A GNSS-based relative positioning compensation method and system

Abstract

The application discloses a relative positioning compensation method based on GNSS, and comprises the following steps: determining a first four baseline vector of a first antenna pointing to a fourth antenna according to first satellite data received by the first antenna and fourth satellite data of the first antenna itself; calculating a fourth two baseline vector of the fourth antenna pointing to a second vehicle center according to a fifth antenna, a sixth antenna and the second vehicle center; calculating a first two baseline vector of the first antenna pointing to the second vehicle center; calculating a first one baseline vector of the first antenna pointing to a first vehicle center according to a second antenna, a third antenna and the first vehicle center; and calculating a first target baseline vector of the first vehicle center pointing to the second vehicle center. The relative distance and direction of the center points of the two vehicles are obtained through the cooperative joint solution of the satellite data of the multiple antennas on the vehicles, and the relative position relationship of the two vehicles can be determined more accurately. The application further discloses a system, an electronic device and a storage medium for realizing the above method.

Description

Technical Field

[0001] This invention relates to the field of navigation and positioning technology, and in particular to a relative positioning compensation method and system based on GNSS. Background Technology

[0002] With the rapid development of vehicle-to-everything (V2X) and Internet of Things (IoT) technologies, collaborative perception and intelligent interaction among mobile carriers such as vehicles, drones, and robots have become crucial. In such application scenarios, real-time and accurate acquisition of the relative distance and direction between two vehicles (or two mobile carriers) is fundamental to achieving advanced functions such as collision avoidance, platooning, and collaborative task execution.

[0003] In practical applications, for reasons of signal reception performance and ease of installation, antennas used for communication or positioning are usually installed in specific locations on the vehicle (such as the roof), rather than at the vehicle's geometric or dynamic center. Taking a vehicle as an example, satellite antennas are often mounted on the roof, while the vehicle's "center" might refer to the rear axle center, center of mass, or a reference point used for control decisions. When the antenna position does not coincide with the vehicle's center, even if a relative position vector of "antenna to antenna" is obtained through some technique, it will still have a fixed deviation from the truly required relative position vector of "vehicle center to vehicle center." Ignoring this deviation will directly lead to errors in judging the relative motion relationship between the two vehicles (such as lateral distance and heading angle). Therefore, determining the distance and direction between the vehicle's centers has become a pressing technical problem that needs to be solved. Summary of the Invention

[0004] To address the aforementioned problems in the existing technology, this invention provides a GNSS-based relative positioning compensation method and system. The technical problem to be solved by this invention is achieved through the following technical solution: The first aspect of this invention provides a GNSS-based relative positioning method, comprising the following steps: The fourth antenna determines the first four baseline vector pointing from the first antenna to the fourth antenna based on the fourth satellite data it receives and the first satellite data received by the first antenna. The fourth antenna determines the fourth baseline vector pointing to the center of the second vehicle based on the fifth baseline vector pointing to the sixth antenna from the fifth antenna, the calibration distance between the fourth antenna and the center of the second vehicle, and the calibration angle between the second line connecting the fourth antenna and the center of the second vehicle and the line connecting the fifth antenna and the sixth antenna. The fourth antenna determines the first and second baseline vectors pointing from the first antenna to the center of the second vehicle based on the first fourth baseline vector and the fourth second baseline vector. The first antenna determines the first baseline vector pointing to the center of the first vehicle based on the second baseline vector pointing from the second antenna to the third antenna, the calibration distance between the first antenna and the center of the first vehicle, and the calibration angle between the first line connecting the first antenna and the center of the first vehicle and the line connecting the second antenna and the third antenna. The first antenna determines the first target baseline vector pointing from the center of the first vehicle to the center of the second vehicle based on the first second baseline vector and the first first baseline vector. The first, second, and third antennas are installed on the first vehicle, while the fourth, fifth, and sixth antennas are installed on the second vehicle.

[0005] In one embodiment of the present invention, the fourth antenna determines the first and second baseline vectors pointing from the first antenna to the center of the second vehicle based on the first fourth baseline vector and the fourth second baseline vector, including: The fourth antenna adds the first fourth baseline vector and the fourth second baseline vector to obtain the first second baseline vector pointing the first antenna to the center of the second vehicle.

[0006] In one embodiment of the present invention, the first antenna determines a first target baseline vector pointing from the center of the first vehicle to the center of the second vehicle based on the first second baseline vector and the first first baseline vector, including: The first antenna subtracts the first second baseline vector from the first first baseline vector to obtain the first target baseline vector pointing from the center of the first vehicle to the center of the second vehicle.

[0007] In one embodiment of the present invention, the method further includes: The first antenna determines the fourth baseline vector pointing from the first antenna to the first antenna based on the first satellite data it receives and the fourth satellite data received by the fourth antenna. The first antenna determines the first baseline vector pointing to the center of the first vehicle based on the second baseline vector pointing from the second antenna to the third antenna, the calibration distance between the first antenna and the center of the first vehicle, and the calibration angle between the first line connecting the first antenna and the center of the first vehicle and the line connecting the second antenna and the third antenna. The first antenna determines the baseline vector pointing to the center of the first vehicle based on the fourth baseline vector and the first baseline vector. The fourth antenna determines the fourth baseline vector pointing to the center of the second vehicle based on the fifth baseline vector pointing to the sixth antenna from the fifth antenna, the calibration distance between the fourth antenna and the center of the second vehicle, and the calibration angle between the second line connecting the fourth antenna and the center of the second vehicle and the line connecting the fifth antenna and the sixth antenna. The fourth antenna determines the second target baseline vector pointing from the second vehicle center to the first vehicle center based on the baseline vector pointing from the fourth antenna to the center of the first vehicle and the fourth second baseline vector.

[0008] A second aspect of the present invention provides a GNSS-based relative positioning compensation system, comprising: a first antenna, a second antenna, a third antenna, a first vehicle, a fourth antenna, a fifth antenna, a sixth antenna, and a second vehicle; The first antenna, the second antenna, and the third antenna are installed on the first vehicle, and the fourth antenna, the fifth antenna, and the sixth antenna are installed on the second vehicle. The fourth antenna is used to determine the first four-baseline vector pointing from the first antenna to the fourth antenna based on the fourth satellite data it receives and the first satellite data received by the first antenna. The fourth antenna is used to determine the fourth baseline vector pointing from the fifth antenna to the sixth antenna, the calibration distance between the fourth antenna and the center of the second vehicle, and the calibration angle between the second line connecting the fourth antenna and the center of the second vehicle and the line connecting the fifth antenna and the sixth antenna. The fourth antenna is used to determine the first and second baseline vectors pointing from the first antenna to the center of the second vehicle based on the first fourth baseline vector and the fourth second baseline vector. The first antenna is used to determine the first baseline vector pointing from the first antenna to the center of the first vehicle based on the second baseline vector pointing from the second antenna to the third antenna, the calibration distance between the first antenna and the center of the first vehicle, and the calibration angle between the first line connecting the first antenna and the center of the first vehicle and the line connecting the second antenna and the third antenna. The first antenna is used to determine a first target baseline vector pointing from the center of the first vehicle to the center of the second vehicle based on the first second baseline vector and the first first baseline vector.

[0009] In one embodiment of the present invention, the fourth antenna determines the first and second baseline vectors pointing from the first antenna to the center of the second vehicle based on the first fourth baseline vector and the fourth second baseline vector, including: The fourth antenna adds the first fourth baseline vector and the fourth second baseline vector to obtain the first second baseline vector pointing the first antenna to the center of the second vehicle.

[0010] In one embodiment of the present invention, the first antenna determines a first target baseline vector pointing from the center of the first vehicle to the center of the second vehicle based on the first second baseline vector and the first first baseline vector, including: The first antenna subtracts the first second baseline vector from the first first baseline vector to obtain the first target baseline vector pointing from the center of the first vehicle to the center of the second vehicle.

[0011] In one embodiment of the present invention, the first antenna is further configured to determine a fourth baseline vector pointing from the fourth antenna to the first antenna based on the first satellite data received by the first antenna and the fourth satellite data received by the fourth antenna. The first antenna is also used to determine the first baseline vector pointing from the first antenna to the center of the first vehicle based on the second baseline vector pointing from the second antenna to the third antenna, the calibration distance between the first antenna and the center of the first vehicle, and the calibration angle between the first line connecting the first antenna and the center of the first vehicle and the line connecting the second antenna and the third antenna. The first antenna is further configured to determine the baseline vector pointing the fourth antenna to the center of the first vehicle based on the fourth baseline vector and the first baseline vector. The fourth antenna is also used to determine the fourth baseline vector pointing from the fourth antenna to the center of the second vehicle based on the fifth baseline vector pointing from the fifth antenna to the sixth antenna, the calibration distance between the fourth antenna and the center of the second vehicle, and the calibration angle between the second line connecting the fourth antenna and the center of the second vehicle and the line connecting the fifth antenna and the sixth antenna. The fourth antenna is also used to determine a second target baseline vector pointing from the second vehicle center to the first vehicle center based on the baseline vector pointing from the fourth antenna to the center of the first vehicle and the fourth second baseline vector.

[0012] A third aspect of the present invention provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement a GNSS-based relative positioning method provided in the first aspect of the present invention.

[0013] A fourth aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements a GNSS-based relative positioning method provided in the first aspect of the present invention.

[0014] The beneficial effects of this invention are: This invention, through collaborative calculation of satellite data from multiple antennas on each vehicle, can determine the relative distance and direction between the center points of two vehicles. This enables a more accurate determination of their relative positional relationship, avoiding potential safety risks in close-range, high-precision collaborative scenarios. Furthermore, the calculation method is simple and efficient, significantly reducing computational complexity and resource consumption in complex environments. This allows the calculation method to operate stably within the limited computing power of the onboard computing unit, greatly improving the real-time performance of position calculation and system response speed. It ensures the timely issuance of critical commands such as hazard warnings and collaborative control, meeting the stringent timeliness requirements of vehicle-to-everything (V2X) applications.

[0015] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures particularly pointed out in the written description, claims, and drawings.

[0016] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0017] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings: Figure 1 A flowchart illustrating a GNSS-based relative positioning compensation method provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of a GNSS-based relative positioning compensation system provided in an embodiment of the present invention. Detailed Implementation

[0018] The present invention will be further described in detail below with reference to specific embodiments, but the implementation of the present invention is not limited thereto.

[0019] like Figure 1 As shown, the first aspect of this invention provides a GNSS-based relative positioning method, comprising the following steps: Step 11: The fourth antenna 14 determines the first four baseline vector pointing from the first antenna 11 to the fourth antenna 14 based on the fourth satellite data it receives and the first satellite data received by the first antenna 11.

[0020] Among them, such as Figure 2 As shown, the first antenna 11, the second antenna 12, and the third antenna 13 are mounted on the first vehicle, while the fourth antenna 14, the fifth antenna 15, and the sixth antenna 16 are mounted on the second vehicle. Here, the positions of the second antenna 12 and the third antenna 13 relative to the first antenna 11 are not limited, as long as the line connecting the first antenna 11 and the center 10 of the first vehicle forms an angle of 0-360 degrees with the line connecting the second antenna 12 and the third antenna 13. Similarly, the positions of the fourth antenna 14, the fifth antenna 15, and the sixth antenna 16 are also not limited.

[0021] For example, such as Figure 2As shown, the first antenna 11 is located on one side of the center 10 of the first vehicle, the second antenna 12 and the third antenna 13 are located on the other side of the center 10 of the first vehicle and opposite to the first antenna 11; the fourth antenna 14 is located on one side of the center 20 of the second vehicle, and the fifth antenna 15 and the sixth antenna 16 are located on the other side of the center 20 of the second vehicle and opposite to the fourth antenna 14.

[0022] In this step, the distance between the first antenna 11 and the center of the first vehicle 10 is pre-calibrated, and the angle between the line connecting the first antenna 11 and the center of the first vehicle 10 and the line connecting the second antenna 12 and the third antenna 13 is pre-calibrated. At the same time, the distance between the fourth antenna 14 and the center of the second vehicle 20 is pre-calibrated, and the angle between the line connecting the fourth antenna 14 and the center of the second vehicle 20 and the line connecting the fifth antenna 15 and the sixth antenna 16 is pre-calibrated.

[0023] Here, the first antenna 11 receives the first satellite data and sends the first satellite data to the fourth antenna 14. The fourth antenna 14 combines the fourth satellite data it receives with the satellite ephemeris to calculate the baseline vector from the first antenna 11 to the fourth antenna 14.

[0024] Step 12: The fourth antenna 14 determines the fourth baseline vector pointing to the second vehicle center 20 based on the fifth baseline vector of the fifth antenna 15 pointing to the sixth antenna 16, the calibration distance between the fourth antenna 14 and the second vehicle center 20, and the calibration angle between the second line connecting the fourth antenna 14 and the second vehicle center 20 and the line connecting the fifth antenna 15 and the sixth antenna 16.

[0025] In this step, the fifth antenna 15 and the sixth antenna 16 receive their own fifth satellite data and sixth satellite data respectively and send them to the fourth antenna 14. The fourth antenna 14 calculates the fifth and sixth baseline vectors pointing from the fifth antenna 15 to the sixth antenna 16 based on the fifth satellite data and the sixth satellite data.

[0026] Here, distances and connections are measured and made with the antenna center in mind.

[0027] Step 13: The fourth antenna 14 determines the first and second baseline vectors pointing from the first antenna 11 to the center of the second vehicle 20 based on the first fourth baseline vector and the fourth second baseline vector.

[0028] In this step, the fourth antenna 14 adds the first fourth baseline vector and the fourth second baseline vector to obtain the first second baseline vector, and then sends the first second baseline vector to the first antenna 11.

[0029] Step 14: The first antenna 11 determines the first baseline vector pointing from the second antenna 12 to the third antenna 13, the calibration distance between the first antenna 11 and the first vehicle center 10, and the calibration angle between the first line connecting the first antenna 11 and the first vehicle center 10 and the line connecting the second antenna 12 and the third antenna 13.

[0030] In this step, the second antenna 12 and the third antenna 13 receive their own second satellite data and third satellite data respectively and send them to the first antenna 11. The first antenna 11 calculates the second and third baseline vectors pointing from the second antenna 12 to the third antenna 13 based on the second satellite data and the third satellite data.

[0031] Step 15: The first antenna 11 determines the first target baseline vector pointing from the first vehicle center 10 to the second vehicle center 20 based on the first second baseline vector and the first first baseline vector.

[0032] In this step, the first antenna 11 subtracts the first second baseline vector from the first first baseline vector to obtain the first target baseline vector pointing from the first vehicle center 10 to the second vehicle center 20. That is, the first antenna 11 can obtain the distance and direction of the second vehicle center 20 from the first vehicle center 10. This distance and direction data can also be sent to the second vehicle.

[0033] In this embodiment, by collaboratively calculating satellite data from multiple antennas on each vehicle, the measurements from the first and fourth antennas are compensated to obtain the relative distance and direction between the center points of the two vehicles. This allows for a more accurate determination of the relative positional relationship between the two vehicles, avoiding potential safety risks in close-range, high-precision collaborative scenarios. Furthermore, the calculation method in this embodiment is simple and efficient, significantly reducing computational complexity and resource consumption in complex environments. This enables the calculation method to operate stably within the limited computing power of the onboard computing unit, greatly improving the real-time performance of position calculation and system response speed. This ensures the timely issuance of critical commands such as hazard warnings and collaborative control, meeting the stringent timeliness requirements of vehicle-to-everything (V2X) applications.

[0034] In the above embodiment, the fourth antenna calculates first, then the first antenna calculates, to obtain the distance and direction of the second vehicle center from the first vehicle center. Alternatively, the first antenna can calculate first, then the fourth antenna calculates, to obtain the distance and direction of the first vehicle center from the second vehicle center. The first antenna determines the fourth baseline vector pointing from the first antenna to the first antenna based on the first satellite data it receives and the fourth satellite data received by the fourth antenna. The first antenna determines the first baseline vector pointing to the center of the first vehicle based on the second baseline vector pointing from the second antenna to the third antenna, the calibration distance between the first antenna and the center of the first vehicle, and the calibration angle between the first line connecting the first antenna and the center of the first vehicle and the line connecting the second antenna and the third antenna. The first antenna determines the baseline vector pointing from the fourth baseline vector to the center of the first vehicle based on the fourth baseline vector and the first baseline vector. The fourth antenna determines the fourth baseline vector pointing to the center of the second vehicle based on the fifth baseline vector pointing from the fifth antenna to the sixth antenna, the calibration distance between the fourth antenna and the center of the second vehicle, and the calibration angle between the second line connecting the fourth antenna and the center of the second vehicle and the line connecting the fifth antenna and the sixth antenna.

[0035] The fourth antenna determines the second target baseline vector pointing from the center of the second vehicle to the center of the first vehicle based on the baseline vector pointing from the fourth antenna to the center of the first vehicle and the fourth second baseline vector.

[0036] A third aspect of the present invention provides a GNSS-based relative positioning system, characterized in that it includes: a first antenna, a second antenna, a third antenna, a first vehicle, a fourth antenna, a fifth antenna, a sixth antenna, and a second vehicle; The first antenna, the second antenna, and the third antenna are installed on the first vehicle, and the fourth antenna, the fifth antenna, and the sixth antenna are installed on the second vehicle. The fourth antenna is used to determine the first four-baseline vector pointing from the first antenna to the fourth antenna based on the fourth satellite data it receives and the first satellite data received by the first antenna. The fourth antenna is used to determine the fourth baseline vector pointing from the fifth antenna to the sixth antenna, the calibration distance between the fourth antenna and the center of the second vehicle, and the calibration angle between the second line connecting the fourth antenna and the center of the second vehicle and the line connecting the fifth antenna and the sixth antenna. The fourth antenna is used to determine the first and second baseline vectors pointing from the first antenna to the center of the second vehicle, based on the first fourth baseline vector and the fourth second baseline vector. The first antenna is used to determine the first baseline vector pointing from the first antenna to the center of the first vehicle based on the second baseline vector pointing from the second antenna to the third antenna, the calibration distance between the first antenna and the center of the first vehicle, and the calibration angle between the first line connecting the first antenna and the center of the first vehicle and the line connecting the second antenna and the third antenna. The first antenna is used to determine the first target baseline vector pointing from the center of the first vehicle to the center of the second vehicle based on the first second baseline vector and the first first baseline vector.

[0037] In one embodiment of the present invention, the fourth antenna determines the first and second baseline vectors pointing from the first antenna to the center of the second vehicle based on the first fourth baseline vector and the fourth second baseline vector, including: The fourth antenna adds the first fourth baseline vector and the fourth second baseline vector to obtain the first second baseline vector pointing from the first antenna to the center of the second vehicle.

[0038] In one embodiment of the present invention, the first antenna determines a first target baseline vector pointing from the center of the first vehicle to the center of the second vehicle based on a first second baseline vector and a first first baseline vector, including: The first antenna subtracts the first second baseline vector from the first first baseline vector to obtain the first target baseline vector pointing from the center of the first vehicle to the center of the second vehicle.

[0039] In one embodiment of the present invention, the first antenna is further configured to determine a fourth baseline vector pointing from the fourth antenna to the first antenna based on the first satellite data received by the first antenna and the fourth satellite data received by the fourth antenna. The first antenna is also used to determine the first baseline vector pointing from the first antenna to the center of the first vehicle based on the second baseline vector pointing from the second antenna to the third antenna, the calibration distance between the first antenna and the center of the first vehicle, and the calibration angle between the first line connecting the first antenna and the center of the first vehicle and the line connecting the second antenna and the third antenna. The first antenna is also used to determine the baseline vector of the fourth antenna pointing to the center of the first vehicle based on the fourth baseline vector and the first baseline vector. The fourth antenna is also used to determine the fourth baseline vector pointing from the fifth antenna to the sixth antenna, the calibration distance between the fourth antenna and the center of the second vehicle, and the calibration angle between the second line connecting the fourth antenna and the center of the second vehicle and the line connecting the fifth antenna and the sixth antenna. The fourth antenna is also used to determine the second target baseline vector pointing from the center of the second vehicle to the center of the first vehicle, based on the baseline vector pointing from the fourth antenna to the center of the first vehicle and the fourth second baseline vector.

[0040] A fourth aspect of the present invention provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, it implements the GNSS-based relative positioning method provided by the present invention described above.

[0041] A fifth aspect of the present invention also provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of the GNSS-based relative positioning method provided in the above-described embodiments of the present invention.

[0042] The memory may include random access memory (RAM) or non-volatile memory (NVM), such as at least one disk storage device. Optionally, the memory may also be at least one storage system located remotely from the aforementioned processor.

[0043] The processors mentioned above can be general-purpose processors, including central processing units (CPUs), network processors (NPs), etc.; they can also be digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware systems.

[0044] The method provided in this invention can be applied to electronic devices. Specifically, the electronic device can be a desktop computer, a portable computer, a smart mobile terminal, a server, etc. No limitation is made herein; any electronic device that can implement this invention falls within the protection scope of this invention.

[0045] For system / electronic device embodiments, since they are basically similar to method embodiments, the description is relatively simple, and relevant parts can be found in the description of the method embodiments.

[0046] 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 system that specifies functions in one or more boxes.

[0047] 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.

[0048] 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.

[0049] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A GNSS-based relative positioning compensation method, characterized in that, Includes the following steps: The fourth antenna determines the first four baseline vector pointing from the first antenna to the fourth antenna based on the fourth satellite data it receives and the first satellite data received by the first antenna. The fourth antenna determines the fourth baseline vector pointing to the center of the second vehicle based on the fifth baseline vector pointing to the sixth antenna from the fifth antenna, the calibration distance between the fourth antenna and the center of the second vehicle, and the calibration angle between the second line connecting the fourth antenna and the center of the second vehicle and the line connecting the fifth antenna and the sixth antenna. The fourth antenna determines the first and second baseline vectors pointing from the first antenna to the center of the second vehicle based on the first fourth baseline vector and the fourth second baseline vector. The first antenna determines the first baseline vector pointing to the center of the first vehicle based on the second baseline vector pointing from the second antenna to the third antenna, the calibration distance between the first antenna and the center of the first vehicle, and the calibration angle between the first line connecting the first antenna and the center of the first vehicle and the line connecting the second antenna and the third antenna. The first antenna determines the first target baseline vector pointing from the center of the first vehicle to the center of the second vehicle based on the first second baseline vector and the first first baseline vector. The first, second, and third antennas are installed on the first vehicle, while the fourth, fifth, and sixth antennas are installed on the second vehicle.

2. The method as described in claim 1, characterized in that, The fourth antenna determines the first and second baseline vectors pointing from the first antenna to the center of the second vehicle based on the first fourth baseline vector and the fourth second baseline vector, including: The fourth antenna adds the first fourth baseline vector and the fourth second baseline vector to obtain the first second baseline vector pointing the first antenna to the center of the second vehicle.

3. The method as described in claim 1, characterized in that, The first antenna determines a first target baseline vector pointing from the center of the first vehicle to the center of the second vehicle based on the first second baseline vector and the first first baseline vector, including: The first antenna subtracts the first second baseline vector from the first first baseline vector to obtain the first target baseline vector pointing from the center of the first vehicle to the center of the second vehicle.

4. The method as described in claim 1, characterized in that, The method further includes: The first antenna determines the fourth baseline vector pointing from the first antenna to the first antenna based on the first satellite data it receives and the fourth satellite data received by the fourth antenna. The first antenna determines the first baseline vector pointing to the center of the first vehicle based on the second baseline vector pointing from the second antenna to the third antenna, the calibration distance between the first antenna and the center of the first vehicle, and the calibration angle between the first line connecting the first antenna and the center of the first vehicle and the line connecting the second antenna and the third antenna. The first antenna determines the baseline vector pointing to the center of the first vehicle based on the fourth baseline vector and the first baseline vector. The fourth antenna determines the fourth baseline vector pointing to the center of the second vehicle based on the fifth baseline vector pointing to the sixth antenna from the fifth antenna, the calibration distance between the fourth antenna and the center of the second vehicle, and the calibration angle between the second line connecting the fourth antenna and the center of the second vehicle and the line connecting the fifth antenna and the sixth antenna. The fourth antenna determines the second target baseline vector pointing from the second vehicle center to the first vehicle center based on the baseline vector pointing from the fourth antenna to the center of the first vehicle and the fourth second baseline vector.

5. A GNSS-based relative positioning compensation system, characterized in that, include: First antenna, second antenna, third antenna, first vehicle, fourth antenna, fifth antenna, sixth antenna, and second vehicle; The first antenna, the second antenna, and the third antenna are installed on the first vehicle, and the fourth antenna, the fifth antenna, and the sixth antenna are installed on the second vehicle. The fourth antenna is used to determine the first four-baseline vector pointing from the first antenna to the fourth antenna based on the fourth satellite data it receives and the first satellite data received by the first antenna. The fourth antenna is used to determine the fourth baseline vector pointing from the fifth antenna to the sixth antenna, the calibration distance between the fourth antenna and the center of the second vehicle, and the calibration angle between the second line connecting the fourth antenna and the center of the second vehicle and the line connecting the fifth antenna and the sixth antenna. The fourth antenna is used to determine the first and second baseline vectors pointing from the first antenna to the center of the second vehicle based on the first fourth baseline vector and the fourth second baseline vector. The first antenna is used to determine the first baseline vector pointing from the first antenna to the center of the first vehicle based on the second baseline vector pointing from the second antenna to the third antenna, the calibration distance between the first antenna and the center of the first vehicle, and the calibration angle between the first line connecting the first antenna and the center of the first vehicle and the line connecting the second antenna and the third antenna. The first antenna is used to determine a first target baseline vector pointing from the center of the first vehicle to the center of the second vehicle based on the first second baseline vector and the first first baseline vector.

6. The system as described in claim 5, characterized in that, The fourth antenna determines the first and second baseline vectors pointing from the first antenna to the center of the second vehicle based on the first fourth baseline vector and the fourth second baseline vector, including: The fourth antenna adds the first fourth baseline vector and the fourth second baseline vector to obtain the first second baseline vector pointing the first antenna to the center of the second vehicle.

7. The system as described in claim 5, characterized in that, The first antenna determines a first target baseline vector pointing from the center of the first vehicle to the center of the second vehicle based on the first second baseline vector and the first first baseline vector, including: The first antenna subtracts the first second baseline vector from the first first baseline vector to obtain the first target baseline vector pointing from the center of the first vehicle to the center of the second vehicle.

8. The system as described in claim 5, characterized in that, The first antenna is also used to determine the fourth baseline vector pointing from the fourth antenna to the first antenna based on the first satellite data it receives and the fourth satellite data received by the fourth antenna. The first antenna is also used to determine the first baseline vector pointing from the first antenna to the center of the first vehicle based on the second baseline vector pointing from the second antenna to the third antenna, the calibration distance between the first antenna and the center of the first vehicle, and the calibration angle between the first line connecting the first antenna and the center of the first vehicle and the line connecting the second antenna and the third antenna. The first antenna is further configured to determine the baseline vector pointing the fourth antenna to the center of the first vehicle based on the fourth baseline vector and the first baseline vector. The fourth antenna is also used to determine the fourth baseline vector pointing from the fourth antenna to the center of the second vehicle based on the fifth baseline vector pointing from the fifth antenna to the sixth antenna, the calibration distance between the fourth antenna and the center of the second vehicle, and the calibration angle between the second line connecting the fourth antenna and the center of the second vehicle and the line connecting the fifth antenna and the sixth antenna. The fourth antenna is also used to determine a second target baseline vector pointing from the second vehicle center to the first vehicle center based on the baseline vector pointing from the fourth antenna to the center of the first vehicle and the fourth second baseline vector.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the GNSS-based relative positioning compensation method as described in any one of claims 1 to 4.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the GNSS-based relative positioning compensation method as described in any one of claims 1 to 4.

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