frame header is also searched therein. After the frame header is found, the signal can be organized into frames according to the length and format of the frame to complete the frame synchronization operation.

[0071] Step 204 , performing satellite navigation message extraction processing on the first digital baseband signal and the second digital baseband signal after the synchronization operation, respectively, to obtain a satellite navigation message of the first satellite navigation observation value and a satellite navigation message of the second satellite navigation observation value.

[0072] In the embodiment of the present application, a satellite navigation message is extracted from the first digital baseband signal after the synchronization operation is completed. Different satellite navigation systems have their own prescribed message formats. Useful information such as satellite position information and clock information is extracted from the signal based on the message format.

[0073] Satellite navigation message information is also extracted from the second digital baseband signal according to the corresponding message format, and the extracted information is stored as the satellite navigation message of the first satellite navigation observation value and the satellite navigation message of the second satellite navigation observation value respectively.

[0074] Step 205 : Perform pseudorange extraction processing on the first digital baseband signal and the second digital baseband signal after the synchronization operation to obtain the pseudorange of the first satellite navigation observation value and the pseudorange of the second satellite navigation observation value.

[0075] In this embodiment of the present application, in the first digital baseband signal after synchronization, the phase difference between the local code and the received code is found by measuring the phase of the pseudorandom code in the signal. This phase difference is related to the pseudorange, and the phase difference of the pseudorandom code can reflect the time difference of signal propagation.

[0076] For the second digital baseband signal, the phase difference of its pseudo-random code is also measured.

[0077] The pseudorange of the first satellite navigation observation value can be calculated using the measured code phase difference of the first digital baseband signal according to the propagation speed of the satellite signal (the speed of light).

[0078] The same operation is performed on the second digital baseband signal, and the pseudorange of the second satellite navigation observation value is calculated based on the code phase difference and the speed of light.

[0079] Step 206 , performing carrier phase extraction processing on the first digital baseband signal and the second digital baseband signal after the synchronization operation, respectively, to obtain the carrier phase of the first satellite navigation observation value and the carrier phase of the second satellite navigation observation value.

[0080] In the embodiment of the present application, for the first digital baseband signal, the carrier signal is separated from the baseband signal by using a carrier tracking loop or other technology. The carrier phase information is finally obtained by adjusting the frequency and phase of the local carrier signal to synchronize it with the received carrier signal.

[0081] A similar carrier tracking loop is also used for the second digital baseband signal to strip off its carrier signal and obtain carrier phase information.

[0082] After the carrier stripping is completed, the phase difference between the local carrier signal in the first digital baseband signal and the received signal is measured and used as the carrier phase of the first satellite navigation observation value.

[0083] For the second digital baseband signal, the measured carrier phase difference is used as the carrier phase of the second satellite navigation observation value.

[0084] The embodiment of the present application can accurately identify pseudo-random codes in satellite signals through pseudo-random code synchronization processing, laying the foundation for subsequent signal processing, ensuring the correct capture and tracking of signals, and improving the accuracy of signal processing. The processed observation values are filtered using a low-pass filter to effectively filter out high-frequency noise, highlight the baseband part of the satellite navigation signal, improve signal quality, enhance signal stability and reliability, and reduce noise interference on measurement results. Bit synchronization and frame synchronization operations can accurately align the digital baseband signal with the bits and frames of the satellite navigation message. This ensures the accuracy of subsequent data extraction, avoids data errors caused by synchronization problems, and provides a guarantee for obtaining correct satellite navigation messages, pseudoranges, and carrier phase information.

[0085] In some embodiments, satellite navigation message extraction is performed on the first digital baseband signal and the second digital baseband signal after the synchronization operation, respectively, to obtain the satellite navigation message of the first satellite navigation observation value and the satellite navigation message of the second satellite navigation observation value, including: obtaining the frame format and coding rules of the satellite navigation message, dividing the fields according to the frame format to parse the satellite navigation message data in the first digital baseband signal and the second digital baseband signal, to obtain the satellite navigation message of the first satellite navigation observation value and the satellite navigation message of the second satellite navigation observation value.

[0086] Specifically, we need to obtain the message standards for the satellite navigation systems involved (GPS, BeiDou). These standards define the message structure, such as the components of a frame and the order of each component. They also specify the encoding method.

[0087] In the first digital baseband signal that has undergone synchronization, the frame header is first found. The frame header is a fixed binary digital combination. Once the frame header is found, the starting position of the data to be extracted is determined.

[0088] After the frame header, the binary bits are read one by one according to the known frame format. For example, it is known that a certain continuous range of binary bits represents some information about the satellite, such as the satellite's position in space or the deviation of the satellite's clock.

[0089] Different types of information require different reading and subsequent processing methods. If the information being read is satellite position information, and it uses a specific encoding, the binary numbers are converted into understandable position data according to the encoding rules.

[0090] The various pieces of information that have been read and converted are combined according to their meaning in the message. For example, information such as satellite position and clock deviation are integrated together to form the satellite navigation message of the first satellite navigation observation value.

[0091] For the synchronized second digital baseband signal, as with the first digital baseband signal, the frame header is first found. Because the second digital baseband signal also follows the same satellite navigation system message format, the frame header is the same. Finding the frame header determines the starting position for data extraction.

[0092] Starting from the position after the frame header, the binary bits are read sequentially according to the frame format and encoding rules, just as with the first digital baseband signal, and converted into corresponding information. Although the signals come from different antennas, the encoding and meaning of each part of the information are the same for the same satellite navigation system.

[0093] The information extracted and processed from the second digital baseband signal is combined into a satellite navigation message of the second satellite navigation observation value, which is then stored in a corresponding storage location. In this way, the satellite navigation messages are extracted from the two digital baseband signals respectively.

[0094] By parsing data by dividing the fields into frames according to the specific frame format and coding rules of satellite navigation messages, the embodiments of the present application can accurately identify and collect various key information in satellite navigation messages, such as satellite orbit parameters and clock correction data, to ensure the integrity and accuracy of the information and provide a reliable basis for subsequent positioning calculations. Accurately extracting satellite navigation messages can effectively reduce positioning errors caused by erroneous or incomplete message extraction, thereby improving the reliability of the entire target antenna posture measurement method and ensuring that antenna posture information can be stably and accurately acquired in practical applications.

[0095] In some embodiments, pseudorange extraction is performed on the first digital baseband signal and the second digital baseband signal after the synchronization operation to obtain the pseudorange of the first satellite navigation observation value and the pseudorange of the second satellite navigation observation value, including: obtaining the first satellite navigation observation value of the target antenna and the second satellite navigation observation value of the reference antenna, and performing pseudorandom code synchronization processing on the first satellite navigation observation value of the target antenna and the second satellite navigation observation value of the reference antenna to obtain the code phase measurement value.

[0096] Specifically, the receiver performs code phase measurements on both the first satellite navigation observation and the second satellite navigation observation from the reference antenna. The receiver generates a local pseudo-random code (PSC) identical to the one transmitted by the satellite. This local PSC is then compared with the PSC in the received signal. When the two PSCs most closely match, i.e., when a correlation peak appears, the code phase measurement is obtained by measuring the position of this correlation peak on the time axis. This operation is repeated for both the first and second satellite navigation observations to obtain their corresponding code phase measurements.

[0097] Furthermore, the clock information of the satellite navigation message of the first satellite navigation observation value and the clock information of the satellite navigation message of the second satellite navigation observation value are analyzed and processed respectively to obtain the satellite clock difference.

[0098] Specifically, clock information is retrieved from the satellite navigation message extracted from the first satellite navigation observation. According to the rules of the corresponding satellite navigation system, data representing the satellite clock error is obtained from the message and converted into the actual satellite clock error value. Similarly, the satellite clock error of the second satellite navigation observation can be obtained from the clock information in the satellite navigation message.

[0099] Furthermore, a receiver clock error of a receiver that receives the first satellite navigation observation value and the second satellite navigation observation value is obtained.

[0100] Specifically, when the receiver is turned on, it will compare it with the standard time, such as obtaining the standard time through the Internet, or synchronizing with other accurate time sources, to obtain a receiver clock error.

[0101] Furthermore, pseudorange calculation processing is performed on the first digital baseband signal and the second digital baseband signal respectively according to the code phase measurement value, the satellite clock error and the receiver clock error to obtain the pseudorange of the first satellite navigation observation value and the pseudorange of the second satellite navigation observation value.

[0102] Specifically, the code phase measurements corresponding to the first and second digital baseband signals are first converted into equivalent propagation time values. Subsequently, the satellite clock error and receiver clock error are considered for each signal. If the satellite clock is ahead of the system time, the propagation time is added to the corresponding deviation of the satellite clock error; if the receiver clock is behind the system time, the corresponding deviation of the receiver clock error is subtracted. Finally, the clock-adjusted propagation time equivalent values are multiplied by the speed of light to obtain the pseudoranges of the first and second satellite navigation observations. This process is based on the principle that distance equals speed (the speed of light) multiplied by time. By correcting for the effects of clock errors, accurate pseudorange calculations are achieved.

[0103] The embodiments of this application combine code phase measurements, satellite clock errors, and receiver clock errors to calculate pseudoranges, fully accounting for the impact of satellite and receiver clock errors on measurements. This effectively corrects for deviations in signal propagation time, thereby improving the accuracy of pseudorange measurements and laying the foundation for subsequent, more accurate positioning calculations. By acquiring satellite clock errors based on satellite navigation messages while also accounting for receiver clock errors, the application fully utilizes the multi-source data in the satellite navigation system and explores the correlations between the data. This ensures that pseudorange extraction is more consistent with actual signal propagation conditions, enhancing the reliability of measurement results.

[0104] In some embodiments, carrier phase extraction is performed on the first digital baseband signal and the second digital baseband signal after the synchronization operation to obtain the carrier phase of the first satellite navigation observation value and the carrier phase of the second satellite navigation observation value, including: obtaining a local carrier signal, which is generated by the local oscillator inside the receiver.

[0105] Specifically, a local carrier signal is obtained from a local oscillator within the receiver. The local oscillator is precisely set according to the carrier frequency used by the satellite navigation system, and the local carrier signal it generates serves as a reference signal for subsequent carrier phase extraction.

[0106] Furthermore, carrier tracking is performed through phase-locked loops to recover carrier signals from the first digital baseband signal and the second digital baseband signal.

[0107] Specifically, the carrier tracking loop processing technology is applied to the first digital baseband signal after the synchronization operation to separate the carrier signal component, and the pure carrier signal is extracted from the mixed information of the first digital baseband signal according to the characteristics of the carrier signal.

[0108] Likewise, the same operation is performed on the second digital baseband signal to separate the carrier signal component therein, thereby ensuring that the extracted carrier signal has high integrity and accuracy.

[0109] Furthermore, the local carrier signal is multiplied by the carrier signal of the first digital baseband signal, the local carrier signal and the carrier signal of the first digital baseband signal are compared to obtain a phase difference between the carrier signals of the first digital baseband signal, and the carrier phase of the first satellite navigation observation value is extracted based on the phase difference between the carrier signals of the first digital baseband signal. The local carrier signal is multiplied by the carrier signal of the second digital baseband signal, the local carrier signal and the carrier signal of the second digital baseband signal are compared to obtain a phase difference between the carrier signals of the second digital baseband signal, and the carrier phase of the second satellite navigation observation value is extracted based on the phase difference between the carrier signals of the second digital baseband signal.

[0110] Specifically, the local carrier signal is multiplied by the carrier signal extracted from the first digital baseband signal, and the multiplication operation generates a new signal containing phase difference information between the two.

[0111] The generated new signal is analyzed by a phase comparison device or a specialized phase detection algorithm to accurately extract the phase difference between the local carrier signal and the carrier signal of the first digital baseband signal. This phase difference is the carrier phase of the first satellite navigation observation value.

[0112] The local carrier signal is multiplied by the carrier signal extracted from the second digital baseband signal using the same multiplication operation.

[0113] The multiplied signal is analyzed using a phase comparison device or algorithm to determine the phase difference between the local carrier signal and the carrier signal of the second digital baseband signal. The phase difference is the carrier phase of the second satellite navigation observation value.

[0114] The embodiments of the present application provide a better solution for measuring the position and posture of the target antenna through multiple advantages such as precise extraction means, weak signal processing capabilities, utilization of local resources, and improvement of system performance, which helps to improve the measurement accuracy, sensitivity and adaptability of the system.

[0115] In some embodiments, after obtaining the first satellite navigation observation value of the target antenna and the second satellite navigation observation value of the reference antenna, the method further includes: performing signal amplification processing on the first satellite navigation observation value of the target antenna and the second satellite navigation observation value of the reference antenna through a low noise amplifier.

[0116] Specifically, when the signals of the first satellite navigation observation value and the second satellite navigation observation value enter the low noise amplifier, the low noise amplifier starts to work, using its own amplification circuit to amplify the input weak signal without significantly increasing the noise power.

[0117] For the first satellite navigation observation value signal from the target antenna, the low-noise amplifier will increase its signal strength so that it can be processed more clearly in subsequent signal processing stages, such as pseudo-random code detection, low-pass filtering, synchronization operations, etc., to avoid processing difficulties or reduced accuracy due to weak signals.

[0118] The second satellite navigation observation value signal of the reference antenna is also amplified to ensure that subsequent processing of the signal can also benefit from the enhanced signal strength.

[0119] The embodiment of the present application can effectively improve the signal quality of the entire system through the low-noise amplifier, provide a more reliable signal for subsequent target antenna posture measurement, reduce errors caused by noise, and improve the accuracy and reliability of the entire posture measurement method.

[0120] It should be understood that, although the steps in the above-mentioned flowcharts are shown in sequence according to the instructions of the arrows, these steps are not necessarily performed in sequence in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps can be performed in other orders. Moreover, at least a portion of the steps in the above-mentioned flowcharts may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily performed at the same time, but can be performed at different times, and the execution order of these sub-steps or stages is not necessarily to be performed in sequence, but can be performed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

[0121] In addition, the further description of some process steps in the embodiments of the present application is only to facilitate the better implementation of the best embodiment provided by the present application, and does not mean that the step can only be implemented through the best embodiment. As long as the implementation method described in each step of the present application is met, it should not be regarded as a specific limitation on the scheme of the present application.

[0122] Based on the foregoing embodiments, an embodiment of the present application provides a target antenna posture measurement device, which includes the modules included and the units included in each module, and can be implemented by a processor; of course, it can also be implemented by a specific logic circuit; in the implementation process, the processor can be a central processing unit (CPU), a microprocessor (MPU), a digital signal processor (DSP) or a field programmable gate array (FPGA), etc.

[0123] Figure 3 A schematic diagram of the structure of a target antenna posture measurement device provided in an embodiment of the present application is shown in FIG. Figure 3 As shown, the apparatus 300 includes an acquisition module 301, a processing module 302, a calculation module 303, and a fusion module 304, wherein: An acquisition module 301 is used to acquire attitude data of a target antenna; The acquisition module 301 is further configured to acquire a first satellite navigation observation value of the target antenna and a second satellite navigation observation value of the reference antenna, wherein the first satellite navigation observation value includes a pseudorange, a satellite navigation message, and a carrier phase, and the second satellite navigation observation value includes a pseudorange, a satellite navigation message, and a carrier phase; The processing module 302 is configured to perform difference processing on the pseudorange of the first satellite navigation observation value and the pseudorange of the second satellite navigation observation value to obtain a pseudorange difference of the target antenna; The processing module 302 is further configured to perform least squares processing on the satellite orbit information and pseudo-range difference in the satellite navigation message of the first satellite navigation observation value to obtain an initial positioning result of the target antenna; The processing module 302 is further configured to perform difference processing on the carrier phase of the first satellite navigation observation value and the carrier phase of the second satellite navigation observation value to obtain a carrier phase difference of the target antenna; The processing module 302 is further configured to process the carrier phase difference and the satellite orbit information using an ambiguity search algorithm to obtain an integer ambiguity; The calculation module 303 is used to perform positioning calculation on the integer ambiguity, the initial positioning result and the carrier phase difference to obtain the target positioning result of the target antenna; The processing module 302 is further used to analyze the target positioning result to obtain the latitude, longitude, altitude and azimuth of the target antenna; The fusion module 304 is used to fuse the attitude data, longitude and latitude, altitude and azimuth to obtain the attitude information of the target antenna.

[0124] In some embodiments, the processing module 302 is further configured to perform pseudo-random code synchronization processing on the first satellite navigation observation value of the target antenna and the second satellite navigation observation value of the reference antenna, respectively, to obtain processed first satellite navigation observation value of the target antenna and second satellite navigation observation value of the reference antenna; The processing module 302 is further configured to filter the processed first satellite navigation observation value of the target antenna and the second satellite navigation observation value of the reference antenna to obtain a first digital baseband signal and a second digital baseband signal; The processing module 302 is further configured to perform synchronization operations on the first digital baseband signal and the second digital baseband signal respectively to obtain the first digital baseband signal and the second digital baseband signal after the synchronization operations, wherein the synchronization operations include bit synchronization operations and frame synchronization operations; The processing module 302 is further configured to perform satellite navigation message extraction processing on the first digital baseband signal and the second digital baseband signal after the synchronization operation, respectively, to obtain a satellite navigation message of the first satellite navigation observation value and a satellite navigation message of the second satellite navigation observation value; The processing module 302 is further configured to perform pseudorange extraction processing on the first digital baseband signal and the second digital baseband signal after the synchronization operation, respectively, to obtain the pseudorange of the first satellite navigation observation value and the pseudorange of the second satellite navigation observation value; The processing module 302 is further configured to perform carrier phase extraction processing on the first digital baseband signal and the second digital baseband signal after the synchronization operation, respectively, to obtain the carrier phase of the first satellite navigation observation value and the carrier phase of the second satellite navigation observation value.

[0125] In some embodiments, the processing module 302 is also used to obtain the frame format and coding rules of the satellite navigation message, divide the fields according to the frame format to parse the satellite navigation message data in the first digital baseband signal and the second digital baseband signal, and obtain the satellite navigation message of the first satellite navigation observation value and the satellite navigation message of the second satellite navigation observation value.

[0126] In some embodiments, the acquisition module 301 is further configured to acquire a first satellite navigation observation value of the target antenna and a second satellite navigation observation value of the reference antenna; The acquisition module 301 is further configured to perform pseudo-random code synchronization processing on the first satellite navigation observation value of the target antenna and the second satellite navigation observation value of the reference antenna, respectively, to obtain a code phase measurement value; The acquisition module 301 is further configured to analyze the clock information of the satellite navigation message of the first satellite navigation observation value and the clock information of the satellite navigation message of the second satellite navigation observation value, respectively, to obtain a satellite clock error; The acquisition module 301 is further configured to acquire a receiver clock error of a receiver that receives the first satellite navigation observation value and the second satellite navigation observation value; The processing module 302 is further used to perform pseudorange calculation processing on the first digital baseband signal and the second digital baseband signal according to the code phase measurement value, the satellite clock error and the receiver clock error, to obtain the pseudorange of the first satellite navigation observation value and the pseudorange of the second satellite navigation observation value.

[0127] In some embodiments, the acquisition module 301 is further configured to acquire a local carrier signal, where the local carrier signal is a local reference signal generated by a local oscillator within the receiver and matched with the satellite carrier frequency; The acquisition module 301 is further configured to perform carrier tracking through a phase-locked loop to recover a carrier signal from the first digital baseband signal and the second digital baseband signal; The processing module 302 is further configured to perform a multiplication operation on the local carrier signal and the carrier signal of the first digital baseband signal, compare the local carrier signal and the carrier signal of the first digital baseband signal, and obtain a phase difference of the carrier signal of the first digital baseband signal; The processing module 302 is further configured to extract a carrier phase of the first satellite navigation observation value based on a phase difference of a carrier signal of the first digital baseband signal; The processing module 302 is further configured to perform a multiplication operation on the local carrier signal and the carrier signal of the second digital baseband signal, compare the local carrier signal and the carrier signal of the second digital baseband signal, and obtain a phase difference of the carrier signal of the second digital baseband signal; The processing module 302 is further configured to extract the carrier phase of the second satellite navigation observation value according to the phase difference of the carrier signal of the second digital baseband signal.

[0128] In some embodiments, the processing module 302 is further configured to perform signal amplification processing on the first satellite navigation observation value of the target antenna and the second satellite navigation observation value of the reference antenna through a low noise amplifier.

[0129] The description of the above device embodiment is similar to the description of the above method embodiment and has similar beneficial effects as the method embodiment. For technical details not disclosed in the device embodiment of this application, please refer to the description of the method embodiment of this application for understanding.

[0130] It should be noted that in the embodiments of this application Figure 3The division of modules in the device for measuring the posture of a target antenna shown is schematic and is only a logical functional division. There may be other division methods in actual implementation. In addition, the functional units in the various embodiments of the present application may be integrated into a processing unit, or may exist physically alone, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of a software functional unit. It may also be implemented in the form of a combination of software and hardware.

[0131] It should be noted that in the embodiments of the present application, if the above-mentioned method is implemented in the form of a software function module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the embodiments of the present application can be essentially embodied in the form of a software product, or the part that contributes to the relevant technology. The computer software product is stored in a storage medium and includes a number of instructions for enabling an electronic device to execute all or part of the methods described in each embodiment of the present application. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a magnetic disk or an optical disk. In this way, the embodiments of the present application are not limited to any specific combination of hardware and software.

[0132] The embodiment of the present application provides a computer device, which may be a server, and its internal structure diagram may be as follows: Figure 4 As shown. The computer device includes a processor, a memory, and a network interface connected via a system bus. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of the operating system and computer program in the non-volatile storage medium. The database of the computer device is used to store data. The network interface of the computer device is used to communicate with an external terminal via a network connection. When the computer program is executed by the processor, the above method is implemented.

[0133] An embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of the method provided in the above embodiment are implemented.

[0134] An embodiment of the present application provides a computer program product containing instructions, which, when executed on a computer, enables the computer to execute the steps of the method provided in the above method embodiment.

[0135] Those skilled in the art will understand that Figure 4The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0136] In one embodiment, the target antenna posture measurement device provided by the present application can be implemented in the form of a computer program. The computer program can be used in the following manner: Figure 4 The computer device is operated on the computer device shown. The memory of the computer device can store various program modules that constitute the above-mentioned device. The computer program composed of each program module enables the processor to execute the steps of the method of each embodiment of the present application described in this specification.

[0137] It should be noted that the description of the above storage medium and device embodiments is similar to the description of the above method embodiments and has similar beneficial effects as the method embodiments. For technical details not disclosed in the storage medium, storage medium, and device embodiments of this application, please refer to the description of the method embodiments of this application for understanding.

[0138] It should be understood that "one embodiment" or "an embodiment" or "some embodiments" mentioned throughout the specification means that the specific features, structures or characteristics related to the embodiment are included in at least one embodiment of the present application. Therefore, "in one embodiment" or "in an embodiment" or "in some embodiments" appearing throughout the specification do not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner. It should be understood that in the various embodiments of the present application, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application. The above-mentioned serial numbers of the embodiments of the present application are for description only and do not represent the advantages and disadvantages of the embodiments. The above description of the various embodiments tends to emphasize the differences between the various embodiments. The same or similar aspects can be referenced to each other. For the sake of brevity, they will not be repeated here.

[0139] The term "and / or" in this article is only a description of the association relationship between associated objects, indicating that there can be three relationships. For example, object A and / or object B can mean: object A exists alone, object A and object B exist at the same time, and object B exists alone.

[0140] It should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or apparatus comprising the element.

[0141] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. The embodiments described above are merely illustrative. For example, the division of the modules is merely a logical function division. In actual implementation, there may be other division methods, such as: multiple modules or components can be combined, or can be integrated into another system, or some features can be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the components shown or discussed can be through some interfaces, and the indirect coupling or communication connection of devices or modules can be electrical, mechanical or other forms.

[0142] The modules described above as separate components may or may not be physically separated, and the components displayed as modules may or may not be physical modules; they may be located in one place or distributed across multiple network units; some or all of the modules may be selected according to actual needs to achieve the purpose of this embodiment.

[0143] In addition, all functional modules in the embodiments of the present application can be integrated into one processing unit, or each module can be a separate unit, or two or more modules can be integrated into one unit; the above-mentioned integrated modules can be implemented in the form of hardware or in the form of hardware plus software functional units.

[0144] Those skilled in the art will understand that all or part of the steps of the above-mentioned method embodiment can be completed by hardware related to program instructions, and the aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps of the above-mentioned method embodiment; and the aforementioned storage medium includes: mobile storage devices, read-only memories (ROM), magnetic disks or optical disks, and other media that can store program codes.

[0145] Alternatively, if the above-mentioned integrated unit of the present application is implemented in the form of a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application, or the part that contributes to the relevant technology, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a number of instructions for enabling an electronic device to execute all or part of the methods described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as mobile storage devices, ROMs, magnetic disks or optical disks.

[0146] The methods disclosed in the several method embodiments provided in this application can be arbitrarily combined without conflict to obtain new method embodiments.

[0147] The features disclosed in the several product embodiments provided in this application can be arbitrarily combined without conflict to obtain new product embodiments.

[0148] The features disclosed in the several method or device embodiments provided in this application can be arbitrarily combined without conflict to obtain new method embodiments or device embodiments.

[0149] The above is merely an embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A method for measuring the position and posture of a target antenna, characterized in that: The method comprises: Obtain the attitude data of the target antenna; Obtaining a first satellite navigation observation value of a target antenna and a second satellite navigation observation value of a reference antenna, wherein the first satellite navigation observation value includes a pseudorange, a satellite navigation message, and a carrier phase, and the second satellite navigation observation value includes a pseudorange, a satellite navigation message, and a carrier phase; performing difference processing on the pseudorange of the first satellite navigation observation value and the pseudorange of the second satellite navigation observation value to obtain a pseudorange difference of the target antenna; performing least squares processing on the satellite orbit information in the satellite navigation message of the first satellite navigation observation value and the pseudorange difference to obtain an initial positioning result of the target antenna; performing difference processing on the carrier phase of the first satellite navigation observation value and the carrier phase of the second satellite navigation observation value to obtain a carrier phase difference of the target antenna; Processing the carrier phase difference and the satellite orbit information using an ambiguity search algorithm to obtain an integer ambiguity; Performing positioning calculation on the integer ambiguity, the initial positioning result, and the carrier phase difference to obtain a target positioning result of the target antenna; Analyzing the target positioning result to obtain the latitude, longitude, altitude, and azimuth of the target antenna; The attitude data, the longitude and latitude, the altitude, and the azimuth are fused to obtain the attitude information of the target antenna.

2. The method according to claim 1, characterized in that Obtaining a first satellite navigation observation value of a target antenna and a second satellite navigation observation value of a reference antenna, including: performing pseudo-random code synchronization processing on the first satellite navigation observation value of the target antenna and the second satellite navigation observation value of the reference antenna, respectively, to obtain processed first satellite navigation observation value of the target antenna and second satellite navigation observation value of the reference antenna; performing filtering processing on the processed first satellite navigation observation value of the target antenna and the second satellite navigation observation value of the reference antenna to obtain a first digital baseband signal and a second digital baseband signal; Performing synchronization operations on the first digital baseband signal and the second digital baseband signal respectively to obtain the first digital baseband signal and the second digital baseband signal after the synchronization operations, wherein the synchronization operations include bit synchronization operations and frame synchronization operations; performing satellite navigation message extraction processing on the first digital baseband signal and the second digital baseband signal after the synchronization operation, respectively, to obtain a satellite navigation message of the first satellite navigation observation value and a satellite navigation message of the second satellite navigation observation value; performing pseudorange extraction processing on the first digital baseband signal and the second digital baseband signal after the synchronization operation, respectively, to obtain a pseudorange of the first satellite navigation observation value and a pseudorange of the second satellite navigation observation value; Carrier phase extraction processing is performed on the first digital baseband signal and the second digital baseband signal after the synchronization operation to obtain the carrier phase of the first satellite navigation observation value and the carrier phase of the second satellite navigation observation value.

3. The method according to claim 2, characterized in that The extracting satellite navigation messages from the first digital baseband signal and the second digital baseband signal after the synchronization operation to obtain a satellite navigation message of the first satellite navigation observation value and a satellite navigation message of the second satellite navigation observation value includes: Obtain the frame format and coding rules of the satellite navigation message, divide the fields according to the frame format to parse the satellite navigation message data in the first digital baseband signal and the second digital baseband signal, and obtain the satellite navigation message of the first satellite navigation observation value and the satellite navigation message of the second satellite navigation observation value.

4. The method according to claim 3, characterized in that The extracting pseudoranges from the first digital baseband signal and the second digital baseband signal after the synchronization operation to obtain the pseudoranges of the first satellite navigation observation value and the pseudoranges of the second satellite navigation observation value includes: Obtaining a first satellite navigation observation value of a target antenna and a second satellite navigation observation value of a reference antenna; performing pseudo-random code synchronization processing on the first satellite navigation observation value of the target antenna and the second satellite navigation observation value of the reference antenna, respectively, to obtain a code phase measurement value; performing analysis on the clock information of the satellite navigation message of the first satellite navigation observation value and the clock information of the satellite navigation message of the second satellite navigation observation value to obtain a satellite clock error; Obtaining a receiver clock error of a receiver that receives the first satellite navigation observation value and the second satellite navigation observation value; According to the code phase measurement value, the satellite clock difference and the receiver clock difference, pseudorange calculation processing is performed on the first digital baseband signal and the second digital baseband signal respectively to obtain the pseudorange of the first satellite navigation observation value and the pseudorange of the second satellite navigation observation value.

5. The method according to claim 4, characterized in that The performing carrier phase extraction on the first digital baseband signal and the second digital baseband signal after the synchronization operation to obtain the carrier phase of the first satellite navigation observation value and the carrier phase of the second satellite navigation observation value includes: Acquire a local carrier signal, where the local carrier signal is a local reference signal generated by a local oscillator within the receiver and matched with a satellite carrier frequency; Performing carrier tracking through phase-locked loops to recover carrier signals from the first digital baseband signal and the second digital baseband signal; performing a multiplication operation on the local carrier signal and the carrier signal of the first digital baseband signal, and comparing the local carrier signal and the carrier signal of the first digital baseband signal to obtain a phase difference of the carrier signal of the first digital baseband signal; extracting a carrier phase of the first satellite navigation observation value according to a phase difference of a carrier signal of the first digital baseband signal; performing a multiplication operation on the local carrier signal and the carrier signal of the second digital baseband signal, and comparing the local carrier signal and the carrier signal of the second digital baseband signal to obtain a phase difference of the carrier signal of the second digital baseband signal; The carrier phase of the second satellite navigation observation value is extracted according to the phase difference of the carrier signal of the second digital baseband signal.

6. The method according to claim 1, characterized in that After obtaining the first satellite navigation observation value of the target antenna and the second satellite navigation observation value of the reference antenna, the method further includes: Signal amplification processing is performed on the first satellite navigation observation value of the target antenna and the second satellite navigation observation value of the reference antenna through a low noise amplifier.

7. The method according to claim 1, characterized in that The attitude data of the target antenna is obtained by measuring the target antenna using an inertial measurement unit.

8. A target antenna posture measurement device, characterized in that: include: An acquisition module is used to obtain the attitude data of the target antenna; The acquisition module is further configured to acquire a first satellite navigation observation value of the target antenna and a second satellite navigation observation value of the reference antenna, wherein the first satellite navigation observation value includes a pseudorange, a satellite navigation message, and a carrier phase, and the second satellite navigation observation value includes a pseudorange, a satellite navigation message, and a carrier phase; a processing module, configured to perform difference processing on the pseudorange of the first satellite navigation observation value and the pseudorange of the second satellite navigation observation value to obtain a pseudorange difference of the target antenna; The processing module performs least squares processing on the satellite orbit information in the satellite navigation message of the first satellite navigation observation value and the pseudorange difference to obtain an initial positioning result of the target antenna; The processing module is further configured to perform difference processing on the carrier phase of the first satellite navigation observation value and the carrier phase of the second satellite navigation observation value to obtain the carrier phase difference of the target antenna; The processing module is further configured to process the carrier phase difference and the satellite orbit information using an ambiguity search algorithm to obtain an integer ambiguity; a calculation module, configured to perform positioning calculation on the integer ambiguity, the initial positioning result, and the carrier phase difference to obtain a target positioning result of the target antenna; The processing module is further configured to analyze the target positioning result to obtain the latitude, longitude, altitude, and azimuth of the target antenna; The fusion processing is used to fuse the attitude data, the longitude and latitude, the altitude and the azimuth to obtain the posture information of the target antenna.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program that can be run on the processor, characterized in that: When the processor executes the program, the steps of the method according to any one of claims 1 to 7 are implemented.

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

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