Array navigation inter-satellite phase compensation method and system

Abstract

The application discloses an array navigation inter-satellite phase compensation method and system, and relates to the technical field of high-precision satellite navigation measurement.The method synchronously collects multi-array navigation observation data to generate a unified version of observation data package; solves actual complex space responses of each satellite through four types of ways, i.e., a model, homologous measurement, reference calibration and multi-source fusion; constructs inter-satellite fractional phase and realizes time sequence continuity by relying on branches and integers, and uniformly propagates phase correction to various carrier difference observation domains to provide three types of phase compensation implementation paths.The method adds a multi-level integrity check mechanism to limit compensation output of unqualified satellites; synchronously updates weights, phases and integer states at the same integral boundary atom to avoid switching jump.The application distinguishes array additional phase from real propagation phase of a satellite, is compatible with multi-frequency multi-constellation signals, and solves defects of a traditional scheme, such as model mismatch, weight switching cycle slip misjudgment and weak signal compensation distortion.

Description

Technical Field

[0001] This invention relates to the fields of global satellite navigation systems, array antennas, space anti-interference, adaptive beamforming, carrier phase precision measurement, and high-precision positioning and orientation technologies, specifically to an array navigation inter-satellite phase compensation method and system. Background Technology

[0002] Multi-element satellite navigation receivers can employ power inversion, minimum variance distortion-free response, linearly constrained minimum variance, generalized sidelobe cancellation, space-time processing, or other array algorithms to suppress interference. After the space processor applies complex weights to each array element channel, the equivalent complex response of a satellite at the output depends on factors such as the satellite's array space response, the actual channel transfer function, array weights, element radiation patterns, mutual coupling, and carrier attitude. Different satellites have different arrival directions, and the same set of weights typically produces different output complex phases.

[0003] Existing solutions may calculate single-satellite phase correction based on array weights, satellite orientation, and antenna calibration data, but they still have technical gaps in the following aspects: First, they may not treat the inter-satellite fractional phase as an independent precise observation state and explicitly propagate it to the inter-station single-difference, inter-satellite difference, double-difference, and integer ambiguity domains; Second, when the actual weights, channels, and array manifold deviate from the nominal model, simple offline calculations cannot guarantee carrier-level compensation accuracy; Third, when weights are dynamically switched, complex phase continuity, integer continuity, and weight versions may be out of sync; Fourth, forced compensation near deep nulls, low coherence, or carrier lock-out may amplify errors; Fifth, when the reference array element or reference configuration has a direction-dependent phase center change, it is necessary to distinguish between the relative response inside the array and the true geometric carrier phase.

[0004] Therefore, a unified technical solution is needed that is compatible with model calculation, co-source measurement and hybrid calibration, forming a closed loop of actual complex response, inter-satellite phase, continuous branching, double difference propagation, inverse compensation and integrity control, and maintaining a precise carrier observation structure without eliminating true position, velocity, baseline or attitude information. Summary of the Invention

[0005] To overcome the shortcomings of the prior art, the present invention provides an array navigation inter-satellite phase compensation method and system to solve the problems mentioned above.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: An inter-satellite phase compensation method for array navigation, applicable to single-frequency / multi-frequency, single-constellation / multi-constellation satellite navigation signals, includes the following steps: S1. Acquire the synchronization or time-calibrated signals of at least two array elements to at least two navigation satellites, and acquire the current actual space processing configuration, channel calibration parameters, satellite arrangement, tracking quality, and carrier observations to be corrected, forming an array observation data package with a unified epoch identifier and configuration version. ; S2. For each navigation satellite, determine the actual complex space response, response covariance, and quality index under the current configuration by employing at least one of the following methods: actual weighting, channel calibration and array manifold calculation, measurement of co-source working configuration and reference configuration, calibration of reference array elements, reference antennas or reference receivers, carrier tracking residual, frequency residual or historical state recursion, or statistical fusion of the results of at least two methods, and form a satellite-by-satellite response data packet. ; S3. Select a reference satellite or construct a referenceless phase quotient space, generate inter-satellite fractional additional phase, and obtain continuous lift based on carrier locking, time continuity, configuration version, and branch integer to form continuous inter-satellite additional phase state data packets. ; S4. Propagate the inter-satellite fraction with continuous phase boost to the single-satellite carrier, inter-station single-difference, inter-satellite difference, double-difference, floating-point ambiguity, or integer candidate score domains, while simultaneously propagating their covariance and its cross-correlation with the original observations, forming a phase compensation mapping data packet. ; S5. Apply multiplicative inverse phase correction in the complex correlation domain, apply subtractive phase correction in the carrier observation domain, or use the continuous boost as an additional state or soft constraint in the estimation domain to form a phase-compensated precision observation data packet. ; S6. Based on the complex response amplitude, coherence, phase variance, model residual, time aging, carrier locking, and integer test results, perform admission, weight reduction, freezing, re-anchoring, or exit compensation to generate a compensated observation data package with quality control and integrity flags. ; S7. Based on the compensated observation data packet When the spatial weights, reference configuration, or reference satellite are switched, the weight version, satellite-by-satellite phase compensation version, phase branch status, and affected integer continuity status are updated synchronously at the same security processing boundary. Finally, the corrected carrier observation, corrected covariance, reference satellite, satellite arrangement, configuration version, and continuity flag are output for use by high-precision positioning, orientation, or timing modules.

[0007] Preferably, step S1 is as follows: S11, Synchronous Acquisition Era of Each array element undergoes complex baseband sampling to form an array element complex sampling vector. In the formula, n represents the epoch number, and M represents the number of array elements. Represents the field of complex numbers; S12, Read the epoch Actual loaded space processing weighted vector Channel calibration matrix Available satellite set Satellite arrangement Configuration version number and tracking quality vector ; S13. Obtain the carrier observation vector to be corrected at the same epoch as in step S11. and its covariance ; S14. Encapsulate the outputs of steps S11 to S13 into array observation data packets. In the formula, Represents the epoch timestamp.

[0008] Preferably, step S2 is as follows: S21. Read array observation data packets From this, obtain the multi-element complex baseband sampling corresponding to epoch n. The actual spatial processing weight vector is And the actual channel matrix is and in accordance with The satellite arrangement in the middle achieved the first Array space response of satellites In the formula, s is the satellite number; S22, the first The complex transfer quantity from the space processor to the corresponding navigation correlator output of a satellite under the current actual space processing configuration is defined as the actual complex space response. The actual complex space response is obtained through at least one of the following four methods, or by statistically fusing the results of at least two methods: S23. The first type is the model-based acquisition method, the actual weight vector. Actual channel matrix and array spatial response calculate In the formula, This represents the actual complex space response calculated by the model. Indicates the number of array elements, superscript Indicates conjugate transpose; Determined by element position, element radiation pattern, mutual coupling model, satellite line of sight, and carrier attitude. Determined by channel amplitude and phase, time delay, temperature, frequency, and power state calibration parameters; S24. The second type is the same-source dual-configuration measurement method, which enables the reference configuration before the candidate configuration is enabled. and candidate configurations The same batch of array samples obtained in processing step S11 Furthermore, for the same satellite, using a shared code numerically controlled oscillator, carrier numerically controlled oscillator, correlation window, and integration time period, complex correlation results were obtained. and The unit complex phase transfer of the candidate configuration relative to the reference configuration is calculated. and the relative additional phase introduced by configuration changes : In the formula, the superscript Indicates conjugate. Indicates taking the complex argument. Indicates taking the modulus of a complex number; when Below the non-zero response threshold or reference configuration and candidate configurations When the epoch timestamps corresponding to the two parallel signal processing branches are used, the measurement results of this same-source dual-configuration measurement method are prohibited from entering subsequent steps. S25. The third type is the reference anchor point method, which uses at least one of the following to obtain the reference complex response or reference phase: calibrated reference array elements, fixed reference weights, independent reference antennas, reference receivers, low interference periods, or known geometric baselines. When the reference anchor point contains direction-related phase center deviation, channel phase, lever arm movement, or inconsistency of reference points, its calibration is converted to the array geometric reference point specified in step S1. S26. The fourth type is a hybrid fusion method, which takes at least two of the following: the model calculation value from step S23, the source measurement value from step S24, the reference anchor point value from step S25, and the carrier residual, frequency residual, or historical recursive value, and writes them as additional observations with covariance. Kalman filtering, factor plotting, robust least squares, or Bayesian fusion are then used to obtain the fused actual complex space response. and its covariance The weights are adaptively adjusted based on the quality indicators from each source; when the complex responses of different satellites are obtained from common array samples, common channel calibration parameters, or the same fusion state, the satellite responses are output simultaneously. With satellite response cross covariance And adaptively adjust the weights according to the quality indicators of each source; S27. Based on the obtained actual complex space response Calculate the response amplitude Coherence and phase variance When the response amplitude If the response threshold is not greater than the preset response threshold, the satellite is marked as phase unobservable and its complex argument is not calculated. S28. Perform steps S21 to S27 on each satellite in the available satellite set to generate a satellite-by-satellite response data packet. In the formula, Indicates the source and observability of the complex response.

[0009] Preferably, step S3 specifically includes: S31, Based on satellite-by-satellite response data packets From this, the actual complex space response of each satellite can be obtained. Response amplitude Coherence Phase variance and observability markers Combining the tracking quality output from step S12, from the available satellite set Select reference satellite And construct the inter-satellite difference matrix according to the satellite arrangement in step S12. ; S32, for non-reference satellites Calculate interstellar fractions with additional phases In the formula, and Both originate from step S28, representing non-reference satellites. and reference satellite The actual complex space response at the same epoch, the same actual space processing configuration, and the same geometric reference point; only when the actual complex space response corresponding to the non-reference satellite s is... The actual complex space response corresponding to the reference satellite r Both observability indicators are used to calculate the argument when it is valid, and ; S33, Based on the continuous phase of the previous epoch The current score is appended with the phase, the predicted phase increment, and the configuration version number; select the branch integer. Generate continuous inter-satellite additional phases This minimizes the absolute value of the difference between the current continuous phase and the predicted continuous phase, where... Represents the integer field; S34. Combining the continuous phases of each non-reference satellite Satellite-by-satellite response data packets output from step S28 Read from , and its response covariance , It also reads the cross-covariance when the two have common array samples, common calibration parameters, or fusion states. For each non-reference satellite Constructing real response vectors and the Jacobian matrix of the interstellar phase response vector In the formula, This indicates taking the real part of a complex number. Indicates taking the imaginary part of a complex number; , and according to The permutations form a joint real covariance matrix. Calculate the variance of inter-satellite phase difference ; when and When the estimates are independent, the cross covariance Take zero; the variance of all inter-satellite phase differences The mutual covariance between different inter-satellite phases due to the shared reference satellite is assembled according to the satellite arrangement. This generates continuous inter-satellite additional phase state data packets. ,Will Save as the historical input for the next epoch step S33; S35. Maintain the continuous state of the complex fractional phase respectively. Weekly branch status Reference satellite base transformation state and space processing configuration version Based on carrier lock, cycle slip test, phase innovation and configuration switching flags, distinguish between general fractional phase continuous changes, real carrier cycle slips and branch changes that are exactly integer cycles, avoid recording general fractional phase changes as cycle slips, and also avoid absorbing real cycle slips into the array's additional phase state.

[0010] Preferably, step S4 specifically includes: S41. Read continuous inter-satellite additional phase status data packets Continuous phase vector Phase covariance matrix Reference satellite and satellite arrangement ; S42. When the carrier observation to be corrected is in meters, it is based on the carrier wavelength of the corresponding frequency point. generate In the formula, This is the metric carrier correction vector. To correct for covariance; when carrier observations are in cycles, the following is adopted: As a conversion ratio; S43. According to the reference satellite and satellite arrangement, the metric carrier correction vector and corrected covariance Align the carrier observation to be corrected with the observation from step S13, and calculate the cross-covariance between the correction amount and the original carrier observation. ; S44. Form phase compensation mapping data packet .

[0011] Preferably, step S5 specifically includes: S51. Read the carrier observation to be corrected retained in step S13. Covariance and phase compensation mapping data packets Output metric carrier correction vector Corrected covariance and cross covariance ; S52. When implementing inverse compensation in the complex correlation domain, for satellites The results of the complex correlation Apply multiplicative inverse phase: In the formula, This represents the complex correlation result after inverse compensation. This represents the single-star additional phase estimate value continuously improved by step S3 and mapped by step S4. Represents the imaginary unit; S53. When inverse compensation is performed in the carrier observation domain, the corrected single-satellite carrier observation is generated according to the carrier observation unit. Or for applications that only use inter-satellite differential, When carrier observations are measured in meters, equivalent pre-compensated carrier observations are generated. In the formula, This indicates pre-compensated carrier observation; when compensation is performed in the positioning solution estimation domain, the continuous lift and its covariance output in step S4 are used as additional state variables or soft constraints. S54. Propagation phase compensation uncertainty, generating covariance of pre-compensated carrier observations. ; S55, Forming a precision observation data packet after phase compensation Then enter step S6.

[0012] Preferably, step S6 specifically includes: S61, Read satellite-by-satellite response data packets Output response amplitude Coherence Phase variance and observability markers Phase compensation mapping data packet Corrected covariance and precise observation data packets Output of pre-compensated carrier observations; S62, Calculating Satellites Non-singular domain quality In the formula, This represents the variance of the estimation error of the actual complex space response; only when the absolute value of the fused actual complex space response is expressed... Non-singular domain quality When the coherence and correlation peak ratio meet the corresponding preset thresholds, the satellite is determined to be... It lies in the compensable domain where the phase is observable and the inverse compensation mapping is non-singular; S63. Combining non-singular domain determination with phase innovation, model residuals, time aging, carrier locking, cycle slip detection, and integer test results, admission criteria are generated for each satellite. Compensation weight Freeze mark and re-anchoring mark ; S64. Generate based on the control quantity from step S63. The carrier observation covariance is updated and corrected accordingly; for satellites that do not meet the threshold, at least one of the following operations is performed: maintain the original observation, reduce the weight, freeze the state, re-anchor, remove the satellite, or exit compensation. S65. For satellites that have not entered the compensable domain or have failed the integrity check, do not output unchecked hard compensation results, and perform at least one of the following operations: maintain the original configuration, switch the reference configuration, reduce the satellite weight, freeze the phase state, remove the satellite, or trigger local reinitialization; generate a compensation observation data package with quality control and integrity flags. .

[0013] Preferably, step S7 specifically includes: S71, Read the compensation observation data packet And the reference satellite, continuous phase state, integer branch state, reference satellite base transformation state and configuration version saved in steps S34 and S35; S72, When the reference satellite is Switch to When using a reference transformation matrix Synchronous transformation of continuous phase and its covariance: ; S73. When the spatial weights or reference configuration are switched, the updated spatial weights, satellite-by-satellite complex responses, continuous inter-satellite additional phases, carrier corrections, configuration versions, complex fractional phase continuity states, integer branch states, reference satellite base transformation states, and affected integer continuity states shall be submitted synchronously at the same relevant integral boundary; if the timestamp or version of any necessary data is inconsistent, the switch shall be rejected. S74, final output includes corrected carrier observation, corrected covariance, reference satellite, satellite arrangement, frequency point, weight version, phase compensation version, and continuity flag.

[0014] Preferably, for satellite navigation signals with multiple frequencies or constellations, indexes of complex spatial response, continuous inter-satellite additional phase, branch integer and compensation covariance corresponding to each frequency and constellation are established according to constellation type, signal frequency, spatial processing configuration and channel status, and matching carrier correction amounts are generated according to the carrier wavelength of each frequency.

[0015] This invention proposes an array navigation inter-satellite phase compensation system, configured to execute the above-described array navigation inter-satellite phase compensation method, comprising an array observation acquisition module, an actual complex space response determination module, a continuous inter-satellite additional phase construction module, a phase propagation module, a phase compensation module, a quality control module, and a switching synchronization output module connected in sequence. The array observation acquisition module is used to perform step S1 to acquire the synchronization or time-calibrated signals of at least two array elements to at least two navigation satellites, and to acquire the current actual space processing configuration, channel calibration parameters, satellite arrangement, tracking quality and carrier observations to be corrected, forming an array observation data packet with a unified epoch identifier and configuration version. The actual complex space response determination module is used to perform step S2, which involves determining the actual complex space response, response covariance, and quality index under the current configuration for each navigation satellite using at least one of the following methods: actual weight, channel calibration and array manifold calculation, same-source working configuration and reference configuration measurement, reference array element, reference antenna or reference receiver calibration, carrier tracking residual, frequency residual or historical state recursion, or statistically fusing the results of at least two methods, and forming a satellite-by-satellite response data packet. The continuous inter-satellite additional phase construction module is used to execute step S3, which involves selecting a reference satellite or constructing a referenceless phase quotient space, generating inter-satellite fractional additional phases, and obtaining continuous boost based on carrier locking, time continuity, configuration version, and branch integers to form a continuous inter-satellite additional phase state data packet. The phase propagation module is used to perform step S4, which involves propagating the inter-satellite fraction with the added phase continuous boost to the single-satellite carrier, inter-station single difference, inter-satellite difference, double difference, floating-point ambiguity, or integer candidate score domain, while propagating its covariance and its cross-correlation with the original observation to form a phase compensation mapping data packet. The phase compensation module is used to perform step S5, which involves applying a multiplicative inverse phase in the complex correlation domain, applying a subtractive phase correction in the carrier observation domain, or using the continuous boost as an additional state or soft constraint in the estimation domain to form a phase-compensated precision observation data packet. The quality control module is used to perform the following steps in step S6: based on the complex response amplitude, coherence, phase variance, model residual, time aging, carrier lock, and integer test results, perform admission, weight reduction, freezing, re-anchoring, or exit compensation to form a compensation observation data package with quality control and integrity flags. The switching synchronization output module is used to execute step S7, which involves updating the weight version, satellite-by-satellite phase compensation version, phase branch state, and affected integer continuity state synchronously at the same security processing boundary when the spatial weight, reference configuration, or reference satellite is switched based on the compensation observation data packet. Finally, it outputs the corrected carrier observation, corrected covariance, reference satellite, satellite arrangement, configuration version, and continuity flag.

[0016] The beneficial effects of this invention are: 1. This invention provides four methods for solving complex spatial responses, which can be used individually or in combination, including theoretical model calculation, synchronous measurement with dual-source configuration, reference anchor calibration, and multi-source statistical fusion. These four data sources complement and verify each other, synchronously outputting satellite response covariance and inter-satellite cross-covariance, and fully quantifying array response errors. Based on the actual complex response obtained through multi-source fusion, the inter-satellite additional phase is derived, which can match various deviations caused by receiver channel amplitude and phase, temperature drift, carrier attitude, and array element mutual coupling. This eliminates the compensation residual phase caused by mismatch between a single model and actual hardware, improving the calculation accuracy of carrier phase correction.

[0017] 2. This invention establishes an atomic synchronous update mechanism with the same integration boundary. When the weights or reference satellite change, all associated data, including weights, complex response, phase correction, branch integers, and reference transformation matrix, are submitted synchronously. The consistency of all data timestamps and version identifiers is verified; if the data does not match, the update is rejected. Simultaneously, array branch integers and true satellite integer ambiguities are distinguished separately. Based on temporal continuity constraints, three scenarios are categorized: ordinary phase drift, array branch jumps, and true carrier cycle slips. Phase changes caused by anti-interference configuration switching are not judged as signal lock-out cycle slips, ensuring continuous and stable carrier observation timing throughout the high-precision positioning process.

[0018] 3. This invention establishes a multi-level integrity judgment process. Based on complex response amplitude, coherence, and phase variance, a non-singular domain judgment index is constructed. Combined with carrier-locked state, model residuals, time aging, and integer verification, multiple dimensions are used to classify satellite compensable states. For satellites that do not meet the threshold, observation retention, weight reduction, phase freezing, and local re-initialization are performed, outputting only the compensated observations of satellites that have passed verification. Layered quality gating can avoid unreliable phase correction contamination of the entire differential observation system under weak signal conditions, reduce the probability of failure in positioning floating-point solutions and integer ambiguity solutions, and improve the stability of navigation solutions in complex electromagnetic environments.

[0019] In summary, this invention establishes a unified mathematical model for array-added phase, streamlining the entire processing flow from complex response solving, phase continuity, multi-domain compensation, quality control, and configuration synchronization. This not only resolves the compensation accuracy defects caused by the mismatch between the nominal model and hardware, but also eliminates phase jumps and misjudged cycle slips caused by configuration switching. Furthermore, it constrains low-quality compensation output through multi-level quality checks, is compatible with single / multi-frequency and single / multi-constellation navigation signals, and completely distinguishes between the array's artificially added phase and the satellite's actual propagation phase. While suppressing spatial interference, it fully preserves the original observation information required for positioning and orientation, comprehensively improving the reliability and high-precision calculation capabilities of the array navigation receiver's carrier phase observation. Attached Figure Description

[0020] Figure 1 This is a flowchart illustrating the overall processing of an inter-satellite phase compensation method for array navigation proposed in this invention. Figure 2 This is a schematic diagram of the satellite-by-satellite complex response and inter-satellite phase construction proposed in this invention; Figure 3 This is a schematic diagram of the homologous dual-configuration measurement and atom submission proposed in this invention; Figure 4 This is a schematic diagram of the propagation of inter-satellite additional phase to the double difference and integer domain proposed in this invention; Figure 5 This is the flowchart of non-singular domain and integrity gating proposed in this invention. Detailed Implementation

[0021] The technical solutions of the present invention will be clearly and completely described below with reference to the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0022] Example 1: This embodiment takes a four-element planar square array navigation receiver, employing the space-frequency power inversion (PI) anti-interference algorithm, and applied to an RTK dual-difference high-precision positioning scenario as an example to fully describe the array navigation inter-satellite phase compensation method of the present invention; those skilled in the art can make equivalent substitutions and modifications for different array forms, anti-interference algorithms, and positioning scenarios without departing from the principle of the present invention.

[0023] Depend on Figures 1 to 5 As shown, an inter-satellite phase compensation method for array navigation includes the following steps: This embodiment uses a four-element planar array as the rover's receiving antenna. The four elements are located in the same plane, with the array's geometric center serving as the navigation observation reference point. In the array coordinate system, with the origin of the array coordinate system as the center of the array, the positions of the four elements are as follows: ; ; ; ; In the formula, This indicates the spacing between adjacent array elements, and the value is no greater than half the wavelength of the operating frequency. The four RF or IF channels use the same sampling clock and are calibrated by channel amplitude, phase, and group delay. The receiver performs processing on each frame. Point frequency domain decomposition involves power inversion (PI) processing on each frequency element, followed by synthesis of the frequency elements into the space-frequency PI output required for the navigation and tracking branch. This embodiment uses a rover station employing space-frequency PI processing and a base station using calibrated single antennas or reference array elements for RTK dual-differential applications as an example; the array element spacing, number of frequency elements, thresholds, and update cycles listed are all example values ​​and do not constitute a limitation on the protection scope. The overall processing flow corresponds to steps S1 to S7. See the attached flowchart for the complete flow chart. Figure 1 The phase compensation in this scheme only addresses the internal complex response phase introduced by the spatial processing relative to the array geometric reference point. The true propagation phase caused by the receiver's actual position, carrier attitude, satellite geometry, and lever arm motion is preserved throughout the entire process and will not be canceled out by the compensation operation, thus ensuring the integrity of the true positioning and orientation observation information.

[0024] S1. Obtain four-element space frequency observations and current actual processing configuration. In the calendar , will the Four-element complex sampling of each frequency unit is written as ; Indicates the serial number of the frequency unit; The first element is selected as the reference channel of the PI structure, and the other three elements constitute the auxiliary channel vector. ; in length of Within the covariance update window, calculate the auxiliary channel autocorrelation matrix and cross-correlation vector: ; ; In the formula, This is a diagonal loading parameter used to ensure matrix invertibility. It is a third-order identity matrix, with the superscript H indicating the conjugate transpose. Indicates conjugate; the first The PI weight vector for each frequency unit is taken as... And normalize according to a predetermined gain or numerical range; The receiver simultaneously reads the channel calibration matrix of each frequency unit. Weighted Version Attitude solution, satellite ensemble Satellite arrangement Carrier lock-in and cycle slip flags, and rover carrier phase vector Covariance In multi-constellation scenarios, satellites such as BeiDou and GPS are stored in separate groups, with each group independently maintaining frequency point indexes and channel status labels; this forms array observation data packages with unified epoch identifiers and configuration versions. ;in, Enter step S2, and Keep this in step S5.

[0025] S2. Obtain the actual space-frequency complex response of each satellite. Read array observation data packets Based on the navigation ephemeris, the rover's location, and the carrier's attitude, the satellite... Transform the line-of-sight unit vector to the array coordinate system, denoted as ;No. The center frequency of each frequency unit is Then the expression for the four-element guiding vector is: ; In the formula, Where is the speed of light, and j is the imaginary unit; This embodiment uses a fusion of model calculation and homogeneous measurement to obtain the actual complex space response. Other methods, such as reference anchor calibration and historical state recursion, or additional fusion data sources, can also be selected depending on hardware conditions. All of these fall within the scope of this invention. The specific process is as follows: Based on the equivalent correlation weights of the navigation signals in each frequency unit Calculate the space-frequency complex response of the model: ; To reduce attitude error, mutual coupling error, and channel residual error, this embodiment employs simultaneous dual-configuration measurement from the same source; enabling the space-frequency PI configuration during operation. With calibrated reference configuration Processing the same batch of four-element samples, and sharing the code local oscillator, carrier local oscillator, correlation window, and integration time period for the same satellite, yields... and Calculate the unit complex phase transfer between configurations. ; The measurement result is valid when the conjugate product magnitude of the two complex correlation results is higher than the preset non-zero response threshold and the epoch timestamps of the two branches are consistent; otherwise, the measurement result is prohibited from entering the fusion stage. The model-calculated complex response, the same-source phase transfer, and the channel calibration results are used as observations with covariance, and Kalman filtering is used for multi-source fusion to obtain the fused actual complex spatial response. and its covariance For satellite pairs sharing the same array samples and calibration parameters, the synchronous output response cross-covariance... ; Based on the obtained actual complex space response Calculate the response amplitude Coherence Phase variance When the response amplitude is not greater than the preset response threshold, the satellite is marked as phase unobservable and its complex argument is not calculated. Iterate through all available satellites in the set to generate a satellite-by-satellite response data packet: Enter step S3; the quality indicators are simultaneously retained until step S6.

[0026] S3, Construct inter-satellite fractional phases and continuously enhance them. Read satellite-by-satellite response data packets ,from Furthermore, among satellites with continuously locked carriers, those with higher elevation angles, larger response amplitudes, and smaller phase variances are selected as reference satellites. And construct the inter-satellite difference matrix. For each non-reference satellite Calculate interstellar fractions with additional phases In the formula, and All from satellite-by-satellite response data packets For the actual complex space response under the same epoch, same spatial processing configuration, and same geometric reference point; argument calculation is performed only when the observability flags of both satellites are valid, and the fractional phase value range is [missing value]. ; Combining the continuous phase state of the previous epoch with the phase increment predicted by the weight changes, select the branch integer. To minimize the absolute value of the deviation between the continuous inter-satellite additional phase and the predicted value: ; ;in It is an integer field; Based on the response covariance and cross covariance output in step S2, construct a real-valued response vector and a Jacobian matrix. Obtain the variance and cross covariance of the inter-satellite phase difference through error propagation, and assemble them into a phase covariance matrix according to the satellite arrangement. The continuous phase, covariance, reference satellite, satellite arrangement, branch integer, and weight version of all non-reference satellites are encapsulated into a continuous inter-satellite additional phase state data packet. Maintain the continuous state of complex fractional phase, the integer branch state, the reference satellite base transformation state, and the space processing configuration version respectively. Based on carrier locking, cycle slip detection, phase innovation, and configuration switching flags, distinguish between general fractional phase continuous changes, real carrier cycle slips, and branch changes that are exactly integer cycles. Avoid recording general fractional phase changes as cycle slips and also avoid absorbing real cycle slips into the array additional phase state. Will Enter step S4 and save the complex fractional continuous state, integer branch state, and reference satellite base transformation state.

[0027] S4. Propagate the inter-satellite additional phase to the RTK double difference and integer domain. This embodiment is applied to an RTK dual-difference positioning scenario where the base station does not employ space-frequency PI anti-interference processing, and its array additional phase is either zero or used as a known correction; continuous inter-satellite additional phase status data packets are read. According to the carrier wavelength of the corresponding frequency point The phase quantity is converted into a metric carrier correction vector and a corrected covariance: ; ; Following the reference satellite and satellite arrangement consistent with RTK double-difference observations, the metric carrier correction vector is aligned with the correction covariance and the carrier observation to be corrected, and the cross-covariance between the correction amount and the original observation is calculated. Packaged as Then input step S5; if the downstream solver needs to use the information in the floating-point ambiguity or integer candidate score domain, then the same double-difference design matrix is ​​used to propagate its mean and covariance simultaneously, and another set of phase corrections is not calculated repeatedly in different processing domains to avoid numerical inconsistencies caused by repeated calculations in multiple domains.

[0028] S5. Implement inverse compensation in the double-difference carrier observation domain. Read the carrier observations and covariance to be corrected, as well as the phase compensation mapping data packet, retained in step S1. ; Based on carrier phase observations from the rover and base station at the same epoch, an uncompensated double-difference observation vector is constructed: In the formula, To reference the satellite in step S3 Consistent inter-satellite difference matrix, The carrier phase observation vector of the reference station; This embodiment performs subtractive inverse compensation in the carrier observation domain to obtain pre-compensated carrier observations and their corresponding covariance: ; ; In the formula, The covariance matrix of the original double-difference observations; as an equivalent implementation, a multiplicative inverse complex phase can be applied to the complex correlation result at the correlator output before generating the carrier observations; if compensation is implemented in the estimation domain, the continuous lift and its covariance are incorporated into the solution model as additional state variables or soft constraints. Precision observation data packet after phase compensation Enter step S6.

[0029] S6. Perform non-singular domain and integrity gating. Read satellite-by-satellite response data packets The response amplitude, coherence, phase variance, and observability indicators in the phase-compensated mapping data packet. Corrected covariance and precise observation data packets Pre-compensated carrier observations in the middle; Calculate the non-singular domain mass for each satellite. In the formula, This represents the variance of the estimation error of the actual complex space response; Joint verification response amplitude Relevance Non-singular domain quality Correlation peak ratio, phase innovation, model residual, time aging, carrier lock status, cycle slip flag, and RTK solution residual; if satellite If all preset thresholds are met, then set the access flag. And set according to phase variance Otherwise, It does not output the hard compensation result for the satellite, and performs at least one of the following operations: maintain the original observation, reduce weight, freeze continuous phase, switch reference satellite, or local reinitialization. The final corrected carrier observation and covariance are generated based on the control input. This generates a compensated observation data package with quality control and integrity indicators: In the formula, This is a freeze indicator. To re-anchor the marker; Enter step S7.

[0030] S7. Simultaneously commit and output at the security boundary. Read the compensation observation data packet The reference satellite, continuous phase state, integer branch state, reference satellite base transformation state and configuration version information saved in step S3; When the reference satellite is Switch to When using a reference transformation matrix Synchronous transformation of continuous phase and its covariance: ; ; The space-frequency PI processor generates a set of candidate frequency domain weights according to a preset update cycle. When the corresponding co-source complex response, inter-satellite continuous phase, compensation correction amount, and integrity check result of the candidate weights are all valid, the receiver selects the next correlation integration boundary as the safe processing boundary and atomically submits the following status: In the formula, Indicates the phase-compensated version. This represents the set of affected integer continuity states; it synchronously submits updated spatial weights, satellite-by-satellite complex responses, continuous inter-satellite additional phases, carrier corrections, configuration versions, complex fractional phase continuity states, integer branch states, reference satellite base transformation states, and affected integer continuity states; if the timestamp, frequency point, satellite arrangement, or version number of any necessary data is inconsistent, the current candidate weight submission is rejected, and the previous safe state remains unchanged; where necessary data represents updated spatial weights, satellite-by-satellite complex responses, continuous inter-satellite additional phases, carrier corrections, configuration versions, complex fractional phase continuity states, integer branch states, reference satellite base transformation states, and affected integer continuity states; Through the above S1 to S7, this embodiment introduces the actual frequency domain weights and real channel states into the satellite-by-satellite complex response during the anti-interference process of the four-element square array space-frequency PI, restores and continuously manages the inter-satellite additional phase, performs inverse compensation in the RTK double-difference carrier domain, and implements integrity gating and atomic submission under deep nulls, low coherence, loss of lock or configuration switching conditions, thereby maintaining the continuity of high-precision carrier observation while suppressing interference.

[0031] Phase compensation applies only to the internal complex response phase introduced by spatial processing relative to a specified array geometric reference point; the true propagation phase generated by changes in the receiver's actual position, antenna reference point movement, lever arm, baseline attitude changes, or satellite geometry changes is preserved for positioning or orientation.

[0032] Example 2: Construction of Unified Observation Model and Delineation of Compensation Boundaries This embodiment is based on the array navigation inter-satellite phase compensation process of Embodiment 1, and establishes a unified mathematical model at the level of carrier observation equation. This model is derived from the steps of inter-satellite fractional additional phase construction, multi-observation domain compensation propagation, double difference domain inverse compensation and branch state management in Embodiment 1. It is used to clarify the physical connotation of array additional phase, define the boundary of compensation action, and provide theoretical support for the technical features of steps S3 to S5 of Embodiment 1.

[0033] For the A navigation satellite, in the historical era And the satellite's actual complex space response Under the condition of being in the phase observable domain, the additional phase of a single-star array is defined as: This phase characterizes the additional complex phase introduced by array weights, channel amplitude and phase, array element pattern and mutual coupling from the array geometric reference point to the navigation correlator output under the current space processing configuration. Select reference satellite Then, the interstellar fraction with additional phase is defined as: In the formula, the superscript This represents conjugate operation; inter-satellite differential operation cancels out the common local oscillator phase, clock bias phase, and common-mode channel deviation, retaining only the array-relative additional phase caused by satellite arrival differences, with a value range of [value missing]. The fractional additional phase is made continuous by phase expansion, branch state estimation, or carrier continuity constraints to obtain the continuous boost. This allows it to remain continuously changing in the time dimension, unrestricted by the principal value range of the argument. On a weekly basis, the stations For satellite In the calendar Single-satellite carrier phase observations satisfy the following observation equation: In the formula, Represents the carrier phase observation value; This represents the true geometric propagation distance from the satellite to the designated geometric reference point at the station; This indicates the carrier wavelength at the corresponding frequency point; This represents common terms such as clock bias, ionospheric / tropospheric propagation correction, and hardware delay. Represents the carrier integer ambiguity, which is a true physical integer; This indicates the continuous single-star additional phase introduced by spatial processing, which is the compensation object of this scheme; Indicates observation noise; This equation clarifies that the array-added phase is an independent and separable term in carrier observation, independent of the true geometric distance and integer ambiguity, providing a mathematical basis for subsequent targeted compensation; For mobile stations Base station ,satellite With reference satellite The constructed double-difference observation, by first performing inter-station differential and then inter-satellite differential on the single-satellite observation equation, yields the double-difference carrier observation equation: In the formula, Represents the double difference operator; Under this model, the inter-satellite fractional phase is entered into the phase propagation and compensation stage as a calculable, measurable, and constrainable continuous term; only when the phase branch change is exactly an integer cycle is integer reparameterization processed to avoid confusion with the real carrier cycle slip. This equation directly corresponds to the inverse compensation operation of the RTK double-difference scenario in Example 1.

[0034] Example 3: This embodiment proposes an array navigation inter-satellite phase compensation system. The system hardware / software modules correspond one-to-one with steps S1 to S7 of the method in Embodiment 1. The system is composed of an array observation acquisition module, an actual complex space response determination module, a continuous inter-satellite additional phase construction module, a phase propagation module, a phase compensation module, a quality control module, and a switching synchronization output module, which are cascaded in sequence. The modules interact with each other through standardized data packets with unified epoch, constellation, and frequency index.

[0035] The array observation acquisition module executes all the acquisition and encapsulation logic in S1 of Example 1, synchronizes the baseband data of multiple array elements, reads the real-time beam weight and channel calibration parameters, and generates array observation data packets to be sent to the next module; the actual complex space response determination module corresponds to S2, which relies on FPGA parallel computing to solve the satellite-by-satellite complex space response through four methods: model calculation, same-source dual-configuration measurement, reference anchor point, and multi-source fusion, and simultaneously calculates quality indicators such as amplitude and coherence, and outputs satellite-by-satellite response data packets.

[0036] The continuous inter-satellite additional phase construction module corresponds to S3. It selects valid satellites and reference satellites, solves the inter-satellite fractional phase, and matches branch integers to achieve temporal continuity. It independently maintains the fractional phase, integer branch, and reference satellite transformation states for multi-constellation groups, distinguishes between actual cycle slips and configured branch transitions, and outputs phase state data packets. The phase propagation module executes the S4 process, calculates the compensation amount according to the carrier wavelength specific to each constellation, and propagates the phase mean and covariance to various differential observation domains in a unified manner, generating compensation mapping data packets.

[0037] The phase compensation module, corresponding to S5, provides three implementation paths: multiplicative compensation in the complex correlation domain, subtractive correction in the carrier observation domain, and soft constraint in the solution domain. It completes the compensation uncertainty propagation and outputs a precise observation data packet, which is then sent to the quality control module. The quality control module runs the integrity judgment logic of S6, dividing the compensable domain through multi-dimensional thresholds. It performs fault-tolerant operations such as weight reduction, freezing, and local reinitialization on unqualified satellites, outputting a compensated observation data packet with an integrity flag.

[0038] The switching synchronization output module corresponds to S7, which monitors the switching events of weights and reference satellites. During switching, the weights, phases, branches, and integers are all associated states synchronously updated at the same integration boundary atom. If any data timestamp or version does not match, the switching is rejected. Finally, the standardized corrected carrier, covariance, and continuity identifier are output to the RTK, direction finding, and timing equipment.

[0039] This system eliminates only the internal additional phase introduced by array beamforming, while fully preserving the true propagation phase generated by satellite geometry and carrier motion; multi-constellation and multi-frequency data are grouped and stored in isolation, and single-channel signal anomalies do not affect the overall observation output, making it directly applicable to various high-precision navigation terminal engineering projects.

[0040] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A method for inter-satellite phase compensation in array navigation, applicable to single-frequency / multi-frequency, single-constellation / multi-constellation satellite navigation signals, characterized in that, Includes the following steps: S1. Acquire the synchronization or time-calibrated signals of at least two array elements to at least two navigation satellites, and acquire the current actual space processing configuration, channel calibration parameters, satellite arrangement, tracking quality, and carrier observations to be corrected, forming an array observation data package with a unified epoch identifier and configuration version. ; S2. For each navigation satellite, determine the actual complex space response, response covariance, and quality index under the current configuration by employing at least one of the following methods: actual weighting, channel calibration and array manifold calculation, measurement of co-source working configuration and reference configuration, calibration of reference array elements, reference antennas or reference receivers, carrier tracking residual, frequency residual or historical state recursion, or statistical fusion of the results of at least two methods, and form a satellite-by-satellite response data packet. ; S3. Select a reference satellite or construct a referenceless phase quotient space, generate inter-satellite fractional additional phase, and obtain continuous lift based on carrier locking, time continuity, configuration version, and branch integer to form continuous inter-satellite additional phase state data packets. ; S4. Propagate the inter-satellite fraction with continuous phase boost to the single-satellite carrier, inter-station single-difference, inter-satellite difference, double-difference, floating-point ambiguity, or integer candidate score domains, while simultaneously propagating their covariance and its cross-correlation with the original observations, forming a phase compensation mapping data packet. ; S5. Apply multiplicative inverse phase correction in the complex correlation domain, apply subtractive phase correction in the carrier observation domain, or use the continuous boost as an additional state or soft constraint in the estimation domain to form a phase-compensated precision observation data packet. ; S6. Based on the complex response amplitude, coherence, phase variance, model residual, time aging, carrier locking, and integer test results, perform admission, weight reduction, freezing, re-anchoring, or exit compensation to generate a compensated observation data package with quality control and integrity flags. ; S7. Based on the compensated observation data packet When the spatial weights, reference configuration, or reference satellite are switched, the weight version, satellite-by-satellite phase compensation version, phase branch status, and affected integer continuity status are updated synchronously at the same security processing boundary. Finally, the corrected carrier observation, corrected covariance, reference satellite, satellite arrangement, configuration version, and continuity flag are output for use by high-precision positioning, orientation, or timing modules.

2. The inter-satellite phase compensation method for array navigation according to claim 1, characterized in that, Step S1 is as follows: S11, Synchronous Acquisition Era of Each array element undergoes complex baseband sampling to form an array element complex sampling vector. In the formula, n represents the epoch number, and M represents the number of array elements. Represents the field of complex numbers; S12, Read the epoch Actual loaded space processing weighted vector Channel calibration matrix Available satellite set Satellite arrangement Configuration version number and tracking quality vector ; S13. Obtain the carrier observation vector to be corrected at the same epoch as in step S11. and its covariance ; S14. Encapsulate the outputs of steps S11 to S13 into array observation data packets. In the formula, Represents the epoch timestamp.

3. The inter-satellite phase compensation method for array navigation according to claim 2, characterized in that, Step S2 is as follows: S21. Read array observation data packets From this, obtain the multi-element complex baseband sampling corresponding to epoch n. The actual spatial processing weight vector is And the actual channel matrix is and in accordance with The satellite arrangement in the middle achieved the first Array space response of satellites In the formula, s is the satellite number; S22, the first The complex transfer quantity from the space processor to the corresponding navigation correlator output of a satellite under the current actual space processing configuration is defined as the actual complex space response. The actual complex space response is obtained through at least one of the following four methods, or by statistically fusing the results of at least two methods: S23. The first type is the model-based acquisition method, the actual weight vector. Actual channel matrix and array spatial response calculate In the formula, This represents the actual complex space response calculated by the model. Indicates the number of array elements, superscript Indicates conjugate transpose; Determined by element position, element radiation pattern, mutual coupling model, satellite line of sight, and carrier attitude. Determined by channel amplitude and phase, time delay, temperature, frequency, and power state calibration parameters; S24. The second type is the same-source dual-configuration measurement method, which enables the reference configuration before the candidate configuration is enabled. and candidate configurations The same batch of array samples obtained in processing step S11 Furthermore, for the same satellite, using a shared code numerically controlled oscillator, carrier numerically controlled oscillator, correlation window, and integration time period, complex correlation results were obtained. and The unit complex phase transfer of the candidate configuration relative to the reference configuration is calculated. and the relative additional phase introduced by configuration changes : In the formula, the superscript Indicates conjugate. Indicates taking the complex argument. Indicates taking the modulus of a complex number; when Below the non-zero response threshold or reference configuration and candidate configurations When the epoch timestamps corresponding to the two parallel signal processing branches are used, the measurement results of this same-source dual-configuration measurement method are prohibited from entering subsequent steps. S25. The third type is the reference anchor point method, which uses at least one of the following to obtain the reference complex response or reference phase: calibrated reference array elements, fixed reference weights, independent reference antennas, reference receivers, low interference periods, or known geometric baselines. When the reference anchor point contains direction-related phase center deviation, channel phase, lever arm movement, or inconsistency of reference points, its calibration is converted to the array geometric reference point specified in step S1. S26. The fourth type is a hybrid fusion method, which takes at least two of the following: the model calculation value from step S23, the source measurement value from step S24, the reference anchor point value from step S25, and the carrier residual, frequency residual, or historical recursive value, and writes them as additional observations with covariance. Kalman filtering, factor plotting, robust least squares, or Bayesian fusion are then used to obtain the fused actual complex space response. and its covariance The weights are adaptively adjusted based on the quality indicators from each source; when the complex responses of different satellites are obtained from common array samples, common channel calibration parameters, or the same fusion state, the satellite responses are output simultaneously. With satellite response cross covariance And adaptively adjust the weights according to the quality indicators of each source; S27. Based on the obtained actual complex space response Calculate the response amplitude Coherence and phase variance When the response amplitude If the response threshold is not greater than the preset response threshold, the satellite is marked as phase unobservable and its complex argument is not calculated. S28. Perform steps S21 to S27 on each satellite in the available satellite set to generate a satellite-by-satellite response data packet. In the formula, Indicates the source and observability of the complex response.

4. The inter-satellite phase compensation method for array navigation according to claim 3, characterized in that, Step S3 specifically includes: S31, Based on satellite-by-satellite response data packets From this, the actual complex space response of each satellite can be obtained. Response amplitude Coherence Phase variance and observability markers Combining the tracking quality output from step S12, from the available satellite set Select reference satellite And construct the inter-satellite difference matrix according to the satellite arrangement in step S12. ; S32, for non-reference satellites Calculate interstellar fractions with additional phases In the formula, and Both originate from step S28, representing non-reference satellites. and reference satellite The actual complex space response at the same epoch, the same actual space processing configuration, and the same geometric reference point; only when the actual complex space response corresponding to the non-reference satellite s is... The actual complex space response corresponding to the reference satellite r Both observability indicators are used to calculate the argument when it is valid, and ; S33, Based on the continuous phase of the previous epoch The current score is appended with the phase, the predicted phase increment, and the configuration version number; select the branch integer. Generate continuous inter-satellite additional phases This minimizes the absolute value of the difference between the current continuous phase and the predicted continuous phase, where... Represents the integer field; S34. Combining the continuous phases of each non-reference satellite Satellite-by-satellite response data packets output from step S28 Read from , and its response covariance , It also reads the cross-covariance when the two have common array samples, common calibration parameters, or fusion states. For each non-reference satellite Constructing real response vectors and the Jacobian matrix of the interstellar phase response vector In the formula, This indicates taking the real part of a complex number. Indicates taking the imaginary part of a complex number; , and according to The permutations form a joint real covariance matrix. Calculate the variance of inter-satellite phase difference ; when and When the estimates are independent, the cross covariance Take zero; the variance of all inter-satellite phase differences The mutual covariance between different inter-satellite phases due to the shared reference satellite is assembled according to the satellite arrangement. This generates continuous inter-satellite additional phase state data packets. ,Will Save as the historical input for the next epoch step S33; S35. Maintain the continuous state of the complex fractional phase respectively. Weekly branch status Reference satellite base transformation state and space processing configuration version Based on carrier lock, cycle slip test, phase innovation and configuration switching flags, distinguish between general fractional phase continuous changes, real carrier cycle slips and branch changes that are exactly integer cycles, avoid recording general fractional phase changes as cycle slips, and also avoid absorbing real cycle slips into the array's additional phase state.

5. The inter-satellite phase compensation method for array navigation according to claim 4, characterized in that, Step S4 specifically includes: S41. Read continuous inter-satellite additional phase status data packets Continuous phase vector Phase covariance matrix Reference satellite and satellite arrangement ; S42. When the carrier observation to be corrected is in meters, it is based on the carrier wavelength of the corresponding frequency point. generate In the formula, This is the metric carrier correction vector. To correct for covariance; when carrier observations are in cycles, the following is adopted: As a conversion ratio; S43. According to the reference satellite and satellite arrangement, the metric carrier correction vector and corrected covariance Align the carrier observation to be corrected with the observation from step S13, and calculate the cross-covariance between the correction amount and the original carrier observation. ; S44. Form phase compensation mapping data packet .

6. The inter-satellite phase compensation method for array navigation according to claim 5, characterized in that, Step S5 specifically includes: S51. Read the carrier observation to be corrected retained in step S13. Covariance and phase compensation mapping data packets Output metric carrier correction vector Corrected covariance and cross covariance ; S52. When implementing inverse compensation in the complex correlation domain, for satellites The results of the complex correlation Apply multiplicative inverse phase: In the formula, This represents the complex correlation result after inverse compensation. This represents the single-star additional phase estimate value continuously improved by step S3 and mapped by step S4. Represents the imaginary unit; S53. When inverse compensation is performed in the carrier observation domain, the corrected single-satellite carrier observation is generated according to the carrier observation unit. Or for applications that only use inter-satellite differential, When carrier observations are measured in meters, equivalent pre-compensated carrier observations are generated. In the formula, This indicates pre-compensated carrier observation; when compensation is performed in the positioning solution estimation domain, the continuous lift and its covariance output in step S4 are used as additional state variables or soft constraints. S54. Propagation phase compensation uncertainty, generating covariance of pre-compensated carrier observations. ; S55, Forming a precision observation data packet after phase compensation Then enter step S6.

7. The inter-satellite phase compensation method for array navigation according to claim 6, characterized in that, Step S6 specifically includes: S61, Read satellite-by-satellite response data packets Output response amplitude Coherence Phase variance and observability markers Phase compensation mapping data packet Corrected covariance and precise observation data packets Output of pre-compensated carrier observations; S62, Calculating Satellites Non-singular domain quality In the formula, This represents the variance of the estimation error of the actual complex space response; only when the absolute value of the fused actual complex space response is expressed... Non-singular domain quality When the coherence and correlation peak ratio meet the corresponding preset thresholds, the satellite is determined to be... It lies in the compensable domain where the phase is observable and the inverse compensation mapping is non-singular; S63. Combining non-singular domain determination with phase innovation, model residuals, time aging, carrier locking, cycle slip detection, and integer test results, admission criteria are generated for each satellite. Compensation weight Freeze mark and re-anchoring mark ; S64. Generate based on the control quantity from step S63. The carrier observation covariance is updated and corrected accordingly; for satellites that do not meet the threshold, at least one of the following operations is performed: maintain the original observation, reduce the weight, freeze the state, re-anchor, remove the satellite, or exit compensation. S65. For satellites that have not entered the compensable domain or have failed the integrity check, do not output unchecked hard compensation results, and perform at least one of the following operations: maintain the original configuration, switch the reference configuration, reduce the satellite weight, freeze the phase state, remove the satellite, or trigger local reinitialization; generate a compensation observation data package with quality control and integrity flags. .

8. The inter-satellite phase compensation method for array navigation according to claim 7, characterized in that, Step S7 specifically includes: S71, Read the compensation observation data packet And the reference satellite, continuous phase state, integer branch state, reference satellite base transformation state and configuration version saved in steps S34 and S35; S72, When the reference satellite is Switch to When using a reference transformation matrix Synchronous transformation of continuous phase and its covariance: ; S73. When the spatial weights or reference configuration are switched, the updated spatial weights, satellite-by-satellite complex responses, continuous inter-satellite additional phases, carrier corrections, configuration versions, complex fractional phase continuity states, integer branch states, reference satellite base transformation states, and affected integer continuity states shall be submitted synchronously at the same relevant integral boundary; if the timestamp or version of any necessary data is inconsistent, the switch shall be rejected. S74, final output includes corrected carrier observation, corrected covariance, reference satellite, satellite arrangement, frequency point, weight version, phase compensation version, and continuity flag.

9. The inter-satellite phase compensation method for array navigation according to claim 1, characterized in that, For satellite navigation signals with multiple frequencies or constellations, indexes of complex spatial response, continuous inter-satellite additional phase, branch integer and compensated covariance are established for each constellation at each frequency according to constellation type, signal frequency, spatial processing configuration and channel status. Matching carrier correction values ​​are generated according to the carrier wavelength of each frequency.

10. An array navigation inter-satellite phase compensation system, configured to perform the array navigation inter-satellite phase compensation method according to any one of claims 1 to 9, characterized in that, It includes, in sequence, an array observation acquisition module, an actual complex space response determination module, a continuous inter-satellite additional phase construction module, a phase propagation module, a phase compensation module, a quality control module, and a switching synchronization output module; The array observation acquisition module is used to perform step S1 to acquire the synchronization or time-calibrated signals of at least two array elements to at least two navigation satellites, and to acquire the current actual space processing configuration, channel calibration parameters, satellite arrangement, tracking quality and carrier observations to be corrected, forming an array observation data packet with a unified epoch identifier and configuration version. The actual complex space response determination module is used to perform step S2, which involves determining the actual complex space response, response covariance, and quality index under the current configuration for each navigation satellite using at least one of the following methods: actual weight, channel calibration and array manifold calculation, same-source working configuration and reference configuration measurement, reference array element, reference antenna or reference receiver calibration, carrier tracking residual, frequency residual or historical state recursion, or statistically fusing the results of at least two methods, and forming a satellite-by-satellite response data packet. The continuous inter-satellite additional phase construction module is used to execute step S3, which involves selecting a reference satellite or constructing a referenceless phase quotient space, generating inter-satellite fractional additional phases, and obtaining continuous boost based on carrier locking, time continuity, configuration version, and branch integers to form a continuous inter-satellite additional phase state data packet. The phase propagation module is used to perform step S4, which involves propagating the inter-satellite fraction with the added phase continuous boost to the single-satellite carrier, inter-station single difference, inter-satellite difference, double difference, floating-point ambiguity, or integer candidate score domain, while propagating its covariance and its cross-correlation with the original observation to form a phase compensation mapping data packet. The phase compensation module is used to perform step S5, which involves applying a multiplicative inverse phase in the complex correlation domain, applying a subtractive phase correction in the carrier observation domain, or using the continuous boost as an additional state or soft constraint in the estimation domain to form a phase-compensated precision observation data packet. The quality control module is used to perform the following steps in step S6: based on the complex response amplitude, coherence, phase variance, model residual, time aging, carrier lock, and integer test results, perform admission, weight reduction, freezing, re-anchoring, or exit compensation to form a compensation observation data package with quality control and integrity flags. The switching synchronization output module is used to execute step S7, which involves updating the weight version, satellite-by-satellite phase compensation version, phase branch state, and affected integer continuity state synchronously at the same security processing boundary when the spatial weight, reference configuration, or reference satellite is switched based on the compensation observation data packet. Finally, it outputs the corrected carrier observation, corrected covariance, reference satellite, satellite arrangement, configuration version, and continuity flag.

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