The invention provides an orientation
attitude determination method oriented to a
clock synchronization multi-antenna GNSS
receiver. The orientation
attitude determination method comprises the steps of establishing a high-accuracy orientation
attitude determination model oriented to the
clock synchronization multi-antenna GNSS
receiver, observing a
carrier phase and a pseudo-range in real time and providing a
data source for the high-accuracy orientation attitude determination model in a real-
time data flow mode, determining parameters to be estimated and constraint information, monitoring and repairing
cycle slip, fixing a part of or all
ambiguity parameters to an integer value by estimating
base line vector parameters and
floating point carrier phase ambiguity parameters, using
base line length information as additional information, and using the
base line length information as pseudo-observation values in the base line vector resolving process to constraint the resolving accuracy of base line vectors; converting the base line vectors into a course angle and a
pitch angle to be output through coordinate
system conversion. The orientation attitude determination method achieves high-accuracy attitude determination through
single difference, is simple in
algorithm, can be suitable for high-accuracy real-time orientation attitude determination application under static, quasi-static and dynamic conditions, meanwhile is high in
algorithm operating efficiency and is suitable for high-
dynamic vehicle-mounted orientation attitude determination.