140 results about "Integer ambiguity" patented technology

A partial ambiguity resolving method suitable for a complex dynamic environment belongs to the field of high-precision dynamic satellite navigation relative positioning, and comprises the following steps: constructing a single-epoch carrier phase double-difference difference observation equation; and calculating a weight factor corresponding to each satellite through a standardized residual error and an IGG3 method, and substituting the weight factors into the double-difference factor matrix to obtain a corrected observation value. And resolving the updated observation equation through a weighted iterative least square method. And carrying out partial ambiguity fixation on the corrected ambiguity floating point solution to obtain a whole cycle ambiguity fixed solution. And carrying out Ratio-based posteriori consistency traversal detection, monitoring the number of satellites participating in calculation in a traversal search process, and if the number of the satellites is smaller than a threshold value, outputting a floating point solution. And if the number of satellites after traversal search is greater than or equal to And substituting the fixed solution of the integer ambiguity into the updated observation equation to obtain a fixed solution of a three-dimensional relative position vector and a covariance matrix of the three-dimensional relative position vector.

The invention discloses a satellite navigation positioning method and device and a storage medium. The positioning method comprises the steps that observation parameters collected by a mobile terminal in a preset epoch are obtained, the observation parameters comprise GNSS parameters and inertial navigation correlation parameters, and the GNSS parameters comprise GNSS prior parameters and GNSS posterior parameters; the observation parameters are input into a preset positioning precision evaluation model, a precision evaluation value is obtained, and the positioning precision evaluation model is obtained based on training of historical observation parameters collected by multiple epochs; determining whether the positioning information represented by the current observation parameter is accurate based on the precision evaluation value; when it is determined that the positioning information is inaccurate, a positioning result is determined based on a floating point solution of integer ambiguity; and when the positioning information is determined to be accurate, determining a positioning result based on the fixed solution of the integer ambiguity. The method has the technical effect of improving the positioning precision and the positioning reliability of the global satellite navigation system.

The invention discloses an ambiguity determination method for satellite positioning, a terminal and a medium in the field of satellite navigation and positioning, and the method comprises the steps: obtaining observation data of a base station and a mobile station, eliminating errors through employing a double-difference technology, and carrying out the cycle slip correction, and obtaining the corrected observation data; preliminarily estimating the speed and position of the mobile station; based on the corrected observation data, extracting an optimal ambiguity subset through satellite-level and ambiguity-level screening; constructing a factor graph model by using the optimal ambiguity subset, taking the preliminarily estimated speed and position of the mobile station as initial values, minimizing an error function in a factor graph, and optimizing to obtain a floating solution of ambiguity; obtaining an integer ambiguity solution based on the floating point solution; and verifying the stability of an ambiguity resolving result through consistency, and finally obtaining an ambiguity fixed solution. According to the method provided by the invention, high precision, high efficiency and high stability of ambiguity calculation are realized, and the method is suitable for a high-precision satellite positioning system in a complex environment.

The invention relates to a combined attitude determination technology, in particular to a high-precision combined attitude determination method based on a multi-antenna GNSS (Global Navigation Satellite System) and an INS (Inertial Navigation Satellite System), which comprises the following steps of: S1, fixing a GNSS receiver and the INS on a carrier; s2, calculating carrier position information and carrier speed information, and establishing a double-difference carrier phase observation model; s3, calculating a baseline vector predicted value between the antennas; s4, an LAMBDA algorithm model based on INS attitude information constraint is constructed; resolving the IC-LAMBDA algorithm model by using a least square method to obtain an optimal integer solution of the integer ambiguity; s5, calculating a baseline vector between the antennas; carrier attitude information is solved; and S6, fusing the GNSS navigation information and the INS navigation information by using an extended Kalman filter. The method solves the problems of low attitude measurement precision and poor scene adaptability of the existing integrated navigation technology, and is suitable for the fields of unmanned aerial vehicle control, unmanned vehicle driving, unmanned agricultural machinery seeding, marine navigation surveying and mapping and the like.

The embodiment of the invention discloses a precision positioning acceleration method and device based on a low earth orbit satellite / LSTM neural network. The method comprises the steps that a terminal obtains a wide lane phase decimal deviation product, a narrow lane phase decimal deviation product and a first GNSS combination observation value which are generated by a server based on an LSTM method and are subjected to coding processing; determining a first GNSS wide lane real number ambiguity according to the first GNSS wide lane real number Based on a precise point positioning algorithm, determining initial GNSS ionosphere elimination combination real ambiguity and other parameters; performing inter-satellite single difference on the first GNSS wide-lane real number ambiguity, and obtaining the integer ambiguity by combining wide-lane phase decimal deviation product fixation; performing inter-satellite single difference on the initial GNSS ionosphere-free combination real ambiguity, determining a first GNSS narrow-lane real ambiguity by combining the wide-lane integer ambiguity, and fixing the first GNSS narrow-lane real ambiguity by using a narrow-lane phase decimal deviation product through a partial ambiguity fixing method to obtain the integer ambiguity of the narrow-lane phase decimal deviation product; and calculating a user coordinate fixed solution in combination with related parameters.

The invention discloses a real-time GNSS satellite clock error estimation and analysis method based on different references, and relates to the technical field of satellite navigation positioning, and the method comprises the steps: data input, which is used for collecting needed real-time data; the data provides necessary basic information for a subsequent processing flow; the data processing is used for data processing of real-time clock error estimation; in the operation process of a GNSS, the accuracy of time is directly related to the satellite-ground distance, and then the positioning precision of a user is influenced. Therefore, ensuring time accuracy becomes a core element of GNSS design and operation. According to the real-time GNSS satellite clock error estimation and analysis method based on different references, real-time satellite clock error estimation is carried out by adopting epoch difference ionosphere-free combination observation values. The method can effectively eliminate ionosphere delay and integer ambiguity, significantly reduce the number of to-be-estimated parameters, and further improve the precision and efficiency of real-time clock error estimation.

The invention discloses an ionosphere activeness rapid determination method and device based on a double-difference observation model, and belongs to the technical field of navigation positioning and ionosphere monitoring. The method comprises the following steps: acquiring observation station GNSS satellite observation data, and constructing a double-difference carrier phase observation equation; performing data quality screening on the received observation station GNSS satellite observation data; estimating an integer ambiguity parameter and a troposphere parameter according to the screened GNSS satellite observation data and the constructed double-difference carrier observation equation; according to the estimation results of the integer ambiguity parameter and the troposphere parameter, resolving to obtain an ionosphere residual error; and carrying out compression quantization on the ionized layer residual error information obtained by calculation to obtain the active degree of the ionized layer in the region. According to the invention, the feasibility and reliability of high-precision positioning of the user through the CORS service during the active period of the ionosphere are guaranteed.

The invention relates to the technical field of Beidou reference correction, in particular to a Beidou-based space-time reference dynamic correction method. The method comprises the following steps: firstly, collecting Beidou multi-frequency-point observation data, and preprocessing by adopting a Kalman filtering algorithm; then, based on the preprocessed data, a base station network time synchronization mechanism is established by using Beidou satellite signal propagation time difference, spatial reference data of different base stations are integrated through a multi-sensor fusion algorithm and a least square method, and smoothing processing is performed by using a spatial interpolation algorithm; thirdly, selecting an optimal baseline combination based on a space-time synchronization result, constructing a difference observation equation of a Beidou multi-frequency carrier phase and a pseudo range, fixing integer ambiguity by adopting an LAMBDA algorithm, and establishing a unified space-time reference model; and finally, resolving the clock error of the high-precision receiver by utilizing the double-difference integer ambiguity constraint, generating a correction parameter, and dynamically adjusting and updating the correction parameter by adopting a model algorithm. According to the invention, high-precision dynamic correction of the space-time reference is realized.

The invention relates to the technical field of GNSS high-precision positioning, and provides a BIE-based real-time dynamic positioning integer ambiguity resolving method and system, and the method comprises the steps: obtaining a preliminary ambiguity subset through the screening of a satellite elevation angle and a carrier-to-noise ratio, and carrying out the correlation reduction processing; a multi-level screening mechanism is adopted and comprises three stages of dynamic optimization of coarse screening, fine screening and candidate group generation; a weight distribution model is improved based on Laplacian distribution to calculate candidate solution weights and probability weighted fusion is carried out; in combination with an ILS and BIE mixed fixing strategy, BIE weighted averaging is adopted when ILS fixing fails; a positioning result is optimized through dynamic satellite screening and multi-system data fusion, and a jump detection threshold value is set to realize abnormal recalculation. The method improves the reliability of real-time dynamic positioning, and guarantees the continuous and stable operation of the system in a signal shielding or multi-path interference scene through a jump detection and recalculation mechanism.

The invention discloses a partial ambiguity resolving method and device, a medium and equipment, and relates to the technical field of satellite navigation and positioning. Based on the concept that in the partial ambiguity resolving process, after multiple-dimensional ambiguity corresponding parameters are removed, the more accurate the whole-cycle ambiguity resolving based on the remaining ambiguity related parameters is, the more stable the resolving of partial parameters corresponding to partial-dimensional ambiguity subsets is, the invention proposes that in each round of partial ambiguity resolving process, the more accurate the whole-cycle ambiguity resolving is, and the more accurate the whole-cycle ambiguity resolving is, the more stable the resolving of partial parameters corresponding to partial-dimensional ambiguity subsets is. According to the current ambiguity related parameters and the integer ambiguity, and different parameter parts corresponding to ambiguity subsets of different dimensions in the current ambiguity related parameters and the integer ambiguity, respectively solving baseline fixed solutions for multiple times to obtain multiple groups of baseline fixed solutions; the difference between the maximum value and the minimum value in the multiple groups of baseline fixed solutions is compared with the preset threshold value, the stability of the integer ambiguity solution is judged, and the accuracy and the reliability of the partial ambiguity solution are improved by utilizing the statistical characteristics of the ambiguity integer solution.

The invention relates to the cross technical field of satellite navigation, satellite dynamics and the like, in particular to a dynamic orbit determination method based on integer ambiguity fixation, which can obviously improve orbit determination and extrapolation precision, and comprises the following steps: establishing a dynamic orbit determination model, establishing a GPS observation model, and then performing integer ambiguity fixation IAR, a single-difference IAR method adopting single receiver ambiguity correction specifically comprises the steps that firstly, GPS carrier phase observation is divided into continuous tracking segments for processing, for each tracking segment, an average Hatch-Melbourne-Wubbena (HMW) combination is constructed by means of double-frequency pseudo-range and carrier phase data, then cross-segment inconsistency is corrected, integers of wide lane ambiguity are achieved, and a single-receiver ambiguity correction result is obtained. And the corrected wide lane ambiguity is combined with an IF ambiguity floating point estimation value obtained by a least square method for use, and finally, the IF ambiguity difference is constrained as an integer value to realize the fixation of the single-difference ambiguity, and compared with the prior art, the orbit determination precision can be remarkably improved.

The present invention relates to a global satellite navigation terminal and its navigation and positioning method. The global satellite navigation terminal includes a satellite navigation antenna, first and second satellite navigation receivers; and a processing module. The processing module performs the following operations: calculating zero-baseline double-difference observations based on the satellite navigation data of the two satellite navigation receivers, and calculating an observation random noise matrix based on the zero-baseline double-difference observations; calculating single-difference observations based on the observations in the satellite navigation data of one satellite navigation receiver and the corrections obtained from a navigation server, and performing robust adaptive filtering iterative estimation of a robust adaptive parameter vector based on the calculated single-difference observations and the observation random noise matrix; searching for and fixing the integer ambiguity based on the floating-point ambiguity in the robust adaptive parameter vector, and re-solving the robust adaptive parameter vector based on the fixed ambiguity. In this way, high-precision positioning can be achieved based on a more reliable observation random noise model.

The invention relates to a canyon building area Beidou base station site selection optimization method based on multi-base station difference, and the method is characterized in that the method comprises the following steps: S1, initializing parameter setting and base station selection; s2, comparing and updating double-difference integer ambiguity; s3, calculating the fitness value of each base station, evaluating the quality of a base station signal according to the fitness value, comparing the fitness value with the fitness value of the passed best position pbest, and if the fitness value is better, updating the pbest; and comparing the fitness values of all the base stations with the fitness value of the global best position gbest, and if the fitness values are better, updating the gbest. Compared with the prior art, through the multi-base-station difference technology and the optimization algorithm, in combination with the double-difference integer ambiguity and the fitness value, optimization of site selection of the Beidou base stations in the canyon construction area is achieved. The positioning precision is improved through double-difference processing, the optimal base station position is dynamically updated through the fitness value and the optimization algorithm, the method is suitable for complex terrains, and base station signal coverage and quality are ensured.

The invention discloses a joint correction method and system for GNSS (Global Navigation Satellite System) non-structural deformation and a storage medium. According to the method, GNSS pseudo-range and carrier phase observation data and precise products such as a precise orbit and clock correction are obtained, a three-component displacement time sequence caused by a non-tidal atmospheric load, a non-tidal ocean load and a land hydrological load and a temperature-driven thermoelastic displacement time sequence are constructed, and the three-component displacement time sequence and the temperature-driven thermoelastic displacement time sequence are unified to a reference frame and a time system consistent with GNSS calculation. After interpolating the non-structural displacement vector to an observation epoch according to time, converting the non-structural displacement vector to a geocentric rectangular coordinate system from a site local coordinate system ENU, and projecting the non-structural displacement vector to a sight line direction from a satellite to an observation station reference point to form an equivalent geometric distance correction item; the correction terms are respectively applied to pseudo-range observation and carrier phase equivalent meter domain observation in the form of the same domain as observation, and then GNSS daily arc precise calculation is performed to output a coordinate time sequence, and preferably, the method can be used for a precise single-point positioning integer ambiguity fixing technology.

The application discloses a ground absolute microwave ranging method and system based on double-path echo and RTK differential measurement, which can apply carrier phase ranging to absolute ranging. The system adopts RTK differential measurement to solve the phase integer ambiguity, especially simultaneously differentiates the observation values of two ends of the ranging main terminal, solves the extra error introduced by the traditional RTK double difference in the two-point transfer differential value, and finally compensates the error by using an atmospheric refraction correction structure model, so that the sub-millimeter level precision is achieved under the kilometer level measurement distance.

This invention discloses a GNSS integer ambiguity fixing method integrating intelligent optimization algorithms and VIB strategies, belonging to the field of satellite navigation and positioning technology. This method combines the advantages of VIB strategies and swarm intelligence fusion optimization algorithms. By directionally grouping the ambiguity floating-point solution covariance structure, the ambiguities are guided into groups. The PSOAF and AWDE intelligent optimization algorithms are used to perform parallel searches on the grouped ambiguities, improving search efficiency and positioning accuracy. Simultaneously, the probability assessment and fixing judgment of the integer solutions of each sub-block ambiguity and the overall ambiguity ensure the reliability of the ambiguity solutions, making it suitable for complex and dynamic GNSS positioning scenarios.

The application provides a method and device for determining wide-lane integer ambiguity, electronic equipment and VRS system. After the first single-difference wide-lane float ambiguity of a satellite is calculated, the trend error of the single-difference wide-lane float ambiguity is used to correct the first single-difference wide-lane float ambiguity, so as to reduce the error caused by the multipath effect on the first single-difference wide-lane float ambiguity. The corrected first single-difference wide-lane float ambiguity is used to determine the wide-lane integer ambiguity of the satellite in the first time period, so as to suppress the influence of the multipath effect on the observation accuracy of the reference station, improve the correctness of the calculated wide-lane integer ambiguity, and further improve the accuracy of the subsequent positioning and other related calculations through the wide-lane integer ambiguity.

A method of determining an integer ambiguity search space includes: obtaining, at an apparatus, a code phase measurement of a satellite vehicle signal comprising a pseudorandom noise code and a carrier signal; obtaining, at the apparatus, spatial information corresponding to a wireless terrestrial signal transferred between the apparatus and a terrestrial base station; determining, at the apparatus, a satellite positioning system carrier phase integer ambiguity search space based on the code phase measurement; and constraining a size of the satellite positioning system carrier phase integer ambiguity search space based on the spatial information.

The present invention relates to a method for solving floating-point solution coordinates of a modified RTK mobile station differential equation, characterized in that the method comprises the following steps: (1) obtaining the moving speed of a receiver by using Doppler frequency shift velocity measurement; (2) calculating the average moving speed of the receiver between the last solution time and the current time by using the fixed solution coordinates obtained in the previous solution and the floating-point solution coordinates of the current RTK mobile station differential equation; and (3) correcting the floating-point solution coordinates of the current differential equation by using the difference between the moving speed of the receiver obtained in step (1) and the average moving speed calculated in step (2). The present invention uses Doppler frequency shift velocity measurement to obtain the precise speed of the receiver, and uses the difference between the two speeds to correct the floating-point solution coordinates of the current differential equation, so that the floating-point solution coordinates are closer to the fixed solution coordinates, thereby improving the efficiency of solving integer ambiguity.

This application is applicable to the field of positioning and orientation technology, and provides a satellite orientation device, including: a satellite orientation chip and a satellite positioning chip connected to the satellite orientation chip; the satellite orientation chip is configured to determine the first integer ambiguity and the position information of the target vector based on the first pseudorange observation, the first carrier phase observation, the second pseudorange observation, the second carrier phase observation, the first positioning information, the second positioning information, the determined third pseudorange observation, the third carrier phase observation, and the third positioning information of the satellite orientation chip relative to the first satellite, and a preset observation equation; determine the accuracy of the position information based on the first integer ambiguity and the preset integer ambiguity, and determine the direction information of the target vector based on the position information when the accuracy meets the preset requirements, thereby reducing the cost and power consumption of the satellite orientation device and improving the accuracy of orientation.

The application provides a method for determining integer ambiguity candidate solutions, comprising the following steps: determining integer ambiguities that meet a predetermined condition in an ambiguity search space; calculating a weight corresponding to each integer ambiguity; and determining a weight proportion function value corresponding to each integer ambiguity according to the weight, and screening out a predetermined number of integer ambiguities that meet the condition as ambiguity candidate solutions.

The present invention provides a block unwrapping method for a large-scale interseismic interference pattern and related equipment, which divides the interseismic interference pattern of a study area into several sub-blocks with overlapping areas; inputs each sub-block into a trained neural network for integer ambiguity prediction to obtain the integer ambiguity and confidence of each pixel point in each sub-block, takes the average of the confidence of all pixels in each sub-block to obtain the confidence of each sub-block, and re-unwraps the corresponding sub-block or corrects the integer ambiguity of each pixel point in the corresponding sub-block according to the size of the confidence of each sub-block to obtain the updated integer ambiguity of each pixel point in each sub-block; splices the updated integer ambiguity of each pixel point in each sub-block to obtain the integer ambiguity map of the interseismic interference pattern, and obtains the unwrapping interference pattern based on the integer ambiguity map and the interseismic interference pattern, thereby greatly improving the unwrapping accuracy of the isolated island area.

The application relates to the positioning field and discloses a GNSS integer ambiguity confirmation method and device. The method comprises the following steps: constructing a double-difference observation equation based on original observation and solving the double-difference observation equation to obtain a floating-point solution; searching for an ambiguity based on the floating-point solution to obtain optimal ambiguity and suboptimal ambiguity; respectively solving the optimal ambiguity and the suboptimal ambiguity to obtain corresponding optimal fixed solutions and suboptimal fixed solutions; respectively inversely calculating double-difference ambiguities of carriers by using the optimal fixed solutions and the suboptimal fixed solutions; and confirming whether the optimal fixed solution is a correct fixed solution according to comparison of decimal parts of the double-difference ambiguities. The optimal fixed solution and the suboptimal fixed solution are obtained by searching for the ambiguity, then the decimal parts of the double-difference ambiguities of all carriers inversely calculated by the optimal fixed solution and the suboptimal fixed solution are compared to confirm whether the optimal fixed solution searched at present is correct, a fixed threshold does not need to be set, and therefore the reliability of ambiguity confirmation is improved.

The invention discloses a ground PNT system high-precision positioning method based on a carrier phase observation value, and relates to the technical field of satellite navigation, and the method comprises the steps: obtaining a measurement pseudo range through a code phase technology, and obtaining an integer ambiguity floating point solution of a carrier phase through the combination of a carrier wavelength; determining a search interval of the integer ambiguity according to the pseudo-range measurement error; traversing the integer ambiguity integer solution combination in the search interval, combining the integer ambiguity integer solution combination with the decimal part of the carrier phase observation value, and multiplying with the carrier wavelength to obtain a carrier phase observation pseudo-range; all base station coordinates and corresponding carrier phase observation pseudo-ranges are obtained, a plurality of positioning equations are constructed and solved, and a combination with the minimum positioning residual error is screened out to serve as a positioning result to be output. According to the method, centimeter-level and even millimeter-level high-precision positioning of the ground PNT system can be realized without depending on cooperation of a differential station, assistance of multi-frequency signals and calculation of a carrier phase error covariance matrix.

The invention provides a multi-dimensional collaborative anomaly detection method and device after calculation of a satellite integer clock. The method comprises the following steps: acquiring distribution characteristics of observation residual errors after calculation of the satellite integer clock; determining the stability degree of the UPD along with the time change and the whole cycle ambiguity fixed rate change condition; constructing a detection model for detecting the abnormal deviation of the satellite clock error based on the distribution characteristics of the observation residual error, the stability degree and the change condition of the integer ambiguity fixed rate; carrying out PPP floating point solution based on an integer clock product of the satellite, carrying out gross error detection, and counting the number of times that each satellite is marked as gross error; on the basis of the detection model and the number of times that each satellite is marked as gross error, constructing a PPP expansion model considering clock error deviation parameters; and performing inter-satellite single difference and integer ambiguity fixed solution on the UPD product to obtain a PPP fixed solution, and detecting a satellite integer clock with fixed abnormality. According to the invention, the problem of insufficient robustness caused by only dependence on a single observation station in the existing satellite integer clock anomaly detection method can be solved.

The invention discloses a factor graph optimization-based integer ambiguity fixing method and a storage device. According to the method, observation factors are obtained based on different observation models according to GNSS observation data and broadcast ephemeris data which can be obtained and observation data of other selected sensors; constructing an ambiguity single-node graph optimization model based on the selected GNSS carrier phase observation value processing form, and adding an observation factor; creating a multivariate ambiguity penalty factor based on the ambiguity function model, determining the weight of the ambiguity penalty factor by the ambiguity covariance matrix, and adding the weight of the ambiguity penalty factor into the ambiguity single-node graph optimization model; and constructing a graph optimization solver, and carrying out optimization problem solving on the to-be-estimated parameters through iterative optimization and dynamic weight determination, so that the factor graph optimization-based integer ambiguity fixing method can be realized. According to the method, the positioning precision and stability are improved, the calculation process is simplified, and the calculation efficiency is improved.

The present invention provides a real-time adjustment method for the random walk variance of the BDS PPP ionospheric delay, which relates to the technical field of GNSS satellite navigation and positioning. This method constructs a random walk form of the ionospheric delay, utilizes the parameter correlation between the epoch-to-epoch ionospheric delay EDI change value and the true ionospheric delay in the short term, weakens the noise in the ionospheric observations, calculates the power spectral density PSD of the ionospheric delay, and then combines the relationship between the PSD and the random walk variance to adjust the variance constraint value in real time, thereby effectively shortening the integer ambiguity fixing time and improving the positioning accuracy. The present invention realizes the real-time adjustment based on the random model of the BDS ionospheric parameters, effectively improves the positioning accuracy, and has strong practical application value.

The invention discloses a GNSS integer ambiguity fixing method fusing an intelligent optimization algorithm and a VIB strategy, and relates to the technical field of satellite navigation positioning, the method fuses the advantages of the VIB strategy and a swarm intelligent fusion optimization algorithm, directivity grouping is carried out on an ambiguity floating point solution covariance structure, ambiguity is subjected to guiding grouping, and the ambiguity is subjected to guiding grouping. The PSOAF and AWDE intelligent optimization algorithms are adopted to perform parallel search on the grouped ambiguity, so that the search efficiency and the positioning precision are improved. Meanwhile, probability evaluation and fixed judgment of real solutions are carried out on integer solutions of the ambiguity of each sub-block and the overall ambiguity, the reliability of the ambiguity solutions is ensured, and the method is suitable for GNSS positioning scenes in complex and dynamic environments.

The invention discloses a baseline constraint type real-time direction finding method based on AGWO algorithm optimization, and relates to the field of global satellite navigation, and the baseline constraint type real-time direction finding method based on AGWO algorithm optimization is mainly divided into two parts. One method is an optimized rapid satellite selection method based on the eagle-grey wolf algorithm, the AGWO heuristic algorithm is introduced into the satellite navigation field to achieve the optimal satellite selection strategy, satellite ephemeris data for direction finding are selected, the search range of the integer ambiguity in the subsequent direction finding step is limited, the calculation complexity is greatly reduced, and the optimal satellite selection strategy is achieved. Therefore, the purpose of real-time direction finding is achieved. The first method is a baseline constraint type five-step real-time direction finding method, the second method is a baseline constraint type five-step real-time direction finding method, baseline information between double antennas is fully utilized in an observed quantity domain, an ambiguity domain and a direction finding domain, meanwhile, baseline ambiguity factors are fully considered, and it is ensured that high-precision and high-reliability direction finding can be achieved in a dynamic environment under the limitation of low-cost GNSS equipment.

The present invention belongs to the field of mobile communication technology, and specifically is a fusion positioning method based on 5G carrier phase. The present invention integrates DL-TDOA and carrier phase measurement technology; at least four 5G base stations (BS) are deployed within the accessible range of the UE. The BS sends a positioning signal modulated by OFDM to the UE, and uses the DL-TDOA positioning method to solve the low-precision spatial position of the UE on the UE side, and obtain the straight-line distance between the UE and each BS; on the UE side, the positioning signal of each BS is used to calculate the carrier phase, and the distance obtained by DL-TDOA is combined to establish a constraint equation, and the three-dimensional spatial coordinates of the UE are solved to achieve high-precision positioning of the UE. The present invention utilizes the characteristics of 5G large bandwidth, increases the equivalent carrier wavelength by combining subcarriers, and reduces the difficulty of solving the carrier integer ambiguity.