A positioning and pose determination method and device fusing beidou navigation and inertial navigation

Abstract

The application discloses a positioning and pose determination method and device fusing Beidou navigation and inertial navigation, and relates to the technical field of attitude measurement, wherein the method comprises the following steps: correcting gyroscope error based on proportional integral operation by using accelerometer error and magnetometer error to obtain the gyroscope output after error correction; updating the quaternion of a moving object by using the gyroscope output after error correction, solving the attitude by using the quaternion, and obtaining the attitude angle of the moving object in the carrier coordinate system calculated by inertial navigation; performing positioning and pose determination calculation of the moving object by using the time difference of satellite carrier phase double difference between double BDS receivers and different groups of satellites, and obtaining the attitude angle of the moving object in the carrier coordinate system calculated by Beidou satellite navigation; and performing Kalman filtering fusion on the attitude angle calculated by inertial navigation and the attitude angle calculated by Beidou satellite navigation to obtain the final attitude angle. The application can adapt to a dynamic environment and improve the attitude measurement precision.

Description

Technical Field

[0001] This invention relates to the field of attitude measurement technology, and in particular to a positioning and attitude determination method and device that integrates BeiDou navigation and inertial navigation. Background Technology

[0002] This section is intended to provide background or context for the embodiments of the invention set forth in the claims. The description herein is not an admission that it is prior art simply because it is included in this section.

[0003] INS (Inertial Navigation System) mainly consists of accelerometers and gyroscopes. The carrier's attitude is obtained by integrating the data from the accelerometers and gyroscopes. The error in the attitude information obtained through integration gradually increases over time, leading to significant errors over long-term use and hindering long-term navigation. BDS (BeiDou Navigation Satellite System) navigation and positioning systems measure attitude by receiving BDS satellite information via antennas, making them susceptible to interference and obstruction. Furthermore, BDS information updates slowly, which is unsuitable for scenarios requiring real-time attitude updates. To compensate for the differences between the two positioning methods, current technologies generally use combined navigation and positioning for attitude measurement, combining BDS satellite and INS inertial navigation. However, in current technologies, satellite positioning and inertial navigation operate independently, and the information output from each is finally fused through a filter. This results in weak anti-interference capabilities, an inability to adapt to dynamic environments, and relatively low attitude measurement accuracy. Summary of the Invention

[0004] This invention provides a positioning and attitude determination method that integrates BeiDou navigation and inertial navigation to adapt to dynamic environments and improve attitude measurement accuracy. The method includes:

[0005] Acquire the observation values ​​of the magnetometer and accelerometer / gyroscope in the inertial navigation unit in the carrier coordinate system;

[0006] Calculate the gravity vector and magnetic field vector in the carrier coordinate system using the current quaternion of the moving object;

[0007] Based on the observed values, gravity vector, and magnetic field vector, calculate the accelerometer error and magnetometer error;

[0008] Based on proportional-integral calculation, the accelerometer error and magnetometer error are used to correct the gyroscope error, and the gyroscope output after error correction is obtained.

[0009] The quaternion of the moving object is updated using the gyroscope output after error correction, and the attitude is calculated using the quaternion to obtain the attitude angle of the moving object in the carrier coordinate system calculated by inertial navigation.

[0010] The time difference between the satellite carrier phase difference between the dual BDS receivers and different groups of satellites is used to calculate the positioning and attitude determination of the moving object, and the attitude angle of the moving object in the carrier coordinate system is obtained by Beidou satellite navigation.

[0011] The attitude angles of the moving object in the carrier coordinate system calculated by inertial navigation and those calculated by BeiDou satellite navigation are fused using Kalman filtering to obtain the attitude angles of the moving object.

[0012] This invention also provides a positioning and attitude determination device that integrates BeiDou navigation and inertial navigation to adapt to dynamic environments and improve attitude measurement accuracy. The device includes:

[0013] The inertial navigation calculation module is used to acquire the observation values ​​of the magnetometer and the accelerometer and gyroscope in the inertial navigation unit in the carrier coordinate system; calculate the gravity vector and magnetic field vector in the carrier coordinate system using the current quaternion of the moving object; calculate the accelerometer error and magnetometer error based on the observation values, gravity vector and magnetic field vector; correct the gyroscope error using the accelerometer error and magnetometer error based on proportional-integral operation to obtain the gyroscope output after error correction; update the quaternion of the moving object using the quaternion, and use the quaternion to solve the attitude to obtain the attitude angle of the moving object in the carrier coordinate system calculated by inertial navigation.

[0014] The satellite navigation calculation module is used to perform positioning and attitude determination calculations for moving objects by utilizing the time difference of the satellite carrier phase difference between the dual BDS receivers and different groups of satellites, and to obtain the attitude angles of the moving objects in the carrier coordinate system calculated by the BeiDou satellite navigation.

[0015] The fusion module is used to fuse the attitude angles of the moving object in the carrier coordinate system calculated by inertial navigation and the attitude angles of the moving object in the carrier coordinate system calculated by Beidou satellite navigation using Kalman filtering to obtain the attitude angles of the moving object.

[0016] This invention also provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the above-mentioned positioning and attitude determination method that integrates BeiDou navigation and inertial navigation.

[0017] This invention also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the aforementioned positioning and attitude determination method integrating BeiDou navigation and inertial navigation.

[0018] This invention also provides a computer program product, which includes a computer program that, when executed by a processor, implements the above-described positioning and attitude determination method that integrates BeiDou navigation and inertial navigation.

[0019] In this embodiment of the invention, accelerometer and magnetometer errors are calculated, and gyroscope errors are corrected using these errors to obtain the corrected gyroscope output. The corrected gyroscope output is then used to update the quaternion of the moving object, and the attitude is calculated using the quaternion to obtain the attitude angle of the moving object in the carrier coordinate system calculated by inertial navigation. The use of accelerometer and magnetometer corrections for gyroscope drift increases the accuracy of inertial navigation unit (INS) positioning and attitude determination, improving adaptability to dynamic environments. Simultaneously, this embodiment utilizes time difference analysis between dual BDS receivers and different groups of satellite carrier phases to calculate the moving object's positioning and attitude, obtaining the attitude angle of the moving object in the carrier coordinate system calculated by BeiDou satellite navigation. The double-difference operation eliminates receiver clock errors, satellite clock errors, and tropospheric and ionospheric delays; the time difference analysis further eliminates errors caused by integer ambiguity. In this embodiment, the INS supports high-frequency updates, BDS positioning and attitude determination supports low-frequency correction, and finally, Kalman filtering is used to fuse the two attitudes, improving attitude measurement accuracy. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. In the drawings:

[0021] Figure 1 This is a flowchart illustrating the positioning and attitude determination method integrating BeiDou navigation and inertial navigation in an embodiment of the present invention.

[0022] Figure 2 This is a schematic diagram of the process for calculating attitude from inertial navigation data in an embodiment of the present invention;

[0023] Figure 3 This is a schematic diagram of the process for calculating the attitude from satellite navigation data in an embodiment of the present invention;

[0024] Figure 4 This is a schematic diagram of a positioning and attitude determination device integrating BeiDou navigation and inertial navigation in an embodiment of the present invention;

[0025] Figure 5 This is an example diagram of a positioning and attitude determination device that integrates BeiDou navigation and inertial navigation in an embodiment of the present invention. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings. Here, the illustrative embodiments of the present invention and their descriptions are used to explain the present invention, but are not intended to limit the present invention.

[0027] First, the technical terms involved in the embodiments of the present invention will be explained.

[0028] WGS84 coordinate system: An internationally adopted geocentric coordinate system with the Earth's center of mass as the origin. Its geocentric rectangular coordinate system has the Z-axis pointing towards the Conventional Earth Pole (CTP) as defined by the BIH (International Time Service) in 1984.0, and the X-axis pointing towards the intersection of the zero meridian plane of BIH 1984.0 and the CTP equator. The Y-axis is perpendicular to the Z-axis and X-axis, forming a right-handed coordinate system, known as the 1984 World Geodetic Coordinate System.

[0029] Geodetic coordinates: In geodesy, coordinates are based on a reference ellipsoid. The position of a point P on the ground is represented by geodetic longitude L, geodetic latitude B, and geodetic height H.

[0030] Carrier coordinate system (b-system): The origin coincides with the carrier's centroid. Similar to the geographic coordinate system, the carrier coordinate system can be set as needed to "right-front-upper," "front-right-lower," or "front-upper-right," etc. A typical carrier coordinate system is described as X... b The axis points vertically to the right side of the carrier, Y b The axis points forward along the longitudinal axis of the carrier, Z b The axis points upwards along the vertical axis of the carrier. This coordinate system is fixed to the carrier, and the orientation of the carrier's coordinate system relative to the geographic coordinate system is represented by the carrier's attitude.

[0031] Local horizontal coordinate system: Similar to the geographic coordinate system, the origin of the coordinate system is fixed at the target location, the Z-axis is along the local geographic vertical line, and the X and Y axes are along the tangents of the local longitude and latitude lines in the local horizontal plane, respectively.

[0032] Geographic coordinate system (g system): also known as the local perpendicular coordinate system, the origin of the coordinate system is fixed at the center of mass of the carrier, Z. g The axis is along the local geographical perpendicular direction, X g Y g The axes lie along the tangents to the local meridians and parallels of latitude in the local horizontal plane. Depending on the orientation of the coordinate axes, many orientations can be chosen for the three axes of a geographic coordinate system; generally, the geographic coordinate system is chosen as the Northeast-Sky coordinate system.

[0033] The acquisition, storage, use, and processing of data in this application all comply with the relevant provisions of national laws and regulations.

[0034] In existing technologies, BDS satellite attitude measurement is affected by integer ambiguity errors, impacting accuracy. In INS measurements, attitude calculation is typically based on gyroscope and accelerometer data. However, the errors of the inertial navigation unit's gyroscope and accelerometer often dynamically change with frequency bands, resulting in poor correction with fixed errors. Furthermore, the information output from satellite positioning and inertial navigation is fused using filters, leading to weak anti-interference capabilities, inability to adapt to dynamic environments, and ultimately, low attitude measurement accuracy.

[0035] To address, or at least partially address, the aforementioned technical problems, this invention proposes a positioning and attitude determination method that integrates BeiDou navigation and inertial navigation. Figure 1 This is a flowchart illustrating the positioning and attitude determination method integrating BeiDou navigation and inertial navigation in an embodiment of the present invention. Figure 1 As shown, the method includes:

[0036] Step 101: Obtain the observation values ​​of the magnetometer and accelerometer / gyroscope in the carrier coordinate system;

[0037] Step 102: Calculate the gravity vector and magnetic field vector in the carrier coordinate system using the current quaternion of the moving object;

[0038] Step 103: Based on the observed values, gravity vector, and magnetic field vector, calculate the accelerometer error and magnetometer error;

[0039] Step 104: Based on proportional-integral calculation, use the accelerometer error and magnetometer error to correct the gyroscope error, and obtain the gyroscope output after error correction;

[0040] Step 105: Update the quaternion of the moving object using the gyroscope output after error correction, and use the quaternion to calculate the attitude, thereby obtaining the attitude angle of the moving object in the carrier coordinate system calculated by inertial navigation.

[0041] Step 106: Use the time difference of satellite carrier phase difference between the dual BDS receiver and different groups of satellites to perform positioning and attitude determination calculation of the moving object, and obtain the attitude angle of the moving object in the carrier coordinate system calculated by Beidou satellite navigation.

[0042] Step 107: Perform Kalman filtering to fuse the attitude angles of the moving object in the carrier coordinate system calculated by inertial navigation and the attitude angles of the moving object in the carrier coordinate system calculated by Beidou satellite navigation, and obtain the attitude angles of the moving object.

[0043] The following explains in detail the positioning and attitude determination method that integrates BeiDou navigation and inertial navigation in the embodiments of the present invention.

[0044] During implementation, the accelerometer and magnetometer errors of the inertial navigation unit are used to correct the gyroscope output. The corrected gyroscope output is used to update the quaternion. The attitude is calculated using the quaternion to obtain the yaw angle, pitch angle and roll angle of the moving object in its carrier coordinate system calculated by INS.

[0045] First, the observations from the magnetometer and accelerometer / gyroscope in the inertial navigation unit are acquired in the carrier coordinate system. This includes collecting the raw data from the accelerometer, magnetometer, and gyroscope, and performing preliminary processing to eliminate noise. This step ensures that the data processed subsequently has high accuracy and reliability.

[0046] Then, the gravity vector and magnetic field vector in the carrier coordinate system are calculated using the current quaternion of the moving object. Based on the observed values, gravity vector, and magnetic field vector, the accelerometer error and magnetometer error are calculated. This step allows for the accurate calculation of the accelerometer and magnetometer errors, providing a basis for subsequent gyroscope error correction. The gyroscope error is corrected using proportional-integral (PI) operations based on the accelerometer and magnetometer errors, resulting in the corrected gyroscope output. The corrected gyroscope output is then used to update the quaternion of the moving object, and the attitude is calculated using the quaternion to obtain the attitude angle of the moving object in the carrier coordinate system, obtained through inertial navigation calculations.

[0047] Figure 2 This is a schematic diagram of the process for calculating attitude from inertial navigation data in an embodiment of the present invention, as shown below. Figure 2 As shown, the method includes:

[0048] Step 201: Perform complementary filtering on the outputs of the accelerometer, magnetometer, and gyroscope.

[0049] By setting weighting factors for the outputs of accelerometers, magnetometers, and gyroscopes, complementary filtering can effectively fuse short-term and long-term information from sensors through simple weighting combinations. Furthermore, complementary filtering is simple to implement, fast in operation, and flexible.

[0050] Step 202: Initialize the quaternion at the initial moment using the initial attitude of the moving object.

[0051]

[0052] in, Let q0(0), q1(0), q2(0), and q3(0) represent the initial heading angle, pitch angle, and roll angle of the moving object, respectively. Let q0(0), q1(0), q2(0), and q3(0) represent one real part and three imaginary parts of the quaternion at the initial moment, respectively. The quaternion is updated iteratively. The quaternion represents rotation in space. The quaternion is initialized using the parameters from step 201.

[0053] Step 203: Obtain the observation values ​​of the magnetometer and accelerometer / gyroscope in the carrier coordinate system and normalize the observation values ​​of the accelerometer and magnetometer.

[0054] In the specific implementation process, at time t:

[0055] The accelerometer observations in the carrier coordinate system are expressed as: a(t) = (a x (t),a y (t),a z (t)) T ;

[0056] The measurement value of the gyroscope in the carrier coordinate system is: ω(t)=(w x (t),w y (t),w z (t)) T ;

[0057] The magnetometer's measured value in the carrier coordinate system is: b(t) = (b x (t),b y (t),b z (t)) T .

[0058] Among them, a x (t), a y (t), a z (t) represent the accelerometer observations in the x, y, and z directions in the carrier coordinate system at time t, respectively. x (t), w y (t), w z (t) represents the observation values ​​of the gyroscope in the x, y, and z directions in the carrier coordinate system at time t, respectively. x (t), b y (t), b z (t) represent the observation values ​​of the magnetometer in the x, y, and z directions in the carrier coordinate system at time t.

[0059] Step 204: Calculate the gravity vector and magnetic field vector in the carrier coordinate system using the current quaternion, and calculate the accelerometer and magnetometer errors based on the gravity vector and magnetic field vector calculated by the current quaternion and the actual observed gravity vector and magnetic field vector. The actual observed gravity vector is the gravity observation value of the accelerometer in the carrier coordinate system.

[0060] The formula for calculating the gravity vector in the carrier coordinate system using the current quaternion is as follows:

[0061]

[0062] In the formula, (g x (t),gy (t),g z (t)) T It is the gravity vector of the moving object at time t, calculated using the current quaternion. The subscripts x, y, and z represent the values ​​in the x, y, and z directions in the carrier coordinate system. (g x (t),g y (t),g z (t)) T This represents the gravity vector (0,0,1) in the geographic coordinate system. T The result after transformation to the carrier coordinate system.

[0063] In one embodiment, calculating the accelerometer error and magnetometer error based on the observed values, gravity vector, and magnetic field vector may include:

[0064] The accelerometer error is calculated using the following formula, based on the accelerometer's observations in the carrier coordinate system and the gravity vector in the carrier coordinate system calculated using the current quaternions of the moving object:

[0065]

[0066] In the formula, e 1 (t) represents the accelerometer error, and the superscript 1 is a numerical index, not a square; Let g represent the errors of the accelerometer in the x, y, and z directions in the carrier coordinate system at time t, respectively. x (t),g y (t),g z (t) represent the gravity vectors in the x, y, and z directions in the carrier coordinate system at time t, calculated using the current quaternion of the moving object. x (t),a y (t),a z (t) represent the accelerometer observations in the x, y, and z directions in the carrier coordinate system at time t, respectively.

[0067] In one embodiment, calculating the accelerometer error and magnetometer error based on the observed values, gravity vector, and magnetic field vector may include:

[0068] Using a rotation matrix composed of the current quaternions of the moving object, the magnetometer's observations in the carrier coordinate system are transformed into magnetic force vectors in the geographic coordinate system, and then further transformed into ideal magnetic force vectors (G) in the geographic coordinate system. x (t),0,G Z (t)) T The ideal magnetic force vector, reflecting the direction of the latitude axis in the geographic coordinate system, has a value of 0; among which,

[0069]

[0070] In the formula, G x (t), G z (t) represents the components of the magnetic force vector in the x and z directions at time t after transformation to the geographic coordinate system. x (t), b y (t), b z (t) represent the components of the magnetic vector in the transformed geographic coordinate system.

[0071] The geographic coordinate system is the carrier's following coordinate system, transformed through simple rotation. Ideally, the Earth's magnetic field points north and south, meaning the longitude axis of the geographic coordinate system has values, while the latitude axis has zero values. However, the observed magnetic field is subject to interference from excitation materials, resulting in a distorted, not ideal, geomagnetic field. Therefore, the observed geomagnetic field is transformed to the geographic coordinate system, calibrated to an ideal geomagnetic field, and then transformed back to the carrier coordinate system to obtain a magnetic force vector that approximates the true geomagnetic field in the carrier coordinate system. The calibration constraint is that the magnitude of the geomagnetic force vector remains the same across different coordinate systems.

[0072] Then, using the rotation matrix composed of the current quaternions of the moving object, the ideal magnetic force vector in the geographic coordinate system is transformed to the carrier coordinate system, and the calculated value of the magnetic field vector of the magnetometer in the carrier coordinate system is obtained:

[0073]

[0074] In the formula, W x (t), W y (t), W z (t) represents the calculated values ​​of the magnetic field vectors of the magnetometer in the x, y, and z directions of the carrier coordinate system at time t.

[0075] Then, using the following formula, calculate the magnetometer error based on the calculated value of the magnetic field vector of the magnetometer in the carrier coordinate system and the observed value of the magnetometer in the carrier coordinate system:

[0076]

[0077] In the formula, e 2 (t) represents the magnetometer error; the number 2 indicates a numerical index, not a square. W represents the error of the magnetometer in the x, y, and z directions in the carrier coordinate system at time t. x (t),W y (t), W(t) z Let b represent the calculated values ​​of the magnetic field vectors of the magnetometer in the x, y, and z directions in the carrier coordinate system at time t. x (t),b y (t),b z(t) represent the observation values ​​of the magnetometer in the x, y, and z directions in the carrier coordinate system at time t.

[0078] Step 205: Add the error of the magnetometer to the error of the accelerometer to obtain the combined error.

[0079] Step 206: Use proportional-integral operations to correct the combined error of the gyroscope to obtain the gyroscope correction error, and use the gyroscope correction error to correct the gyroscope output.

[0080] In one embodiment, step 104, which uses proportional-integral calculations to correct gyroscope errors based on accelerometer and magnetometer errors to obtain the corrected gyroscope output, may include:

[0081] The combined error is obtained by adding the accelerometer error and the magnetometer error, for example:

[0082] e = e 1 (t)+e 2 (t);

[0083] In the formula, e represents the combination error.

[0084] The corrected gyroscope error is obtained by using the proportional-integral operation and combined error correction to obtain the gyroscope error, and then the corrected gyroscope output is obtained:

[0085] ω'=ω+K p e+K I ∫e;

[0086] In the formula, ω' is the gyroscope output after error correction, ω is the original gyroscope output, and K p K I These are the PID control parameters. Where ω'(t) = (w x '(t),w y '(t),w z '(t)) T Simplified description as w x '(t)=(w x ', w y ', w z '), w x '、w y '、w z 'These represent the outputs of the gyroscope in the x, y, and z directions in the carrier coordinate system after error correction at time t.

[0087] Update the quaternion of the moving object using the gyroscope output after error correction:

[0088]

[0089] In the formula, q0(t+T), q1(t+T), q2(t+T), and q3(t+T) represent the updated quaternions, and T represents the period.

[0090] The attitude angles are calculated using the updated quaternions, yielding the attitude angles of the moving object in the carrier coordinate system calculated by inertial navigation:

[0091]

[0092] In the formula, These represent the attitude angles of the moving object in the carrier coordinate system calculated by inertial navigation.

[0093] In step 106, the time difference of the satellite carrier phase difference between the dual BDS receivers and different groups of satellites is used to calculate the positioning and attitude of the moving object, and the attitude angle of the moving object in the carrier coordinate system is obtained by Beidou satellite navigation.

[0094] For example, positioning and attitude determination can be performed using the time difference of the carrier phase between two BDS receivers and at least four BDS satellites, to obtain the yaw angle of the moving object in its carrier coordinate system calculated by BDS. Pitch angle and roll angle

[0095] In one embodiment, the positioning and attitude determination of a moving object is calculated using the time difference of the satellite carrier phase difference between dual BDS receivers and different groups of satellites, obtaining the attitude angle of the moving object in the carrier coordinate system calculated by BeiDou satellite navigation. This may include:

[0096] By utilizing the time difference of the satellite carrier phase difference between the dual BDS receivers and different groups of satellites, the three-dimensional position information of the dual BDS receiver antennas in the WGS84 coordinate system is calculated.

[0097] The three-dimensional position information of the dual BDS receiver antennas in the WGS84 coordinate system is used to perform coordinate system transformation to obtain the attitude of the moving object in the carrier coordinate system; the attitude includes the yaw angle, roll angle and pitch angle of the moving object.

[0098] By utilizing the attitude of the moving object in the carrier coordinate system, the transformation parameters of the carrier coordinate system relative to the local horizontal coordinate system are calculated, and the attitude angle of the moving object in the carrier coordinate system calculated by the BeiDou satellite navigation is obtained.

[0099] Furthermore, by utilizing the time difference between the dual BDS receivers and different groups of satellite carrier phase differences, the three-dimensional position information of the dual BDS receiver antennas in the WGS84 coordinate system can be calculated, which may include:

[0100] Calculate the first difference at the first moment: the difference between the phase of the dual BDS receivers to the first satellite carrier and the difference between the phase of the dual BDS receivers to the second satellite carrier.

[0101] Calculate the second difference between the phase difference of the dual BDS receivers to the first satellite carrier and the phase difference of the dual BDS receivers to the second satellite carrier at the second time point.

[0102] Subtracting the first difference from the second difference yields the time difference of the satellite carrier phase difference between the dual BDS receiver and the first and second satellites.

[0103] A set of equations is constructed using the time difference of the satellite carrier phase difference between the dual BDS receivers and the first and second satellites.

[0104] The three-dimensional position information of the dual BDS receiver antennas in the WGS84 coordinate system is obtained by solving the system of equations.

[0105] For example, the time difference between the dual BDS receivers and different groups of satellite carrier phase differences is calculated. Using the time difference between the dual BDS receiver phase differences of different groups of satellites, a system of equations is constructed to solve for the three-dimensional position information of the BDS receiver antenna in the WGS84 coordinate system. Then, the attitude of the moving object in the carrier coordinate system is obtained through coordinate system transformation. Finally, the yaw angle is obtained by solving for the transformation parameters of the moving object in its carrier coordinate system relative to the local horizontal coordinate system. Pitch angle and roll angle

[0106] Figure 3 This is a schematic diagram of the satellite navigation data attitude calculation process in an embodiment of the present invention, as shown below. Figure 3 As shown, the method includes:

[0107] Step 301: Obtain the time difference of the satellite carrier phase double difference between BDS receiver a, BDS receiver b and different groups of satellites, and construct a system of equations using the time difference of the satellite carrier phase double difference between different groups of satellites.

[0108] Step 302: Solve for the three-dimensional position information of the BDS receiver antenna in the WGS84 coordinate system;

[0109] Step 303: Calculate the geodetic coordinates based on the three-dimensional position information of the BDS receiver antenna in the WGS84 coordinate system;

[0110] Step 304: Transform the WGS84 coordinate system coordinates to the local horizontal coordinate system coordinates by translation and rotation based on geodetic coordinates;

[0111] Step 305: The coordinates of the antenna in the carrier coordinate system are known. Based on the relationship between the local horizontal coordinate system and the carrier coordinate system, calculate the yaw angle, pitch angle and roll angle.

[0112] In the specific implementation process, the two BDS receivers are designated as BDS receiver a and BDS receiver b, respectively. The difference in carrier phase of any BDS satellite i observed by BDS receiver a and BDS receiver b at the first time moment is subtracted from the difference in carrier phase of the other BDS satellite j observed by BDS receiver a and BDS receiver b at the first time moment. The difference in carrier phase of any BDS satellite i observed by BDS receiver a and BDS receiver b at the second time moment is subtracted from the difference in carrier phase of the other BDS satellite j observed by BDS receiver a and BDS receiver b at the second time moment. The time difference of the double difference in the carrier phase of the satellite carriers between BDS receiver a, BDS receiver b and BDS satellite i, BDS satellite j is obtained.

[0113] The carrier phase observed by BDS receiver a from BDS satellite i is represented as follows:

[0114]

[0115] In the formula, The carrier phase of the BDS satellite i carrier actually measured by BDS receiver a; N represents the distance between BDS satellite i and BDS receiver a. i To observe the integer ambiguity of BDS satellite i, where l is the carrier wavelength and lN i dt represents the distance deviation caused by integer ambiguity; c is the speed of light; dt i (t), dt a (t) represents the clock error of BDS satellite i and BDS receiver a, respectively, and multiplied by the speed of light c represents the distance deviation caused by the clock error; This represents the time integral of the Doppler frequency shift from time t0 to t.

[0116] in,

[0117]

[0118] In the formula, X a (t), Y a (t), Z a (t) represents the position coordinates of BDS receiver a at time t, X i (t), Y i (t), Z i (t) represents the position coordinates of BDS satellite i at time t.

[0119]

[0120] In the formula, Let t0 be the Doppler frequency shift between BDS satellite i and BDS receiver a, where t0 is the initial time and t is the parameter substituted into the t0-t value.

[0121] Furthermore, v r,a Let be the radial velocity between BDS satellite i and BDS receiver a.

[0122] It reflects the change in distance caused by relative motion.

[0123] Similarly, we can obtain:

[0124] BDS receiver a observes the carrier phase of BDS satellite j:

[0125]

[0126] in, N represents the carrier phase of the BDS satellite j carrier actually measured by BDS receiver a; j To observe the integer ambiguity of BDS satellite j; dt represents the distance between BDS satellite j and BDS receiver a. j (t) is the clock bias of BDS satellite j; The Doppler shift is between BDS satellite j and BDS receiver a.

[0127] Similarly, BDS receiver b observes the carrier phase of BDS satellite i:

[0128]

[0129] in, The carrier phase of the BDS satellite i carrier actually measured by BDS receiver b; dt represents the distance between BDS satellite i and BDS receiver b. b (t) is the clock bias of the BDS receiver b; This represents the Doppler frequency shift between BDS satellite i and BDS receiver b.

[0130] BDS receiver b observes the carrier phase of BDS satellite j:

[0131]

[0132] in, The carrier phase of the BDS satellite j carrier actually measured by receiver b; The distance between BDS satellite j and BDS receiver a; This represents the Doppler frequency shift between BDS satellite j and BDS receiver b.

[0133] In the solution process of the embodiment, the distance between the two BDS receivers with respect to any identical BDS satellite is approximated by a first order.

[0134] The second time interval is epoch t1, and the first time interval is epoch t2. The time difference between the carrier phase double difference between epoch t2 and epoch t1 is divided into:

[0135]

[0136] in,

[0137] In the formula, For the double-difference carrier phase of BDS receiver a, BDS receiver b, BDS satellite i and BDS satellite j at epoch t1;

[0138] For the double-difference carrier phase of BDS receiver a, BDS receiver b, BDS satellite i and BDS satellite j at epoch t2;

[0139] B(t1) and B(t2) are the basis vectors at epochs t1 and t2, respectively;

[0140] e i (t1), e i (t2), e j (t1), e j (t2) are the unit vectors pointing from the BDS receiver to BDS satellite i at epoch t1, the unit vectors pointing from the BDS receiver to BDS satellite i at epoch t2, the unit vectors pointing from the BDS receiver to BDS satellite j at epoch t1, and the unit vectors pointing from the BDS receiver to BDS satellite 2 at epoch t2, respectively.

[0141] δ represents the difference or change.

[0142] in,

[0143]

[0144] B(t)=(ΔX a,b (t),ΔY a,b (t),ΔZ a,b (t)); The position of the BDS receiver b at epoch t is: (X b (t),Y b (t),Z b (t)), the positional deviation is: ΔX a,b(t),ΔY a,b (t),ΔZ a,b (t), the position of BDS receiver a at epoch t is: X a (t)=X b (t)+ΔX a,b (t), Y a (t)=Y b (t)+ΔY a,b (t), Z a (t)=Z b (t)+ΔZ a,b (t).

[0145] In this embodiment of the invention, double-difference operation eliminates receiver clock bias, satellite clock bias, and tropospheric and ionospheric delays, while carrier phase double-difference time difference further eliminates errors caused by integer ambiguity.

[0146] In this embodiment of the invention, t can be either t1 or t2, and can be substituted into the corresponding formula for calculation.

[0147] Since the receiver is far enough away from any BDS satellite and the positional deviation is small enough, the distance between the receiver and any BDS satellite is much greater than the positional deviation. Therefore, in the solution process, the distance between the two BDS receivers with respect to any identical BDS satellite is approximated by a first order:

[0148] like Taking a first-order approximation:

[0149]

[0150] in, Let X be the distance between BDS receiver b and BDS satellite i. b (t), Y b (t), Z b (t) represents the position coordinates of BDS receiver b at time t.

[0151] and

[0152] We will take a first-order approximation Substituting into the carrier phase formula, we get:

[0153]

[0154] For each BDS satellite pair, the time difference of the carrier phase double difference can be obtained. The time difference of the satellite carrier phase double difference between BDS receiver a, BDS receiver b, and different groups of satellites is obtained in the same way. Using the time difference of the satellite carrier phase double difference of different groups of satellites, a system of equations is constructed, and solving it yields the three-dimensional position information of the BDS receiver antenna in the WGS84 coordinate system. Then, the attitude of the moving object in the carrier coordinate system is obtained through coordinate system transformation. The attitude is the transformation parameters of the moving object in its carrier coordinate system relative to the local horizontal coordinate system, namely the yaw angle, roll angle, and pitch angle of the moving object.

[0155] The specific process includes: calculating geodetic coordinates, including geodetic longitude, geodetic latitude, and altitude, based on the three-dimensional position information of the BDS receiver antenna in the WGS84 coordinate system; designating one of the two antennas as the main antenna, and setting the origin of the carrier coordinate system as the phase center of the main antenna; for the other antenna, transforming the WGS84 coordinate system coordinates to the local horizontal coordinate system through translation and rotation based on geodetic coordinates. The translation and rotation involve first translating the origin of the coordinate system, then rotating around the z-axis to align the x-axis eastward with the prime meridian, rotating around the y-axis to make the z-axis perpendicular (i.e., aligning with the gravity vector), and finally rotating around the x-axis. The origins of the local horizontal coordinate system and the carrier coordinate system are the same, both located at the phase center of the main antenna. The transformation parameter between them is the attitude angle of the moving object: yaw angle. Pitch angle and roll angle The antenna's coordinates in the carrier coordinate system are known. The yaw angle is calculated based on the relationship between the local horizontal coordinate system and the carrier coordinate system. Pitch angle and roll angle

[0156] Finally, the attitude angles calculated by BDS and INS are processed by Kalman filtering to obtain the final attitude angles.

[0157] This invention utilizes time-difference positioning based on the double-difference carrier phase between dual BDS receivers and at least four BDS satellites. The double-difference operation eliminates receiver clock errors, satellite clock errors, and tropospheric and ionospheric delays. The double-difference time-difference carrier phase further eliminates errors caused by integer ambiguity. This invention also uses accelerometer and magnetometer errors from the inertial navigation unit to correct the gyroscope output, updates the quaternion using the corrected gyroscope output, and uses the quaternion to calculate the attitude, obtaining the yaw angle of the moving object in its carrier coordinate system calculated by the INS. Pitch angle and roll angle By using accelerometers and magnetometers to correct gyroscope drift, the accuracy of inertial navigation unit (INS) positioning and attitude determination is increased, making it suitable for dynamic environments. In this embodiment of the invention, the INS supports high-frequency updates, and the BDS positioning and attitude determination supports low-frequency correction. Then, Kalman filtering is used to fuse the two attitudes, improving the attitude measurement accuracy.

[0158] This invention also provides a positioning and attitude determination device that integrates BeiDou navigation and inertial navigation, as described in the following embodiments. Since the principle by which this device solves the problem is similar to the positioning and attitude determination method that integrates BeiDou navigation and inertial navigation, the implementation of this device can refer to the implementation of the positioning and attitude determination method that integrates BeiDou navigation and inertial navigation; repeated details will not be elaborated further.

[0159] Figure 4 This is a schematic diagram of a positioning and attitude determination device integrating BeiDou navigation and inertial navigation in an embodiment of the present invention, as shown below. Figure 4 As shown, the device 400 includes:

[0160] The inertial navigation calculation module 401 is used to acquire the observation values ​​of the magnetometer and the accelerometer and gyroscope in the inertial navigation unit in the carrier coordinate system; calculate the gravity vector and magnetic field vector in the carrier coordinate system using the current quaternion of the moving object; calculate the accelerometer error and magnetometer error based on the observation values, gravity vector and magnetic field vector; correct the gyroscope error using the accelerometer error and magnetometer error based on proportional-integral operation to obtain the gyroscope output after error correction; update the quaternion of the moving object using the quaternion, and solve the attitude using the quaternion to obtain the attitude angle of the moving object in the carrier coordinate system calculated by inertial navigation.

[0161] The satellite navigation calculation module 402 is used to perform positioning and attitude determination calculation of moving objects by using the time difference of the satellite carrier phase difference between the dual BDS receivers and different groups of satellites, and to obtain the attitude angle of the moving object in the carrier coordinate system calculated by the Beidou satellite navigation.

[0162] The fusion module 403 is used to fuse the attitude angles of the moving object in the carrier coordinate system calculated by inertial navigation and the attitude angles of the moving object in the carrier coordinate system calculated by Beidou satellite navigation using Kalman filtering to obtain the attitude angles of the moving object.

[0163] In one embodiment, the inertial navigation calculation module 401 is specifically used for:

[0164] The accelerometer error is calculated using the following formula, based on the accelerometer's observations in the carrier coordinate system and the gravity vector in the carrier coordinate system calculated using the current quaternions of the moving object:

[0165]

[0166] In the formula, e1 (t) represents the accelerometer error. Let g represent the errors of the accelerometer in the x, y, and z directions in the carrier coordinate system at time t, respectively. x (t), g y (t), g z (t) represent the gravity vector components in the x, y, and z directions in the carrier coordinate system at time t, calculated using the current quaternion of the moving object. x (t), a y (t), a z (t) represent the accelerometer observations in the x, y, and z directions in the carrier coordinate system at time t, respectively.

[0167] In one embodiment, the inertial navigation calculation module 401 is specifically used for:

[0168] Using a rotation matrix composed of the current quaternions of the moving object, the observation value of the magnetometer in the carrier coordinate system is converted into a magnetic force vector in the geographic coordinate system, and then into an ideal magnetic force vector in the geographic coordinate system; the ideal magnetic force vector reflects that the value of the latitude axis direction in the geographic coordinate system is 0.

[0169] Using a rotation matrix composed of the current quaternions of the moving object, the ideal magnetic force vector in the geographic coordinate system is transformed to the carrier coordinate system, and the magnetic field vector of the magnetometer in the carrier coordinate system is calculated.

[0170] The magnetometer error is calculated using the following formula, based on the calculated magnetic field vector of the magnetometer in the carrier coordinate system and the observed value of the magnetometer in the carrier coordinate system:

[0171]

[0172] In the formula, e 2 (t) represents the magnetometer error. W represents the error of the magnetometer in the x, y, and z directions in the carrier coordinate system at time t. x (t), W y W(t), W(t) z Let b represent the calculated values ​​of the magnetic field vectors of the magnetometer in the x, y, and z directions in the carrier coordinate system at time t. x (t),b y (t),b z (t) represent the observation values ​​of the magnetometer in the x, y, and z directions in the carrier coordinate system at time t.

[0173] In one embodiment, the inertial navigation calculation module 401 is specifically used for:

[0174] The combined error is obtained by adding the accelerometer error and the magnetometer error;

[0175] The corrected gyroscope error is obtained by using the proportional-integral operation and combined error correction to obtain the gyroscope error, and then the corrected gyroscope output is obtained:

[0176] ω'=ω+K p e+K I ∫e;

[0177] In the formula, ω' is the gyroscope output after error correction, ω is the original gyroscope output, e is the combination error, and K p K I These are the PID control parameters.

[0178] In one embodiment, the satellite navigation calculation module 402 is specifically used for:

[0179] By utilizing the time difference of the satellite carrier phase difference between the dual BDS receivers and different groups of satellites, the three-dimensional position information of the dual BDS receiver antennas in the WGS84 coordinate system is calculated.

[0180] The three-dimensional position information of the dual BDS receiver antennas in the WGS84 coordinate system is used to perform coordinate system transformation to obtain the attitude of the moving object in the carrier coordinate system; the attitude includes the yaw angle, roll angle and pitch angle of the moving object.

[0181] By utilizing the attitude of the moving object in the carrier coordinate system, the transformation parameters of the carrier coordinate system relative to the local horizontal coordinate system are calculated, and the attitude angle of the moving object in the carrier coordinate system calculated by the BeiDou satellite navigation is obtained.

[0182] In one embodiment, the satellite navigation calculation module 402 is specifically used for:

[0183] Calculate the first difference at the first moment: the difference between the phase of the dual BDS receivers to the first satellite carrier and the difference between the phase of the dual BDS receivers to the second satellite carrier.

[0184] Calculate the second difference between the phase difference of the dual BDS receivers to the first satellite carrier and the phase difference of the dual BDS receivers to the second satellite carrier at the second time point.

[0185] Subtracting the first difference from the second difference yields the time difference of the satellite carrier phase difference between the dual BDS receiver and the first and second satellites.

[0186] A set of equations is constructed using the time difference of the satellite carrier phase difference between the dual BDS receivers and the first and second satellites.

[0187] The three-dimensional position information of the dual BDS receiver antennas in the WGS84 coordinate system is obtained by solving the system of equations.

[0188] Figure 5 This is an example diagram of a positioning and attitude determination device integrating BeiDou navigation and inertial navigation, as described in an embodiment of the present invention. Figure 5 As shown, the device includes at least one processing unit, which is connected to a storage unit, an inertial navigation unit, and a BDS receiver via a bus unit. The storage unit stores a computer program and data collected by the acquisition unit. When the computer program is executed by the processing unit, it implements the positioning and attitude determination method that integrates BeiDou navigation and inertial navigation.

[0189] This invention also provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the above-mentioned positioning and attitude determination method that integrates BeiDou navigation and inertial navigation.

[0190] This invention also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the aforementioned positioning and attitude determination method integrating BeiDou navigation and inertial navigation.

[0191] This invention also provides a computer program product, which includes a computer program that, when executed by a processor, implements the above-described positioning and attitude determination method that integrates BeiDou navigation and inertial navigation.

[0192] In this embodiment of the invention, accelerometer and magnetometer errors are calculated, and gyroscope errors are corrected using these errors to obtain the corrected gyroscope output. The corrected gyroscope output is then used to update the quaternion of the moving object, and the attitude is calculated using the quaternion to obtain the attitude angle of the moving object in the carrier coordinate system calculated by inertial navigation. The use of accelerometer and magnetometer corrections for gyroscope drift increases the accuracy of inertial navigation unit (INS) positioning and attitude determination, improving adaptability to dynamic environments. Simultaneously, this embodiment utilizes time difference analysis between dual BDS receivers and different groups of satellite carrier phases to calculate the moving object's positioning and attitude, obtaining the attitude angle of the moving object in the carrier coordinate system calculated by BeiDou satellite navigation. The double-difference operation eliminates receiver clock errors, satellite clock errors, and tropospheric and ionospheric delays; the time difference analysis further eliminates errors caused by integer ambiguity. In this embodiment, the INS supports high-frequency updates, BDS positioning and attitude determination supports low-frequency correction, and finally, Kalman filtering is used to fuse the two attitudes, improving attitude measurement accuracy.

[0193] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0194] In the embodiments provided by this invention, it should be understood that the disclosed structures and methods can be implemented in other ways. For example, the structural embodiments described above are merely illustrative. For instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interfaces, structures, or units, and may be electrical, mechanical, or other forms.

[0195] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0196] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0197] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0198] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0199] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0200] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above descriptions are merely specific embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A positioning and attitude determination method integrating BeiDou navigation and inertial navigation, characterized in that, include: Acquire the observation values ​​of the magnetometer and accelerometer / gyroscope in the inertial navigation unit in the carrier coordinate system; Calculate the gravity vector and magnetic field vector in the carrier coordinate system using the current quaternion of the moving object; Based on the observed values, gravity vector, and magnetic field vector, calculate the accelerometer error and magnetometer error; Based on proportional-integral calculation, the accelerometer error and magnetometer error are used to correct the gyroscope error, and the gyroscope output after error correction is obtained. The quaternion of the moving object is updated using the gyroscope output after error correction, and the attitude is calculated using the quaternion to obtain the attitude angle of the moving object in the carrier coordinate system calculated by inertial navigation. The time difference of satellite carrier phase difference between dual BDS receivers and different groups of satellites is used to calculate the positioning and attitude of moving objects, and the attitude angle of the moving objects in the carrier coordinate system calculated by Beidou satellite navigation is obtained. The attitude angles of the moving object in the carrier coordinate system calculated by inertial navigation and those calculated by BeiDou satellite navigation are fused using Kalman filtering to obtain the attitude angles of the moving object.

2. The method of claim 1, wherein, Based on the observed values, gravity vector, and magnetic field vector, the accelerometer error and magnetometer error are calculated, including: The accelerometer error is calculated using the following formula, based on the accelerometer's observations in the carrier coordinate system and the gravity vector in the carrier coordinate system calculated using the current quaternions of the moving object: ； In the formula, This indicates the accelerometer error. , , These represent the accelerometer's position in the carrier coordinate system at time t. x , y , z Error in direction, , , They represent the values ​​calculated using the current quaternions of the moving object in the carrier coordinate system at time t. x , y , z The direction of the gravitational vector components, , , These represent the accelerometer's position in the carrier coordinate system at time t. x , y , z Observations of direction.

3. The method of claim 1, wherein, Based on the observed values, gravity vector, and magnetic field vector, the accelerometer error and magnetometer error are calculated, including: Using a rotation matrix composed of the current quaternions of the moving object, the observation value of the magnetometer in the carrier coordinate system is converted into a magnetic force vector in the geographic coordinate system, and then into an ideal magnetic force vector in the geographic coordinate system; the ideal magnetic force vector reflects that the value of the latitude axis direction in the geographic coordinate system is 0. Using a rotation matrix composed of the current quaternions of the moving object, the ideal magnetic force vector in the geographic coordinate system is transformed to the carrier coordinate system, and the magnetic field vector of the magnetometer in the carrier coordinate system is calculated. The magnetometer error is calculated using the following formula, based on the calculated magnetic field vector of the magnetometer in the carrier coordinate system and the observed value of the magnetometer in the carrier coordinate system: ； In the formula, Indicates the magnetometer error. , , These represent the positions of the magnetometer in the carrier coordinate system at time t. x , y , z Error in direction, , , These represent the results obtained from the magnetometer at time t in the carrier coordinate system. x , y , z Calculated value of the magnetic field vector in the direction. , , These represent the positions of the magnetometer in the carrier coordinate system at time t. x , y , z Observations of direction.

4. The method of claim 1, wherein, Based on proportional-integral (PI) calculations, accelerometer and magnetometer errors are used to correct gyroscope errors, resulting in the corrected gyroscope output, including: The combined error is obtained by adding the accelerometer error and the magnetometer error; The corrected gyroscope error is obtained by using the proportional-integral operation and combined error correction to obtain the gyroscope error, and then the corrected gyroscope output is obtained: ； wherein is the corrected gyroscope output, is the raw gyroscope output, e is the combined error, is the PID control parameter.

5. The method of claim 1, wherein, Using the time difference of satellite carrier phase difference between dual BDS receivers and different groups of satellites, the positioning and attitude determination of the moving object is calculated, and the attitude angle of the moving object in the carrier coordinate system calculated by BeiDou satellite navigation is obtained, including: By utilizing the time difference of the satellite carrier phase difference between the dual BDS receivers and different groups of satellites, the three-dimensional position information of the dual BDS receiver antennas in the WGS84 coordinate system is calculated. The three-dimensional position information of the dual BDS receiver antennas in the WGS84 coordinate system is used to perform coordinate system transformation to obtain the attitude of the moving object in the carrier coordinate system; the attitude includes the yaw angle, roll angle and pitch angle of the moving object. By utilizing the attitude of the moving object in the carrier coordinate system, the transformation parameters of the carrier coordinate system relative to the local horizontal coordinate system are calculated, and the attitude angle of the moving object in the carrier coordinate system calculated by the BeiDou satellite navigation is obtained.

6. The method of claim 5, wherein, By utilizing the time difference between the dual BDS receivers and different satellite carrier phase differences, the three-dimensional position information of the dual BDS receiver antennas in the WGS84 coordinate system is calculated, including: Calculate the first difference between the phase difference of the dual BDS receivers to the first satellite carrier and the phase difference of the dual BDS receivers to the second satellite carrier at the first moment. Calculate the second difference between the phase difference of the dual BDS receivers to the first satellite carrier and the phase difference of the dual BDS receivers to the second satellite carrier at the second time point; Subtracting the first difference from the second difference yields the time difference between the dual BDS receiver and the first and second satellites, representing the satellite carrier phase difference. A set of equations is constructed using the time difference of the satellite carrier phase difference between the dual BDS receivers and the first and second satellites; The three-dimensional position information of the dual BDS receiver antennas in the WGS84 coordinate system is obtained by solving the system of equations.

7. A positioning and orientation device fusing BeiDou navigation and inertial navigation, characterized in that, include: The inertial navigation calculation module is used to acquire the observation values ​​of the magnetometer and the accelerometer and gyroscope in the inertial navigation unit in the carrier coordinate system; calculate the gravity vector and magnetic field vector in the carrier coordinate system using the current quaternion of the moving object; and calculate the accelerometer error and magnetometer error based on the observation values, gravity vector and magnetic field vector. Based on proportional-integral calculation, the accelerometer error and magnetometer error are used to correct the gyroscope error, and the gyroscope output after error correction is obtained. The quaternion of the moving object is updated using the quaternion, and the attitude is calculated using the quaternion to obtain the attitude angle of the moving object in the carrier coordinate system calculated by inertial navigation. The satellite navigation calculation module is used to perform positioning and attitude determination calculations for moving objects by utilizing the time difference of the satellite carrier phase difference between the dual BDS receivers and different groups of satellites, and to obtain the attitude angle of the moving object in the carrier coordinate system calculated by the BeiDou satellite navigation. The fusion module is used to fuse the attitude angles of the moving object in the carrier coordinate system calculated by inertial navigation and the attitude angles of the moving object in the carrier coordinate system calculated by Beidou satellite navigation using Kalman filtering to obtain the attitude angles of the moving object.

8. A computer device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the method of any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the method of any one of claims 1 to 6.

10. A computer program product, characterised in that, The computer program product includes a computer program that, when executed by a processor, implements the method of any one of claims 1 to 6.

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