Positioning method, system, device and chip based on GNSS device

Abstract

The invention discloses a positioning method, system, equipment and chip based on GNSS equipment, the GNSS equipment comprises a target antenna, the number of the GNSS equipment is greater than or equal to 1, and the method comprises the following steps: obtaining a first antenna position of the target antenna in a first epoch and a second antenna position of the target antenna in a second epoch; obtaining a baseline component of the GNSS equipment according to the first antenna position and the second antenna position; a location of the GNSS device is determined based on the baseline component. Therefore, on the premise that the GNSS positioning precision is guaranteed, the requirement for equipment in a GNSS positioning algorithm can be reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of satellite navigation technology, in particular to a positioning method, system, device and chip based on GNSS equipment. BACKGROUND

[0002] When high-precision positioning is performed by using a single Global Navigation Satellite System (GNSS) chip module, epoch difference positioning technology can effectively eliminate common error items such as satellite clock error, receiver clock error and ambiguity by time difference processing without relying on external reference stations, so as to realize high-frequency output of real-time kinematic (RTK) calculation results and maintain centimeter-level positioning accuracy.

[0003] A traditional GNSS positioning method based on carrier phase observation sets two GNSS signal receiving antennas and correspondingly sets two receivers, so that the two GNSS signal receiving antennas form a baseline vector; the baseline vector is obtained by using the real coordinate values of the two GNSS signal receiving antennas, and then relative positioning is performed. However, at least two receiving signal receiving antennas are required in the traditional method, which has high requirements for the equipment. SUMMARY

[0004] To solve the above technical problems, the present application discloses a positioning method, system, device and chip based on GNSS equipment, which can reduce the equipment requirements in the GNSS positioning algorithm while ensuring the GNSS positioning accuracy. Specifically, the technical solutions of the present application are as follows: In a first aspect, the present application discloses a positioning method based on GNSS equipment, the GNSS equipment includes a target antenna, the number of GNSS equipment is greater than or equal to 1, and the method comprises the following steps: obtaining a first antenna position of the target antenna at a first epoch and a second antenna position at a second epoch; obtaining a baseline component of the GNSS equipment between the previous and subsequent epochs according to the first antenna position and the second antenna position, the baseline component being a component of a vector from the first antenna position to the second antenna position; and determining the position of the GNSS equipment based on the baseline component.

[0005] Optionally, the obtaining the baseline component of the GNSS device between the first epoch and the second epoch according to the first antenna position and the second antenna position comprises: obtaining a first satellite position observed by the target antenna at the first epoch, and obtaining a second satellite position observed by the target antenna at the second epoch; determining a first projection of a vector from the first satellite position to the second satellite position in a first direction according to the first satellite position and the second satellite position, determining a second projection of a vector from the first antenna position to the second antenna position in a second direction, and calculating a difference between the first projection and the second projection; determining the baseline component according to the difference; wherein the first direction is a vector from the second antenna position to the second satellite position, and the second direction is a vector from the first antenna position to the first satellite position.

[0006] Optionally, the difference is represented based on the following equation: ; wherein t1 is the first epoch; t2 is the second epoch; s1 is the first satellite position; s2 is the second satellite position; is a vector from the first satellite position to the second satellite position; is a vector from the second antenna position to the second satellite position; is a distance from the second antenna position to the second satellite position; is a vector from the first antenna position to the second antenna position; is a vector from the first antenna position to the first satellite position; is a distance from the first antenna position to the first satellite position; The determining the baseline component according to the difference comprises: substituting the difference into an inter-epoch difference equation to solve the baseline component, wherein the inter-epoch difference equation is represented based on the following formula: ; wherein X is the baseline component, is an inter-epoch carrier phase observation difference between the second satellite position and the first satellite position, is an observation matrix.

[0007] Optionally, the GNSS device comprises an epoch, the first GNSS device and the second GNSS device, the first GNSS device comprises a first target antenna, the second GNSS device comprises a second target antenna; the method further comprises: calculating a position baseline between the second first GNSS device and the second GNSS device, the position baseline being a coordinate difference between the first GNSS device and the second GNSS device; determining an azimuth angle and a pitch angle based on the position baseline.

[0008] Optionally, the position baseline is represented by the following equation: ; Wherein, (X12, Y12, Z12) is the position coordinate of the first GNSS device in the geocentric coordinate system at the second epoch, (X22, Y22, Z22) is the position coordinate of the second GNSS device in the geocentric coordinate system at the second epoch; The method further comprises: converting the position baseline into baseline components in a target coordinate system ; ; de is the east component of the position baseline, dn is the north component of the position baseline, du is the zenith component of the position baseline.

[0009] Optionally, after calculating the position baseline, the method further comprises: calculating the azimuth angle and the pitch angle based on the following formula: ; ; Wherein, yaw is the azimuth angle, pitch is the pitch angle.

[0010] Optionally, the second epoch is the next epoch adjacent to the first epoch.

[0011] In a second aspect, the present application also provides a positioning system based on a GNSS device, the positioning system comprising a GNSS device and a positioning module, the GNSS device comprising a target antenna, the number of the GNSS device being greater than or equal to 1, the positioning module comprising: an antenna position determining unit, configured to obtain a first antenna position of the target antenna at a first epoch and a second antenna position of the target antenna at a second epoch; a baseline component determining unit, configured to obtain a baseline component of the GNSS device between the first epoch and the second epoch according to the first antenna position and the second antenna position, the baseline component being a component of a vector from the first antenna position to the second antenna position; a positioning unit, configured to determine a position of the GNSS device based on the baseline component.

[0012] In a third aspect, the present application provides a GNSS device, the GNSS device comprises a target antenna, the number of the GNSS device is greater than or equal to 1, the GNSS device further comprises a positioning module, the positioning module comprises: an antenna position determination unit, configured to obtain a first antenna position of the target antenna in a first epoch and a second antenna position of the target antenna in a second epoch; a baseline component determination unit, configured to obtain a baseline component of the GNSS device between the first epoch and the second epoch according to the first antenna position and the second antenna position, the baseline component being a component of a vector from the first antenna position to the second antenna position; and a positioning unit, configured to determine a position of the GNSS device based on the baseline component.

[0013] In a fourth aspect, the present application provides a GNSS chip, the chip comprises a memory, a processor and a computer program stored in the memory, the processor executes the computer program to implement the steps of any one of the GNSS-based positioning methods.

[0014] Compared with the prior art, the present application has at least one of the following beneficial effects: According to the present application, the baseline component of the GNSS device to the reference station can be determined based on the GNSS device with at least one antenna (i.e. a single antenna), and then the positioning of the measured object can be realized based on the baseline component according to the existing positioning algorithm. The device requirement in the GNSS positioning algorithm can be reduced while ensuring the accuracy of the GNSS positioning.

[0015] Further, the to-be-estimated parameter in the constructed epoch difference equation is changed from the position update of the GNSS device to the baseline component. In the calculation process, the update of the baseline component is no longer affected by the position of the GNSS device in the epoch difference equation, so that the three-dimensional position increment of the GNSS device can be obtained by only one least square solution, thereby quickly updating the GNSS device position result.

[0016] Further, the technical scheme of the present application not only can determine the baseline component of the GNSS device to the reference station based on the GNSS device with at least one antenna, but also provides an extension mode to support two or more GNSS devices, wherein the first GNSS device is the reference station, i.e. a fixed observation point with known position, and the second GNSS device is the mobile station, i.e. a moving observation point. The three-dimensional space vector between the mobile station and the reference station is determined by constructing the position baseline between the first GNSS device and the second GNSS device. Then, the real-time dynamic positioning of the mobile station is quickly calculated based on the calculated real-time dynamic positioning of the reference station. The position result of the multiple GNSS devices is quickly updated. BRIEF DESCRIPTION OF DRAWINGS

[0017] The above features, technical characteristics, advantages and implementation manners of the present application will be further described in a clear and understandable manner in combination with the preferred embodiments and the accompanying drawings.

[0018] Figure 1 Flow chart of steps of one embodiment of the positioning method based on GNSS device of the present application; Figure 2 Flow chart of sub-steps of step S200 in another embodiment of the positioning method based on GNSS device of the present application; Figure 3 Schematic diagram of relative positions of stations and stars between two epochs in an embodiment of the present application; Figure 4 Schematic diagram of relative positions of reference station and mobile station between two epochs in an embodiment of the present application. DETAILED DESCRIPTION

[0019] In the following description, specific details are set forth in order to provide a thorough understanding of embodiments of the application. However, persons of ordinary skill in the art will readily recognize that embodiments of the application can be practiced without

[0020] It should be understood that the term "comprising" when used in this specification and the appended claims indicates the presence of the described features, integers, steps, operations, elements, and / or components but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0021] In order to make the drawings simple, only the parts related to the application are shown in the drawings, which do not represent the actual structure of the product. In addition, in order to make the drawings simple and easy to understand, in some drawings, only one of the parts with the same structure or function is shown schematically, or only one of them is marked. In this document, "one" not only means "only one", but also means "more than one" situation.

[0022] It should be further understood that the term "and / or" used in the specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes these combinations.

[0023] In addition, in the description of the present application, the terms "first", "second", etc. are only used for differentiation and description, and cannot be understood as indicating or implying relative importance.

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, specific implementation manners of the present application will be described below with reference to the drawings. Obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained from these drawings without creative effort, and other embodiments can also be obtained.

[0025] Global Navigation Satellite System (GNSS) high-precision positioning technology has wide application requirements in fields such as surveying and mapping, automatic driving, and unmanned aerial vehicle navigation. The traditional GNSS positioning method based on carrier phase observation sets two GNSS signal receiving antennas and correspondingly sets two receivers, uses the real coordinate values of the two GNSS signal receiving antennas to obtain a baseline vector, and then performs relative positioning. However, at least two receiving signal receiving antennas are required in the traditional method, which has high requirements for equipment.

[0026] In addition, the displacement of the GNSS device between epochs is calculated by differentiating the observation values at different observation times (epochs), and the positioning accuracy is maintained at the centimeter level within a short time on the basis of high-precision RTK positioning solution, that is, the existing epoch difference positioning technology.

[0027] However, the epoch difference positioning technology uses the carrier phase observation value difference between adjacent epochs to extract the relative displacement information of the receiver, and optimizes the position solution through a least squares iteration algorithm. The least squares iteration usually needs to be iterated multiple times to converge to a solution that meets the accuracy requirement. The requirement of multiple iterations may limit the real-time performance of the system in dynamic applications, especially in high-frequency update scenarios, and the calculation delay will further affect the positioning performance.

[0028] To solve the above problems, the present application provides a positioning method based on a GNSS device, the GNSS device comprising a target antenna, the number of GNSS devices being greater than or equal to 1.

[0029] The GNSS device includes a mobile device such as a rover, a vehicle or an aircraft, a positioning chip, a positioning module or other devices installed on the mobile device such as a vehicle or an aircraft.

[0030] Please refer to Figure 1 The method based on the GNSS device comprises the following steps: Step S100, obtaining a first antenna position of the target antenna at a first epoch and a second antenna position of the target antenna at a second epoch.

[0031] Here, the first epoch is the first observation time of the target antenna, and the second epoch is the second observation time of the target antenna. It should be noted that the second epoch can be the epoch immediately following the first epoch, or it can be a non-adjacent epoch.

[0032] In a preferred embodiment, the second epoch is the epoch immediately following the first epoch, thereby avoiding the accumulation of errors (errors caused by delays in the ionosphere and troposphere) between epochs, improving the solution accuracy, and enhancing real-time performance.

[0033] The first antenna position is the coordinate of the GNSS device at the target antenna position in the first epoch, and the second antenna position is the coordinate of the GNSS device at the target antenna position in the second epoch.

[0034] Step S200: Based on the first antenna position and the second antenna position, obtain the baseline component of the GNSS device between consecutive epochs, wherein the baseline component is the component of the vector from the first antenna position to the second antenna position.

[0035] Specifically, the baseline components include eastward, northward, and celestial components. Their physical meaning reflects the eastward, northward, and celestial displacement changes of the GNSS equipment.

[0036] It should be noted that the baseline component can be the component of the vector from the first antenna position to the second antenna position in each coordinate axis direction in a preset coordinate system, which can be set as needed.

[0037] Step S300: Determine the location of the GNSS device based on the baseline components.

[0038] pass Figure 1 The provided positioning method based on GNSS equipment can determine the baseline components from the GNSS equipment to the base station using a GNSS equipment with at least one antenna (i.e., a single antenna). Then, it can locate the object under test based on the baseline components using existing positioning algorithms. This reduces the equipment requirements of the GNSS positioning algorithm while ensuring GNSS positioning accuracy.

[0039] In an optional embodiment, based on the above embodiments, Figure 1 Step S200 may specifically include the following sub-steps: (Refer to the attached instruction manual) Figure 2 , Figure 2 This is a flowchart illustrating a sub-step of step S200 in another embodiment of a positioning method based on a GNSS device according to this application.

[0040] Step S201, obtaining a first satellite position observed by the target antenna at a first epoch and a second satellite position observed by the target antenna at a second epoch.

[0041] wherein the first satellite position is a coordinate of a position of a first satellite observed by a GNSS device through the target antenna at a first epoch, and the second satellite position is a coordinate of a position of a second satellite observed by the GNSS device through the target antenna at a second epoch.

[0042] Step S202, determining a first projection of a vector from the first satellite position to the second satellite position in a first direction, determining a second projection of a vector from the first antenna position to the second antenna position in a second direction, and calculating a difference between the first projection and the second projection according to the first satellite position and the second satellite position.

[0043] Step S203, determining the baseline component according to the difference.

[0044] wherein the first direction is a vector between the second antenna position and the second satellite position, and the second direction is a vector between the first antenna position and the first satellite position.

[0045] The baseline component can be determined based on a difference between a projection of a vector between two satellite positions (i.e., a vector from the first satellite position to the second satellite position) and a projection of a vector between two antenna positions (i.e., a vector from the first antenna position to the second antenna position) at a first epoch and a second epoch. Figure 3 As shown in the accompanying drawings, Figure 3 which are schematic diagrams of relative positions between a station and a satellite at a first epoch and a second epoch in embodiments of the present application.

[0046] In an optional embodiment, the difference is represented based on the following formula (1): . (1) wherein t1 is the first epoch; t2 is the second epoch; s1 is the first satellite position; s2 is the second satellite position; is a vector between the first satellite position and the second satellite position.

[0047] is a vector between the second antenna position and the second satellite. is a distance between the second antenna position and the second satellite.

[0048] is a vector between the first antenna position and the second antenna position.

[0049] is a vector between the first antenna position and the first satellite position; is a distance between the first antenna position and the first satellite position.

[0050] Specifically, the difference value is converted based on the following formula (2):

[0051] wherein, is a distance between the second antenna position and the second satellite position, is a distance between the first antenna position and the first satellite position, is a distance between the second antenna position and the first satellite position.

[0052] In an optional embodiment, Figure 1 The step S300 of determining the baseline component according to the difference value comprises: substituting the difference value into an inter-epoch difference equation to solve the baseline component, wherein the inter-epoch difference equation is represented according to the following formula (3): (3) wherein, X is a baseline component, is an inter-epoch carrier phase observation difference value between the second satellite position and the first satellite position, is an observation matrix.

[0053] Specifically, in the process of establishing the inter-epoch difference equation, the satellite positions observed by the GNSS device at the first epoch (t1) and the second epoch (t2) are respectively calculated by using the observation value information at the first epoch (t1) and the second epoch (t2), and then the distances between the GNSS device and the observed satellites at the first epoch (t1) and the second epoch (t2) are obtained.

[0054] Referring to the following embodiment: in the prior art, when the ambiguity at the first epoch and the second epoch does not occur cycle slip, the original inter-epoch difference equation is established as: .

[0055] wherein, is a carrier phase observation value; is an observation matrix; is a GNSS device position update amount, t1 is the first epoch, t2 is the second epoch, s1 is the first satellite position; s2 is the second satellite position, is an inter-epoch carrier phase observation difference value of the GNSS device.

[0056] ; .

[0057] wherein, is a carrier phase observation of a second satellite observed at a second epoch, is a carrier phase observation of a first satellite observed at a first epoch; is a distance from a second antenna position to a second satellite position, is a distance from a first antenna position to a first satellite position.

[0058] With reference to the above prior art, the to-be-estimated parameter is the GNSS device position update amount In order to calculate , the least square iteration is used to complete the calculation formula: .

[0059] Since is the position update amount of the GNSS device, in the dynamic positioning scene, the traditional epoch difference method faces the balance problem of convergence speed and calculation efficiency. The least square method needs times of iteration to reach stable convergence to complete the position update of the GNSS device. This leads to the limitation of the position update frequency. This repeated calculation mechanism is acceptable in the static scene, but in the dynamic application environment, it will cause significant real-time problems. Especially in the application scene that needs high-frequency position update, the calculation delay of this multiple iteration will directly affect the response speed of the system, leading to the decrease of the positioning output frequency, which is difficult to meet the demand of real-time control.

[0060] In addition, with the increase of the number of iterations, the calculation load of the system increases nonlinearly, which not only improves the power consumption requirement of the processor, but also may affect the positioning stability due to the limitation of the calculation resources.

[0061] In order to solve the technical problem that the above-mentioned epoch difference positioning method needs multiple iterations to reach stable convergence, resulting in slow response of the system, the present application proposes a new positioning method based on the GNSS device, using the baseline component X of the GNSS device instead of the position update amount of the GNSS device as the to-be-estimated parameter; the epoch difference equation as shown in formula (3) above is constructed, and the update of the baseline component is no longer affected by the position of the GNSS device in the epoch difference equation. Only one least square solution is needed to obtain the three-dimensional position increment of the GNSS device, so as to quickly update the GNSS device position result.

[0062] In another embodiment of the present embodiment, the baseline component X of the GNSS device is calculated by the following formula: ; .

[0063] In an optional embodiment, the method further includes: obtaining a first satellite position based on first observation information acquired by a first epoch GNSS device; and obtaining a second satellite position based on second observation information acquired by a second epoch GNSS device.

[0064] The observation information includes recorded carrier phase observations of the satellite. Optionally, the observation information may also include observation timestamps and ephemeris data. In some implementations, the instantaneous distance between the GNSS device and the satellite can be calculated using a geometric distance formula, based on the satellite position information provided by the satellite ephemeris data, thereby obtaining the satellite position (including a first satellite position and a second satellite position).

[0065] This application provides another embodiment of a positioning method based on GNSS devices, wherein, based on any of the embodiments of the above method, the number of GNSS devices is at least two. Specific embodiments using two GNSS devices (i.e., a first GNSS device and a second GNSS device) are provided below.

[0066] The first GNSS equipment implementation is as follows Figure 1 This method enables real-time dynamic positioning.

[0067] In practice, the detailed methods and steps are the same as those described in the above embodiments, and will not be repeated in this application.

[0068] In this embodiment, the positioning method based on GNSS equipment may further include the following steps: S400, calculate the position baseline between the first GNSS device and the second GNSS device at the second epoch, where the position baseline is the coordinate difference between the first GNSS device and the second GNSS device.

[0069] S500, determine the azimuth and elevation angles based on the position baseline.

[0070] For details, please refer to the attached instruction manual. Figure 4 As shown, Figure 4 This diagram illustrates the relative positions of the base station and the rover between different epochs in this application. The first GNSS device is used as the base station, i.e., a fixed observation point with a known location. The second GNSS device is used as the rover, i.e., a moving observation point. A position baseline is constructed between the first GNSS device (base station) and the second GNSS device (rover). The position baseline refers to the three-dimensional spatial vector between the rover and the base station in differential positioning calculations, represented by coordinate differences (ΔX, ΔY, ΔZ). The length and direction of the position baseline reflect the spatial relative relationship between the rover and the base station.

[0071] In an alternative embodiment, the position baseline is represented by equation (4) as follows: yaw = tan-1 ( (X12 - X22) / (Y12 - Y22) ) ; (4) where (X12, Y12, Z12) is the position coordinate of the first GNSS device in the geocentric coordinate system at the second epoch, and (X22, Y22, Z22) is the position coordinate of the second GNSS device in the geocentric coordinate system at the second epoch.

[0072] In another alternative embodiment, step S400 further comprises converting the position baseline into baseline components in the target coordinate system by equation (5) as follows: .

[0073] yaw = tan-1 ( (X12 - X22) / (Y12 - Y22) ) ; (4) where de is the east component of the position baseline, dn is the north component of the position baseline, and du is the up component of the position baseline.

[0074] Specifically, in the direction finding process, the first GNSS device is selected as the reference station, and the position coordinate (X21, Y21, Z21) of the first GNSS device at the second epoch is converted into the latitude-longitude coordinate (λ2, φ2, h2). Then, a conversion matrix between the geocentric coordinate system and the local horizontal coordinate system is established, which is determined by the latitude-longitude coordinate (λ2, φ2) of the first GNSS device at the second epoch. Based on the conversion matrix, the position baseline in the geocentric coordinate system is converted into the baseline components in the local horizontal coordinate system. The baseline components are the projection values of the displacement changes of the second GNSS device (the mobile station) between the previous and subsequent epochs in the geometric configuration of the first GNSS device (the reference station), and the physical meaning thereof is to reflect the east, north and up displacement changes of the mobile station relative to the reference station. By converting the reference station coordinate system into the mobile station coordinate system, the three-dimensional position increment of the mobile station between the previous and subsequent epochs can be obtained. By adding the three-dimensional position increment to the position of the mobile station before the update, the high-precision three-dimensional coordinate of the mobile station after the update can be obtained. In another alternative embodiment, after the position baseline is calculated, step S500 calculates the azimuth angle and the pitch angle based on equation (6) as follows:

[0075] ; yaw = tan-1 ( (X12 - X22) / (Y12 - Y22) ) ; (4) where yaw is the azimuth angle, and pitch is the pitch angle.

[0076] ​Based on the same concept, the present application also discloses a GNSS device based positioning method system. The system is used to implement the steps in any of the above method embodiments. Specifically, one embodiment of the GNSS device based positioning method system of the present application specifically comprises: a GNSS device and a positioning module, the GNSS device comprises a target antenna, the number of the GNSS device is greater than or equal to 1, and the positioning module comprises: an antenna position determination unit, used to obtain a first antenna position of the target antenna at a first epoch and a second antenna position of the target antenna at a second epoch.

[0077] a baseline component determination unit, used to obtain a baseline component of the GNSS device between the first epoch and the second epoch according to the first antenna position and the second antenna position, the baseline component being a component of a vector from the first antenna position to the second antenna position.

[0078] a positioning unit, used to determine the position of the GNSS device based on the baseline component.

[0079] Another embodiment of the GNSS device based positioning method system of the present application is based on the above embodiment, and the baseline component determination unit comprises the following sub-units: a position acquisition sub-unit, used to obtain a first satellite position observed by the target antenna at a first epoch and a second satellite position observed by the target antenna at a second epoch.

[0080] an interpolation calculation sub-unit, used to determine a first projection of a vector from the first satellite position to the second satellite position in a first direction, determine a second projection of a vector from the first antenna position to the second antenna position in a second direction, and calculate a difference between the first projection and the second projection according to the first satellite position and the second satellite position.

[0081] a component determination sub-unit, used to determine the baseline component according to the difference.

[0082] In an optional embodiment, the difference is represented based on the following formula (1): . (1) Wherein, t1 is the first epoch; t2 is the second epoch; s1 is the first satellite position; s2 is the second satellite position; is a vector between the first satellite position and the second satellite position.

[0083] is a vector between the second antenna position and the second satellite position. is a distance between the second antenna position and the second satellite.

[0084] is a vector between the first antenna position and the second antenna position.

[0085] is a vector between the first antenna position and the first satellite position. is a distance between the first antenna position and the first satellite position.

[0086] Specifically, the difference value is converted based on the following formula (2):

[0087] wherein, is a distance between the second antenna position and the second satellite position, is a distance between the first antenna position and the first satellite position, is a distance between the second antenna position and the first satellite position.

[0088] The application further discloses a GNSS device, which comprises the positioning method system based on the GNSS device in any of the above embodiments. Specifically, one embodiment of the GNSS device comprises the following specifically: The GNSS device comprises a target antenna, and the number of the GNSS devices is greater than or equal to 1. The GNSS device further comprises a positioning module, which comprises the following specifically: An antenna position determination unit is configured to acquire a first antenna position of the target antenna at a first epoch and a second antenna position of the target antenna at a second epoch.

[0089] A baseline component determination unit is configured to obtain a baseline component of the GNSS device between the first epoch and the second epoch according to the first antenna position and the second antenna position, wherein the baseline component is a component of a vector between the first antenna position and the second antenna position.

[0090] A positioning unit is configured to determine the position of the GNSS device based on the baseline component.

[0091] Based on the same concept, the application further discloses a GNSS chip, which comprises a memory, a processor and a computer program stored in the memory. The processor executes the computer program to realize the steps of the positioning method based on the GNSS device in any of the above embodiments.

[0092] The positioning method, system, GNSS device and GNSS chip based on the GNSS device have the same technical concept, and the technical details of the embodiments of the four can be mutually applicable. In order to reduce repetition, this time, no longer tedious.

[0093] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above program modules is taken as an example, and in actual application, the above functions can be completed by different program modules according to needs, that is, the internal structure of the device is divided into different program units or modules to complete all or part of the functions described above. Each program module in the embodiment can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one processing unit. The integrated unit can be realized in the form of hardware or in the form of software program unit. In addition, the specific name of each program module is only for convenient distinction, and does not limit the protection scope of the application.

[0094] Although the preferred embodiments of the present application have been described, those skilled in the art can make further changes and modifications to the embodiments once they know the basic inventive concept. Therefore, the appended claims are intended to be interpreted as including all the preferred embodiments and all the changes and modifications falling within the scope of the present application.

Claims

1. A GNSS device based positioning method, characterized by, The GNSS device comprises a target antenna, and the number of the GNSS devices is greater than or equal to 1, and the method comprises the following steps: obtaining a first antenna position of the target antenna at a first epoch and a second antenna position of the target antenna at a second epoch; obtaining a baseline component of the GNSS device between the first epoch and the second epoch according to the first antenna position and the second antenna position, the baseline component being a component of a vector from the first antenna position to the second antenna position; determining a position of the GNSS device based on the baseline component.

2. The method of claim 1, wherein, The step of obtaining the baseline component of the GNSS device between the first epoch and the second epoch according to the first antenna position and the second antenna position comprises: obtaining a first satellite position observed by the target antenna at the first epoch and a second satellite position observed by the target antenna at the second epoch; determining a first projection of a vector from the first satellite position to the second satellite position in a first direction, determining a second projection of a vector from the first antenna position to the second antenna position in a second direction, and calculating a difference between the first projection and the second projection according to the first satellite position and the second satellite position; determining the baseline component according to the difference; wherein the first direction is a vector between the second antenna position and the second satellite position, and the second direction is a vector between the first antenna position and the first satellite position.

3. The method of claim 2, wherein, the difference is expressed based on the following equation: ； where t1 is the first epoch; t2 is the second epoch; s1 is the first satellite position; s2 is the second satellite position; is the vector between the first satellite position and the second satellite position; is the vector between the second antenna position and the second satellite; is the distance between the second antenna position and the second satellite; is the vector between the first antenna position and the second antenna position; is the vector between the first antenna position and the first satellite position; is the distance between the first antenna position and the first satellite position; The step of determining the baseline component according to the difference comprises substituting the difference into an inter-epoch difference equation to solve the baseline component, wherein the inter-epoch difference equation is represented according to the following formula: ； where X is a baseline component, is an inter-epoch carrier phase observation difference between the second satellite position and the first satellite position, is an observation matrix.

4. The method of claim 1, wherein, The GNSS device comprises a first GNSS device and a second GNSS device, the first GNSS device comprises a first target antenna, and the second GNSS device comprises a second target antenna; The method further comprises: calculating a position baseline between the first GNSS device and the second GNSS device at the second epoch, the position baseline being a coordinate difference between the first GNSS device and the second GNSS device; determining an azimuth angle and a pitch angle based on the position baseline.

5. The method of claim 4, wherein, The position baseline is represented by the following equation: ； wherein (X12, Y12, Z12) is a position coordinate of the first GNSS device in an ECEF coordinate system at the second epoch, and (X22, Y22, Z22) is a position coordinate of the second GNSS device in the ECEF coordinate system at the second epoch; The method further comprises converting the position baseline to a baseline component of a target coordinate system ; ; de is an east component of the position baseline, dn is a north component of the position baseline, and du is a zenith component of the position baseline.

6. The method of claim 5, wherein, After the position baseline is calculated, the method further comprises: calculating the azimuth angle and the pitch angle based on the following formula: ； ； wherein yaw is the azimuth angle, and pitch is the pitch angle.

7. The method according to any one of claims 1 to 6, characterized in that, The second epoch is an adjacent epoch after the first epoch.

8. A GNSS device based positioning system, characterized by The positioning system comprises a GNSS device and a positioning module, the GNSS device comprises a target antenna, the number of the GNSS devices is greater than or equal to 1, and the positioning module comprises: an antenna position determining unit configured to obtain a first antenna position of the target antenna at a first epoch and a second antenna position of the target antenna at a second epoch; a baseline component determining unit configured to obtain a baseline component of the GNSS device between the first epoch and the second epoch according to the first antenna position and the second antenna position, the baseline component being a component of a vector from the first antenna position to the second antenna position; a positioning unit configured to determine a position of the GNSS device based on the baseline component.

9. A GNSS device, characterized by The GNSS device includes a target antenna, and the number of GNSS devices is greater than or equal to 1. The GNSS device further includes a positioning module, which includes: an antenna position determining unit configured to obtain a first antenna position of the target antenna at a first epoch and a second antenna position of the target antenna at a second epoch; a baseline component determining unit configured to obtain a baseline component of the GNSS device between the first epoch and the second epoch according to the first antenna position and the second antenna position, the baseline component being a component of a vector from the first antenna position to the second antenna position; a positioning unit configured to determine a position of the GNSS device based on the baseline component.

10. A GNSS chip, characterized in that, The chip includes a memory, a processor, and a computer program stored on the memory. The processor executes the computer program to implement the steps of the GNSS-based positioning method according to any one of claims 1-7.

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