A GNSS device-based positioning method, system, device and chip

Abstract

The application discloses a positioning method, system, device and chip based on GNSS equipment, wherein 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: acquiring a first antenna position of the target antenna at a first ephemeris and a second antenna position of the target antenna at a second ephemeris; obtaining a baseline component of the GNSS equipment according to the first antenna position and the second antenna position; and determining the position of the GNSS equipment based on the baseline component. Therefore, the requirement for the equipment in the GNSS positioning algorithm can be reduced under the premise of ensuring the GNSS positioning accuracy.

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 an external reference station, 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 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:

[0005] 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 includes 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.

[0006] 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, 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.

[0007] Optionally, the difference is represented based on the following equation: ;

[0008] 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; 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 position; is a vector between the first antenna position and the second antenna position; 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;

[0009] 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:

[0010] ;

[0011] wherein 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.

[0012] 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.

[0013] Optionally, the position baseline is represented by the following equation:

[0014] ;

[0015] wherein (X12, Y12, Z12) is the position coordinate of the first GNSS device in the Earth-Centered Earth-Fixed coordinate system at the second epoch, (X22, Y22, Z22) is the position coordinate of the second GNSS device in the Earth-Centered Earth-Fixed coordinate system at the second epoch;

[0016] The method further comprises: converting the position baseline to baseline components in a target coordinate system ;

[0017] ;

[0018] 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.

[0019] Optionally, after calculating the position baseline, the method further comprises: calculating the azimuth angle and the pitch angle based on the following formula:

[0020] ;

[0021] ;

[0022] wherein yaw is the azimuth angle, pitch is the pitch angle.

[0023] Optionally, the second epoch is an epoch adjacent to the first epoch.

[0024] In a second aspect, the present application provides a GNSS device based positioning system, comprising 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, 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 is 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.

[0025] In a third aspect, the present application provides a GNSS device, comprising 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 is 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.

[0026] In a fourth aspect, the present application provides a GNSS chip, comprising a memory, a processor and a computer program stored in the memory, the processor executes the computer program to implement the steps of any of the GNSS based positioning methods.

[0027] Compared with the prior art, the present application has at least one of the following beneficial effects:

[0028] 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. 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 requirement for the device in the GNSS positioning algorithm can be reduced while ensuring the accuracy of the GNSS positioning.

[0029] Further, the to-be-estimated parameter in the epoch difference equation constructed 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 GNSS device position 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.

[0030] Further, the technical scheme of the present application can not only determine the baseline component of the GNSS device to the reference station based on at least one antenna of the GNSS device, but also provide 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 present application determines the three-dimensional space vector between the mobile station and the reference station by constructing the position baseline between the first GNSS device and the second GNSS device, and then calculates the real-time dynamic positioning of the mobile station based on the calculated real-time dynamic positioning of the reference station, so as to realize the fast updating of the position result of the multiple GNSS devices. BRIEF DESCRIPTION OF DRAWINGS

[0031] The above features, technical characteristics, advantages and implementation modes of the present application will be further described in the following preferred embodiments in a clear and understandable manner in combination with the drawings.

[0032] Figure 1 The step flow chart of one embodiment of the positioning method based on the GNSS device of the present application is shown in the following figure.

[0033] Figure 2 The sub-step flow chart of step S200 in another embodiment of the positioning method based on the GNSS device of the present application is shown in the following figure.

[0034] Figure 3 The relative position diagram between the station and the star in the front and rear epochs in the embodiment of the present application is shown in the following figure.

[0035] Figure 4 The relative position diagram between the reference station and the mobile station in the front and rear epochs in the embodiment of the present application is shown in the following figure. DETAILED DESCRIPTION

[0036] In the following description, specific details are set forth such as particular system architectures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. However, persons skilled in the art should understand that the present application can also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, apparatuses, circuits, and methods are omitted in order not to obscure the description of the present application with unnecessary details.

[0037] It should be understood that when used in the specification and the appended claims, the term "comprising" indicates the presence of the described features, integers, steps, operations, elements, and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0038] For simplicity and conciseness of the drawings, only parts related to the application are shown in the drawings, and they 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 components 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.

[0039] It should be further understood that the term "and / or" used in the specification and claims of the present application means any combination of one or more of the associated listed items and all possible combinations, and includes these combinations.

[0040] In addition, in the description of the present application, the terms "first", "second", etc. are only used for differentiation, and cannot be understood as indicating or implying relative importance.

[0041] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the specific embodiments 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 labor, and other embodiments can also be obtained.

[0042] 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 true 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.

[0043] 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 of centimeter level is maintained within a short time on the basis of high-precision RTK positioning solution, that is, the existing inter-epoch differential positioning technology.

[0044] However, the inter-epoch differential positioning technology uses the difference between the carrier phase observation values of 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, the calculation delay will further affect the positioning performance.

[0045] To solve the above problems, the application provides a positioning method based on GNSS equipment, the GNSS equipment includes a target antenna, and the number of the GNSS equipment is greater than or equal to 1.

[0046] The GNSS equipment includes a mobile device such as a flow station, a vehicle or an aircraft, a positioning chip installed on the mobile device such as the vehicle or the aircraft, and a positioning module.

[0047] Please refer to Figure 1 The method based on the GNSS equipment includes the following steps.

[0048] In step S100, 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 are acquired.

[0049] The first epoch is a first observation time of the target antenna, and the second epoch is a second observation time of the target antenna. It should be noted that the second epoch can be an epoch adjacent to the first epoch, or the second epoch can not be adjacent to the first epoch.

[0050] In a preferred embodiment, the second epoch is an epoch adjacent to the first epoch, so that the accumulation of errors (errors caused by the delays of the ionosphere and the troposphere) between the interval epochs can be avoided, the solving accuracy is improved, and the real-time performance is enhanced.

[0051] The first antenna position is a coordinate of the target antenna position of the GNSS equipment at the first epoch, and the second antenna position is a coordinate of the target antenna position of the GNSS equipment at the second epoch.

[0052] In step S200, a baseline component of the GNSS equipment between the first epoch and the second epoch is obtained according to the first antenna position and the second antenna position, and the baseline component is a component of a vector from the first antenna position to the second antenna position.

[0053] Specifically, the baseline component includes an east component, a north component and a zenith component. The physical meaning thereof is that the east, north and zenith displacement changes of the GNSS equipment are reflected.

[0054] It should be noted that the baseline component can be a component of the vector from the first antenna position to the second antenna position in a preset coordinate system, and the preset coordinate system can be set as needed.

[0055] In step S300, the position of the GNSS equipment is determined based on the baseline component.

[0056] Through Figure 1The provided positioning method based on the GNSS device can determine the baseline component of the GNSS device to the reference station based on the GNSS device of at least one antenna (i.e. single antenna), and then can realize the positioning of the measured object based on the baseline component according to the existing positioning algorithm. The device requirement in the GNSS positioning algorithm can be reduced under the premise of ensuring the GNSS positioning accuracy.

[0057] In an optional embodiment, based on the above-mentioned embodiment, Figure 1 The step S200 can specifically include the following sub-steps: referring to the attached drawings Figure 2 , Figure 2 For another embodiment of the positioning method based on the GNSS device of the present application, the sub-step flow chart of step S200 is shown in the figure.

[0058] Step S201, acquiring the first satellite position observed by the target antenna at the first epoch, and acquiring the second satellite position observed by the target antenna at the second epoch.

[0059] Wherein, the first satellite position is the coordinate of the position of the first satellite observed by the GNSS device through the target antenna at the first epoch, and the second satellite position is the coordinate of the position of the second satellite observed by the GNSS device through the target antenna at the second epoch.

[0060] Step S202, determining the first projection of the vector from the first satellite position to the second satellite position in the first direction, determining the second projection of the vector from the first antenna position to the second antenna position in the second direction, and calculating the difference between the first projection and the second projection according to the first satellite position and the second satellite position.

[0061] Step S203, determining the baseline component according to the difference.

[0062] Wherein, the first direction is the vector between the second antenna position and the second satellite position, and the second direction is the vector between the first antenna position and the first satellite position.

[0063] Based on the difference between the projection of the vector between the two satellite positions (i.e. the vector from the first satellite position to the second satellite position) and the projection of the vector between the two antenna positions (i.e. the vector from the first antenna position to the second antenna position) in the front and rear epochs, the baseline component can be determined, and the reference is shown in the attached drawings Figure 3 , Figure 3 For the relative position diagram between the station and the satellite in the front and rear epochs in the embodiment of the present application.

[0064] In an optional embodiment, the difference Based on the following formula (1): . (1)

[0065] 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.

[0066] is a vector between the second antenna position and the second satellite; is a distance between the second antenna position and the second satellite.

[0067] is a vector between the first antenna position and the second antenna position.

[0068] 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.

[0069] Specifically, the difference value is converted based on the following formula (2):

[0070]

[0071] 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.

[0072] 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 epoch difference equation to solve the baseline component, wherein the epoch difference equation is represented according to the following formula (3):

[0073] . (3)

[0074] wherein X is a baseline component, is an epoch difference of carrier phase observation between the second satellite position and the first satellite position, is an observation matrix.

[0075] Specifically, in the process of composing the epoch difference equation, the satellite positions observed by the GNSS device at the epochs (t1, t2) before and after are calculated respectively, and then the distances between the GNSS device and the observed satellites at the epochs are obtained.

[0076] With reference to the following embodiments: in the prior art, when the ambiguity before and after the epoch does not occur cycle slip, the original epoch difference equation is established as:

[0077] .

[0078] wherein, is the carrier phase observation value; is the observation matrix; is the 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 the carrier phase observation difference value between the GNSS device before and after the epoch.

[0079] ;

[0080] .

[0081] wherein, is the carrier phase observation value of the second satellite observed in the second epoch, is the carrier phase observation value of the first satellite observed in the first epoch; is the distance from the second antenna position to the second satellite position, is the distance from the first antenna position to the first satellite position.

[0082] 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, and the calculation formula is:

[0083] .

[0084] Since is the position update amount of the GNSS device, in the dynamic positioning scene, the traditional epoch difference method faces the balance problem between convergence speed and calculation efficiency. The least square method needs times of iteration to reach stable convergence, and 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, and it is difficult to meet the demand of real-time control.

[0085] In addition, with the increase of the number of iterations, the calculation load of the system increases nonlinearly, which not only increases the power consumption requirement of the processor, but also may affect the positioning stability due to the limitation of the calculation resources.

[0086] To solve the above-mentioned existing inter-epoch differential positioning method needs multiple iterations to reach stable convergence, resulting in the technical problem of responding to system speed difference, the present application proposes a new GNSS device-based positioning method, using the baseline component X of the GNSS device instead of the position update of the GNSS device As a parameter to be estimated; construct the inter-epoch differential equation as above formula (3), the update of the baseline component is no longer affected by the position of the GNSS device in the inter-epoch differential equation, and 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.

[0087] In another embodiment of the present embodiment, the baseline component X of the GNSS device is calculated by the following formula:

[0088] ; .

[0089] In an optional embodiment, the method further comprises: obtaining a first satellite position based on the first observation value information obtained by the GNSS device at the first epoch; and obtaining a second satellite position based on the second observation value information obtained by the GNSS device at the second epoch.

[0090] Wherein, the observation value information includes the carrier phase observation value of the satellite. Optionally, the observation value information also includes observation time stamp, and ephemeris data, etc. In some embodiments, the instantaneous distance between the GNSS device and the satellite can be calculated by the geometric distance formula combined with the satellite position information provided by the satellite ephemeris data, so as to obtain the satellite position (including the first satellite position and the second satellite position).

[0091] The present application provides another embodiment of a GNSS device-based positioning method, based on any one of the above-mentioned embodiments, the number of GNSS devices is at least 2. The following provides a specific embodiment of two GNSS devices (i.e. first GNSS device and second GNSS device).

[0092] The first GNSS device implements the method as Figure 1 to realize its real-time dynamic positioning.

[0093] In specific implementation, the detailed method steps are the same as those described in the above-mentioned embodiments, and the present application does not repeat the discussion.

[0094] In the present embodiment, the GNSS device-based positioning method can further include the following steps:

[0095] S400, 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.

[0096] S500, determining an azimuth angle and a pitch angle based on the position baseline.

[0097] Specifically, referring to the drawings in the specification Figure 4 , Figure 4 is a schematic diagram of the relative position between a reference station and a mobile station between epochs. The first GNSS device is taken as the reference station, i.e., a fixed observation point with known position. The second GNSS device is taken as the mobile station, i.e., a moving observation point. A position baseline between the first GNSS device (reference station) and the second GNSS device (mobile station) is constructed. The position baseline refers to a three-dimensional space vector between the mobile station and the reference station in differential positioning calculation, which is represented by a coordinate difference (ΔX, ΔY, ΔZ). The length and direction of the position baseline reflect the spatial relative relationship between the mobile station and the reference station.

[0098] In an optional embodiment, the position baseline is represented by the following equation (4): . (4)

[0099] wherein (X12, Y12, Z12) are the position coordinates of the first GNSS device in the geocentric coordinate system at the second epoch, and (X22, Y22, Z22) are the position coordinates of the second GNSS device in the geocentric coordinate system at the second epoch.

[0100] In another optional embodiment, step S400 further comprises converting the position baseline into baseline components in a target coordinate system by the following formula (5): .

[0101] . (5)

[0102] wherein de is the east component of the position baseline, dn is the north component of the position baseline, and du is the zenith component of the position baseline.

[0103] Specifically, in the direction finding process, the first GNSS device is selected as the reference station, and the position coordinates (X21, Y21, Z21) of the first GNSS device at the second epoch are converted into latitude and longitude coordinates (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 and longitude (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 baseline components in the local horizontal coordinate system. The baseline component in the local horizontal coordinate system is obtained. The baseline component refers to the projection value of the displacement change of the second GNSS device (mobile station) between the previous and next epochs in the geometric configuration of the first GNSS device (reference station), and the physical meaning thereof is to reflect the eastward, northward and upward displacement changes of the mobile station relative to the reference station. The three-dimensional position increment of the mobile station between the previous and next epochs is obtained by converting the reference station coordinate system into the mobile station coordinate system. The high-precision three-dimensional coordinates of the mobile station after the update are obtained by adding the three-dimensional position increment to the position of the mobile station before the update.

[0104] In another optional embodiment, after the position baseline is calculated, the azimuth and the pitch are calculated based on the following formula (6):

[0105] ;

[0106] . (6)

[0107] Wherein, the yaw is the azimuth, and the pitch is the pitch.

[0108] Based on the same concept, the application further discloses a GNSS device-based positioning method system. The system is used to implement the steps in any one of the above method embodiments. Specifically, one embodiment of the GNSS device-based positioning method system of the application specifically comprises:

[0109] The GNSS device comprises a target antenna, and the number of the GNSS devices is greater than or equal to 1. The positioning module comprises:

[0110] The antenna position determination unit is used to obtain the first antenna position of the target antenna at the first epoch and the second antenna position of the target antenna at the second epoch.

[0111] The baseline component determination unit is used to obtain the baseline component of the GNSS device between the previous and next epochs according to the first antenna position and the second antenna position. The baseline component is the component of the vector from the first antenna position to the second antenna position.

[0112] The positioning unit is used to determine the position of the GNSS device based on the baseline component.

[0113] Another embodiment of the GNSS device-based positioning method system of the application is based on the above embodiment, and the baseline component determination unit comprises the following sub-units:

[0114] The position acquisition sub-unit is used to obtain the first satellite position observed by the target antenna at the first epoch and the second satellite position observed by the target antenna at the second epoch.

[0115] an interpolation calculating subunit configured to determine a first projection of a vector between the first satellite position and the second satellite position in a first direction, determine a second projection of a vector between the first antenna position and 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.

[0116] a component determining subunit configured to determine the baseline component according to the difference.

[0117] In an optional embodiment, the difference is calculated based on a formula (2) as follows: The difference is represented based on a formula (1) as follows:

[0118] d = s2 - s1 - a2 + a1. (1)

[0119] 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.

[0120] is a vector between the second antenna position and the second satellite; is a distance between the second antenna position and the second satellite.

[0121] is a vector between the first antenna position and the second antenna position.

[0122] 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.

[0123] Specifically, the difference is transformed based on a formula (2) as follows:

[0124]

[0125] 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.

[0126] The application further discloses a GNSS device, which comprises the GNSS device-based positioning method system in any of the foregoing embodiments. Specifically, one embodiment of the GNSS device comprises the following in particular:

[0127] 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 in particular:

[0128] An antenna position determination unit is configured to acquire 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.

[0129] A baseline component determination unit is configured to acquire 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 from the first antenna position to the second antenna position.

[0130] A positioning unit is configured to determine the position of the GNSS device based on the baseline component.

[0131] 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 GNSS device-based positioning method in any of the foregoing embodiments.

[0132] The GNSS device-based positioning method, system, GNSS device and GNSS chip of the application have the same technical concept, and the technical details of the embodiments of the four can be applicable to each other. In order to reduce repetition, the details will not be described herein.

[0133] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the foregoing program modules is taken as an example, and in actual applications, the foregoing 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 embodiments can be integrated in one processing unit, or each unit can be physically present separately, 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 a software program unit. In addition, the specific names of the program modules are only for the convenience of mutual differentiation, and do not limit the protection scope of the application.

[0134] While the preferred embodiments of the application have been described, additional variations and modifications can be made to these embodiments by those skilled in the art once they learn of the basic inventive concepts. Therefore, the appended claims are intended to cover all such additional variations and modifications as fall within the scope of the 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 the position of the GNSS device based on the baseline component; wherein 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 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; 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 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.

2. 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.

3. The method of claim 2, wherein, the position baseline is represented by the following equation: ； wherein (X12, Y12, Z12) is a position coordinate of the first GNSS device in a geocentric coordinate system at the second epoch, and (X22, Y22, Z22) is a position coordinate of the second GNSS device in the geocentric 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.

4. The method of claim 3, 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.

5. The method according to any one of claims 1 to 4, characterized in that, the second epoch is an adjacent epoch after the first epoch.

6. A GNSS device based positioning system for implementing the steps of the GNSS based positioning method according to any one of claims 1-5, 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.

7. A GNSS device for positioning according to any one of claims 1-5, characterized in that, 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.

8. 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 1-5.

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