Double-antenna attitude determination method and system adopting TDCP to enhance attitude

Abstract

The invention provides a double-antenna attitude determination method and system adopting TDCP to enhance attitude, and the method comprises the steps: carrying out the TDCP calculation of a main antenna and an auxiliary antenna, and obtaining a pseudo attitude; then, constructing a baseline vector by using the pseudo attitude to restrain an LAMBDA process in a dual-antenna algorithm; and finally, combining the pseudo attitude with the attitude calculated by the GNSS double antennas through a Kalman filtering method to obtain a final attitude. According to the method, the information of the GNSS double-antenna system is more fully utilized, and the continuity problem of the GNSS double-antenna attitude determination system in a complex scene is effectively improved by more fully utilizing the information of the double-antenna system under the condition that other sensors are not used, so that the attitude determination accuracy of the GNSS double-antenna attitude determination system is improved. And the attitude determination precision of the GNSS double-antenna attitude determination system in an open scene is obviously improved. Compared with a traditional GNSS attitude measurement device, the device has the advantages that the performance of the system is effectively improved under the condition that the cost is not increased, and the device has better practicability.

Description

Technical Field

[0001] The present invention relates to the field of navigation technology, and in particular to a dual-antenna attitude determination method and system using TDCP enhanced attitude. Background Art

[0002] Attitude measurement technology is a key technology in major fields such as national defense, aerospace, intelligent driving, smart agriculture, and disaster monitoring. Integrated navigation technology, which integrates the Global Navigation Satellite System (GNSS) with the Inertial Navigation System (INS), can achieve better attitude determination than either navigation system alone and is currently a widely used attitude determination method. However, GNSS signals are extremely fragile. In dynamic urban environments, obstruction by objects such as buildings and trees can significantly reduce the reliability, continuity, and accuracy of GNSS attitude measurements. When obstruction is severe, GNSS attitude measurement becomes unavailable, and the integrated navigation system devolves into a single inertial navigation system. Its errors rapidly diverge over time, and when applied to unmanned systems, erroneous attitude feedback can lead to system loss of control.

[0003] In traditional GNSS attitude determination systems, attitude is calculated by constructing a differential baseline vector between two antennas. The disadvantage of this method is that the attitude cannot be calculated if one antenna is blocked. In addition, due to the limitations of the observation conditions of the two antennas, the continuity and robustness of attitude determination are poor. Figure 1 The situation shown.

[0004] Therefore, it is necessary to propose a method for attitude enhancement for a dual-antenna system to improve the above problems. Summary of the Invention

[0005] The present invention provides a dual-antenna attitude determination method and system using TDCP enhanced attitude, which are used to solve the defect in the prior art that the traditional GNSS dual-antenna attitude determination system is simultaneously restricted by the observation conditions of the two antennas.

[0006] In a first aspect, the present invention provides a dual-antenna attitude determination method using TDCP enhanced attitude, comprising: The TDCP model is used to calculate the pseudo attitude of the dual antennas, and the fused pseudo attitude information is obtained based on the variance. The prior baseline vector is constructed using the fused pseudo-pose information and the distance between the two antennas obtained through measurement. The LAMBDA step in the traditional dual-antenna algorithm is improved by using a priori baseline vector to constrain the LAMBDA step. The attitude calculated by the dual antenna is fused with the pseudo attitude. If it is determined that the dual antenna solution fails but the single antenna solution succeeds, the pseudo attitude output is used. If it is determined that both the dual antenna and the single antenna solutions succeed, the dual antenna and the single antenna are fused to obtain the fused output attitude result.

[0007] According to a dual-antenna attitude determination method using TDCP enhanced attitude provided by the present invention, a TDCP model is used to calculate the pseudo attitude of the dual antennas, and fusion is performed according to the variance to obtain fused pseudo attitude information, including: The TDCP observation equation is determined as:

[0008] in and They are Time has come The change in carrier phase observation value and geometric distance at the moment, and They are Moment and The carrier phase observation value at time , is the carrier wavelength, c is the speed of light in vacuum, It's the receiver clock drift. is the carrier noise item, which can be ignored. Further deduction yields:

[0009] in is the unit vector pointing from the user to the satellite, and are the position changes of satellite and receiver between epochs: .

[0010] According to a dual-antenna attitude determination method using TDCP enhanced attitude provided by the present invention, when the number of observed satellites is greater than four and the carrier loop remains in a locked state, it can be obtained:

[0011] make , , ignoring the noise term, the least squares formula can be solved as follows:

[0012] In the formula is the inter-epoch differential baseline vector in the ECEF coordinate system; Project the inter-epoch differential baseline vector in the ECEF coordinate system to the ENU coordinate system and obtain :

[0013]

[0014] After obtaining the baseline vector in the ENU coordinate system, the pitch angle and heading angle are obtained by the following formula:

[0015]

[0016] in , .

[0017] According to the present invention, a dual-antenna attitude determination method using TDCP enhanced attitude is provided, which uses fused pseudo attitude information and the distance between the dual antennas obtained by measurement to construct a priori baseline vector, including: Get the heading angle of the pseudo attitude , pitch angle And measure the baseline length Then, construct the baseline vector:

[0018]

[0019]

[0020] in is the baseline vector in the constructed ECEF coordinate system, The rotation matrix for projecting from the ENU coordinate system to the ECEF coordinate system is: and Represents longitude and latitude respectively.

[0021] According to a dual-antenna attitude determination method using TDCP enhanced attitude provided by the present invention, the LAMBDA step in the traditional dual-antenna algorithm is improved, and the LAMBDA step is constrained by using a priori baseline vector, including: Construct the GNSS linear observation equation with baseline vector constraints:

[0022] in, represents the carrier phase and pseudorange observation vector, represents the integer ambiguity vector, represents the baseline vector, and is the correlation design matrix, represents the baseline vector, and Respectively and The variance of and is the corresponding variance-covariance matrix; Add the baseline vector to the ambiguity search process and construct the objective function:

[0023] in, , is the least squares residual floating point vector, represents the residual quadratic form, and are the floating-point ambiguity solutions and the floating-point baseline vector solutions, is the baseline vector solution when the ambiguity is fixed, yes The variance-covariance matrix of yes The variance-covariance matrix of . According to a dual-antenna attitude determination method using TDCP enhanced attitude provided by the present invention, the objective function It has nothing to do with minimization. The value size does not depend on and , transforming the solution of the quadratically constrained integer least squares problem into:

[0024]

[0025] once Fixed, then It can be updated as follows:

[0026]

[0027] in, and yes and The mutual covariance of yes The variance-covariance matrix of ; Baseline parameters can be calculated as follows:

[0028] in for and The weighted average of .

[0029] In a second aspect, the present invention further provides a dual-antenna attitude determination system using TDCP enhanced attitude, comprising: The first processing module is used to calculate the pseudo attitude of the dual antennas using the TDCP model, and fuse them according to the variance to obtain the fused pseudo attitude information; The second processing module is used to construct a priori baseline vector using the fused pseudo-pose information and the distance between the two antennas obtained by measurement; The third processing module is used to improve the LAMBDA step in the traditional dual-antenna algorithm and constrain the LAMBDA step using a priori baseline vector; The fourth processing module is used to fuse the attitude calculated by the dual antenna with the pseudo attitude. If it is determined that the dual antenna solution fails and the single antenna solution is successful, the pseudo attitude output is used. If it is determined that both the dual antenna and the single antenna solution are successful, the dual antenna and the single antenna are fused to obtain a fused output attitude result.

[0030] In a third aspect, the present invention also provides an electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the dual-antenna attitude determination method using TDCP enhanced attitude as described above is implemented.

[0031] In a fourth aspect, the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the dual-antenna attitude determination method using TDCP enhanced attitude as described in any one of the above.

[0032] The dual-antenna attitude determination method and system using TDCP enhanced attitude provided by the present invention fully utilizes the information of the GNSS dual-antenna system itself. Without using other sensors, by more fully utilizing the information of the dual-antenna system itself, the continuity problem of the GNSS dual-antenna attitude determination system in complex scenes is effectively improved, and the attitude determination accuracy of the GNSS dual-antenna attitude determination system in open scenes is significantly improved. Compared with traditional GNSS attitude measurement devices, the system performance is effectively improved without increasing costs, and the system has good practicality. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments 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.

[0034] Figure 1 This is a schematic diagram of a situation where a conventional GNSS dual-antenna system provided by the prior art cannot determine the attitude; Figure 21 is a flow chart of a dual-antenna attitude determination method using TDCP enhanced attitude provided by the present invention; Figure 3 This is a block diagram of the GNSS attitude enhancement algorithm provided by the present invention; Figure 4 It is a priori baseline vector construction diagram in the ENU coordinate system provided by the present invention; Figure 5 Schematic diagram of the structure of the dual-antenna attitude determination system using TDCP enhanced attitude provided by the present invention; Figure 6 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0035] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0036] Figure 2 FIG is a flow chart of a dual-antenna attitude determination method using TDCP enhanced attitude according to an embodiment of the present invention. Figure 2 As shown, including: Step 100: Using the TDCP model, calculate the pseudo attitude of the dual antennas, and fuse them according to the variance to obtain the fused pseudo attitude information; Step 200: constructing a priori baseline vector using the fused pseudo-pose information and the distance between the two antennas obtained through measurement; Step 300: improving the LAMBDA step in the traditional dual-antenna algorithm by using a priori baseline vector to constrain the LAMBDA step; Step 400: The attitude calculated by the dual antenna is fused with the pseudo attitude. If it is determined that the dual antenna solution fails but the single antenna solution succeeds, the pseudo attitude output is adopted. If it is determined that both the dual antenna and the single antenna solutions succeed, the dual antenna and the single antenna are fused to obtain a fused output attitude result.

[0037] Specifically, if Figure 3As shown in the figure, first, the inter-epoch difference (inter-epoch carrier phase difference method, Time Differenced Carrier Phase, TDCP) solution is performed on the primary and secondary antennas respectively to obtain the pseudo attitude; then, the pseudo attitude is used to construct the baseline vector to constrain the least-squares ambiguity reduction correlation adjustment (LAMBDA) process in the dual-antenna algorithm; finally, the pseudo attitude is combined with the attitude calculated by the GNSS dual antennas through the Kalman Filters (KF) method to obtain the final attitude.

[0038] The present invention improves on the traditional GNSS dual-antenna attitude determination device and designs a device that does not add any additional sensors and enhances attitude through TDCP. Compared with the traditional GNSS attitude determination device, the device has improved continuity, robustness and attitude determination accuracy.

[0039] The following is a further description of the solution with reference to the accompanying drawings and collective embodiments: Step 1: Establish the TDCP model and calculate the pseudo-pose. The specific method is as follows: The TDCP method is often used in single-antenna attitude determination systems because it does not consider ambiguity, has a small computational load, and is fast. This step briefly describes the basic mathematical principles of attitude determination using the TDCP method for single-antenna systems.

[0040] The TDCP observation equation is: (1) in and They are Time has come The change in carrier phase observation value and geometric distance at the moment, and They are Moment and The carrier phase observation value at time , is the carrier wavelength, c is the speed of light in vacuum, Indicates that the receiver clock is drifting. is the carrier noise item and can be ignored. Further deduction yields: (2) in is the unit vector pointing from the user to the satellite, and are the position changes of satellite and receiver respectively between epochs. Equation (2) can be written as: (3) When the number of observed satellites is greater than four and their carrier loops remain locked, we can obtain: (4) make , , ignoring the noise term, the least squares formula can be solved as follows: (5) In the formula is the inter-epoch differential baseline vector in the ECEF coordinate system.

[0041] After calculating the inter-epoch differential baseline vector in the ECEF coordinate system, it is necessary to project it into the ENU coordinate system to calculate the attitude. , the calculation formula is as follows: (6) (7) After obtaining the baseline vector in the ENU coordinate system, the pitch angle and heading angle can be obtained by the following formula: (8) (9) in , .

[0042] Step 2: Use pseudo pose and baseline length to construct a priori baseline vector, such as Figure 4 As shown, when the heading angle of the pseudo attitude is obtained , pitch angle , and the measured baseline length Then, construct the baseline vector: (10) (11) (12) in is the baseline vector in the constructed ECEF coordinate system, The rotation matrix for projecting from the ENU coordinate system to the ECEF coordinate system is: and Represents longitude and latitude respectively.

[0043] Step 3: Establish a baseline vector constrained LAMBDA model and use the prior baseline vector to constrain the dual-antenna LAMBDA.

[0044] After constructing the baseline vector, the GNSS linear observation equation with baseline vector constraints can be constructed as follows: (13) in, represents the carrier phase and pseudorange observation vector, represents the integer ambiguity vector, represents the baseline vector, and is the correlation design matrix, represents the baseline vector, and Respectively and The variance of and is the corresponding variance-covariance matrix.

[0045] Add the baseline vector to the ambiguity search process and construct the objective function: (14) in, , is the least squares residual floating point vector, represents the residual quadratic form, and are the floating-point ambiguity solutions and the floating-point baseline vector solutions, is the baseline vector solution when the ambiguity is fixed, yes The variance-covariance matrix of yes The variance-covariance matrix of .

[0047] In formula (14) It has nothing to do with minimization, and its value does not depend on and , so the solution to the quadratically constrained integer least squares (QC-ILS) problem is: (15) (16) once Fixed, then It can be updated by the following formula: (17) (18) in, and yes and The mutual covariance of yes The variance-covariance matrix of .

[0048] The baseline parameters can be calculated as follows: (19) in for and It can be seen that after adding the baseline vector constraint to the objective function, the VC-LAMBDA method will eventually evolve into a weighted constraint search algorithm. Due to the addition of the baseline vector, the obtained dual-antenna baseline solution is closer to the true value.

[0049] Step 4: Fusion of the attitude calculated by the dual antennas and the pseudo attitude. When both the pseudo attitude and the attitude calculated by the dual antennas are valid, the two are fused using the Kalman filter method. When the pseudo attitude is available but the dual antennas cannot calculate it, the pseudo attitude is used for output.

[0050] The dual-antenna attitude determination system using TDCP enhanced attitude provided by the present invention is described below. The dual-antenna attitude determination system using TDCP enhanced attitude described below and the dual-antenna attitude determination method using TDCP enhanced attitude described above can correspond to each other.

[0051] Figure 5 FIG is a structural diagram of a dual-antenna attitude determination system using TDCP enhanced attitude according to an embodiment of the present invention. Figure 5 As shown, it includes: a first processing module 51, a second processing module 52, a third processing module 53 and a fourth processing module 54, wherein: The first processing module 51 is used to calculate the pseudo-attitude of the dual antennas using the TDCP model, and fuse the fused pseudo-attitude information according to the variance size; the second processing module 52 is used to construct a priori baseline vector using the fused pseudo-attitude information and the distance between the dual antennas obtained by measurement; the third processing module 53 is used to improve the LAMBDA step in the traditional dual-antenna algorithm, and use the priori baseline vector to constrain the LAMBDA step; the fourth processing module 54 is used to fuse the attitude calculated by the dual antennas with the pseudo-attitude. If it is determined that the dual antenna solution fails and the single antenna solution succeeds, the pseudo-attitude output is adopted. If it is determined that both the dual antenna and the single antenna solution succeed, the dual antenna and the single antenna are fused to obtain a fused output attitude result.

[0052] Figure 6 An example of a physical structure diagram of an electronic device is shown below. Figure 6As shown, the electronic device may include: a processor 610, a communication interface 620, a memory 630, and a communication bus 640, wherein the processor 610, the communication interface 620, and the memory 630 communicate with each other via the communication bus 640. The processor 610 may call logic instructions in the memory 630 to execute a dual-antenna attitude determination method using TDCP enhanced attitude. The method includes: using a TDCP model to calculate the pseudo-attitudes of the dual antennas, fusing them based on the variance to obtain fused pseudo-attitude information; using the fused pseudo-attitude information and the distance between the dual antennas obtained by measurement to construct a priori baseline vector; improving the LAMBDA step in the traditional dual-antenna algorithm and constraining the LAMBDA step using the priori baseline vector; fusing the attitude calculated by the dual antennas with the pseudo-attitude; if it is determined that the dual antenna solution failed but the single antenna solution succeeded, the pseudo-attitude is output; if it is determined that both the dual antenna and the single antenna solution succeeded, fusing the dual antenna and the single antenna to obtain a fused output attitude result.

[0053] Furthermore, the logic instructions in the aforementioned memory 630 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the portion that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, a mobile hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0054] On the other hand, the present invention also provides a computer program product, which includes a computer program, which can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the dual-antenna attitude determination method using TDCP enhanced attitude provided by the above methods, the method including: using the TDCP model to calculate the pseudo-attitude of the dual antennas, and fusing them according to the variance size to obtain the fused pseudo-attitude information; using the fused pseudo-attitude information and the distance between the dual antennas obtained by measurement to construct a priori baseline vector; improving the LAMBDA step in the traditional dual-antenna algorithm, and using the prior baseline vector to constrain the LAMBDA step; fusing the attitude calculated by the dual antenna with the pseudo-attitude; if it is determined that the dual antenna solution fails and the single antenna solution succeeds, the pseudo-attitude output is adopted; if it is determined that both the dual antenna and the single antenna solution succeed, the dual antenna and the single antenna are fused to obtain a fused output attitude result.

[0055] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to execute the dual-antenna attitude determination method using TDCP enhanced attitude provided by the above-mentioned methods, the method comprising: using a TDCP model to calculate the pseudo attitude of the dual antennas, and fusing them according to the variance size to obtain the fused pseudo attitude information; using the fused pseudo attitude information and the distance between the dual antennas obtained by measurement to construct a priori baseline vector; improving the LAMBDA step in the traditional dual-antenna algorithm, and using the prior baseline vector to constrain the LAMBDA step; fusing the attitude calculated by the dual antenna with the pseudo attitude; if it is determined that the dual antenna solution fails and the single antenna solution succeeds, the pseudo attitude output is adopted; if it is determined that both the dual antenna and the single antenna solution succeed, the dual antenna and the single antenna are fused to obtain a fused output attitude result.

[0056] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, i.e., they may be located in one location or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of the present embodiment. Persons of ordinary skill in the art will be able to understand and implement the present invention without inventive effort.

[0057] Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented using software plus a necessary general-purpose hardware platform, or of course, hardware. Based on this understanding, the essence of the above technical solution, or the portion that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a magnetic disk, or an optical disk, and includes a number of instructions for causing a computer device (such as a personal computer, server, or network device) to execute the methods described in each embodiment or certain portions of the embodiments.

[0058] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A dual-antenna attitude determination method using TDCP enhanced attitude, characterized in that: include: The TDCP model is used to calculate the pseudo attitude of the dual antennas, and the fused pseudo attitude information is obtained based on the variance. The prior baseline vector is constructed using the fused pseudo-pose information and the distance between the two antennas obtained through measurement. The LAMBDA step in the traditional dual-antenna algorithm is improved by using a priori baseline vector to constrain the LAMBDA step. The attitude calculated by the dual antenna is fused with the pseudo attitude. If it is determined that the dual antenna solution fails but the single antenna solution succeeds, the pseudo attitude output is used. If it is determined that both the dual antenna and the single antenna solutions succeed, the dual antenna and the single antenna are fused to obtain the fused output attitude result.

2. The dual-antenna attitude determination method using TDCP enhanced attitude according to claim 1, characterized in that: The TDCP model is used to calculate the pseudo attitude of the dual antennas. The fused pseudo attitude information is obtained based on the variance, including: The TDCP observation equation is determined as: in and They are Time has come The change in carrier phase observation value and geometric distance at the moment, and They are Moment and The carrier phase observation value at time , is the carrier wavelength, c is the speed of light in vacuum, It's the receiver clock drift. is the carrier noise item, which can be ignored. Further deduction yields: in is the unit vector pointing from the user to the satellite, and are the position changes of satellite and receiver between epochs: 。 3. The dual-antenna attitude determination method using TDCP enhanced attitude according to claim 2, characterized in that: When the number of observed satellites is greater than four and the carrier loop remains locked, we can obtain: make , , ignoring the noise term, the least squares formula can be solved as follows: In the formula is the inter-epoch differential baseline vector in the ECEF coordinate system; Project the inter-epoch differential baseline vector in the ECEF coordinate system to the ENU coordinate system and obtain : After obtaining the baseline vector in the ENU coordinate system, the pitch angle and heading angle are obtained by the following formula: in , .

4. The dual-antenna attitude determination method using TDCP enhanced attitude according to claim 1, characterized in that: The prior baseline vector is constructed using the fused pseudo-pose information and the distance between the two antennas obtained through measurement, including: Get the heading angle of the pseudo attitude , pitch angle And measure the baseline length Then, construct the baseline vector: in is the baseline vector in the constructed ECEF coordinate system, The rotation matrix for projecting from the ENU coordinate system to the ECEF coordinate system is: and Represents longitude and latitude respectively.

5. The dual-antenna attitude determination method using TDCP enhanced attitude according to claim 1, characterized in that: The LAMBDA step in the traditional dual-antenna algorithm is improved by using a priori baseline vector to constrain the LAMBDA step, including: Construct the GNSS linear observation equation with baseline vector constraints: in, represents the carrier phase and pseudorange observation vector, represents the integer ambiguity vector, represents the baseline vector, and is the correlation design matrix, represents the baseline vector, and Respectively and The variance of and is the corresponding variance-covariance matrix; Add the baseline vector to the ambiguity search process and construct the objective function: in, , is the least squares residual floating point vector, represents the residual quadratic form, and are the floating-point ambiguity solutions and the floating-point baseline vector solutions, is the baseline vector solution when the ambiguity is fixed, yes The variance-covariance matrix of yes The variance-covariance matrix of .

6. The dual-antenna attitude determination method using TDCP enhanced attitude according to claim 5, characterized in that: In the objective function It has nothing to do with minimization. The value size does not depend on and , transforming the solution of the quadratically constrained integer least squares problem into: once Fixed, then It can be updated as follows: in, and yes and The mutual covariance of yes The variance-covariance matrix of ; Baseline parameters can be calculated as follows: in for and The weighted average of .

7. A dual-antenna attitude determination system using TDCP enhanced attitude, characterized in that: include: The first processing module is used to calculate the pseudo attitude of the dual antennas using the TDCP model, and fuse them according to the variance to obtain the fused pseudo attitude information; The second processing module is used to construct a priori baseline vector using the fused pseudo-pose information and the distance between the two antennas obtained by measurement; The third processing module is used to improve the LAMBDA step in the traditional dual-antenna algorithm and constrain the LAMBDA step using a priori baseline vector; The fourth processing module is used to fuse the attitude calculated by the dual antenna with the pseudo attitude. If it is determined that the dual antenna solution fails and the single antenna solution is successful, the pseudo attitude output is used. If it is determined that both the dual antenna and the single antenna solution are successful, the dual antenna and the single antenna are fused to obtain a fused output attitude result.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the dual-antenna attitude determination method using TDCP enhanced attitude as described in any one of claims 1 to 6 is implemented.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the dual-antenna attitude determination method using TDCP enhanced attitude is implemented as claimed in any one of claims 1 to 6.

10. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the dual-antenna attitude determination method using TDCP enhanced attitude is implemented as claimed in any one of claims 1 to 6.

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