73 results about "Integer ambiguity" patented technology

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 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.

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 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 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 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 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 application discloses a real-time fusion positioning method of a satellite formation system, and belongs to the technical field of space-based navigation and positioning and satellite formation. The application solves the problem of low positioning precision of the existing satellite formation positioning method based on pseudo-range observation values. The main technical scheme of the method is as follows: step one, the baseline observation values are preprocessed by using Kalman filtering to determine the integer ambiguity, and then the integer ambiguity is substituted into the baseline observation equation to obtain the preprocessed baseline observation values; step two, the pseudo-range observation values are preprocessed by using nonlinear Kalman filtering to obtain the initial estimation result of the user satellite position; and step three, the final estimation result of the user satellite position is obtained according to the preprocessed baseline observation values in step one and the initial estimation result in step two. The method can be applied to the real-time positioning task of the satellite formation system.

The application discloses a multi-ground ranging instrument positioning method based on carrier and pseudo-range, and utilizes the carrier and pseudo-range to combine the positioning of the multi-ground ranging instrument, and utilizes high-precision carrier phase observation to improve the DME positioning precision. m The technical scheme of the application comprises the following steps: positioning is performed by using the first to m ground ranging instruments DME1 to DME m ; observation equations of single-difference carrier phase and pseudo-range observation of DME1 and DME2 are constructed; the single-difference observation equations of all visible DMEs at the current time are solved to obtain the user position, wherein the single-difference integer ambiguity is obtained through orthogonal transformation. When the integer ambiguity of the carrier is solved, multi-epoch recursion is adopted to further improve the solving precision of the single-difference integer ambiguity, and meanwhile, the influence of the excessive calculation amount on the real-time performance of the algorithm is avoided.

The invention discloses a Beidou-based high-precision differential positioning adjustment system and method, and relates to the technical field of satellite navigation and high-precision localization. Time-frequency analysis is carried out on a multi-frequency carrier phase observation sequence, signal-to-noise ratio monitoring is combined, and a flicker identifier and a noise weight are constructed; the system can identify frequency points and observation sections which are seriously polluted by flicker at an epoch level, and the weight of the system is actively reduced at a combination stage; secondly, under the constraint of maintaining ambiguity integer characteristics, the coefficient combination takes equivalent noise variance and residual ionosphere high-order term error sensitivity as optimization targets, and considers the observation noise level and the suppression capability for high-order ionosphere residual errors, so that on one hand, the reliability of carrier phase integer ambiguity calculation is maintained, and on the other hand, the reliability of carrier phase integer ambiguity calculation is improved; and on the other hand, the sensitivity degree of combined observation to high-order ionosphere residual errors is reduced, so that high-precision differential positioning of a low-latitude region has higher robustness.

The application provides a two-dimensional DOA estimation method for arbitrary array single-base MIMO radar based on data rearrangement, and relates to the technical field of array sensor direction finding. The rank structure of a coherent signal covariance matrix is recovered by rearranging a received data matrix through arbitrary array element positions of a transmitting array and a receiving array; S2: eigenvalue decomposition is performed on the signal covariance matrix to obtain a signal subspace; S3: reliable rough estimation is obtained through rotation invariance; S4: an integer ambiguity vector corresponding to spatial phase ambiguity caused by array element spacing greater than half a wavelength is solved; S5: the phase of an array flow pattern with phase ambiguity is compensated, and an accurate estimation value of the 2D-DOA of the target is calculated; the high-precision 2D-DOA estimation problem in a complex scene of a coherent signal source, arbitrary array geometry and phase ambiguity caused by part of array element spacing greater than half a wavelength is solved, unambiguous and high-precision angle parameter estimation is realized, and the estimation accuracy and algorithm reliability are improved.

The application discloses a joint correction method and system of GNSS non-tectonic deformation and a storage medium. The method obtains GNSS pseudo-range and carrier phase observation data and precise orbit, clock error and other precise products, constructs three-component displacement time series caused by non-tidal atmospheric load, non-tidal ocean load and land hydrology load and temperature-driven thermal elastic displacement time series, and unifies to a reference frame and a time system consistent with GNSS solution. The non-tectonic displacement vector is interpolated to the observation epoch by time, converted from the local coordinate system ENU to the geocentric rectangular coordinate system, and projected to the line-of-sight direction of the satellite to the reference point of the station to form an equivalent geometric distance correction term; the correction term is applied to the pseudo-range observation and the carrier phase equivalent meter domain observation in the same domain as the observation, and then GNSS daily arc segment precise solution is performed to output the coordinate time sequence, which is preferably used for precise point positioning integer ambiguity fixing technology.

This invention discloses a satellite navigation enhancement method and system based on inertial navigation data. To address the problems of slow convergence, frequent cycle slips, easy loss of fixed solutions, and discontinuous or abrupt navigation outputs in real-time dynamic differential positioning and precise single-point positioning under highly dynamic and complex obstruction environments, this invention aligns the inertial measurement unit data with carrier phase and Doppler observation data in time, constructs a continuous-time state trajectory, establishes a Gaussian process prior, and performs tight-coupled joint estimation of trajectory state and carrier phase integer ambiguity within a sliding time window. Based on the carrier phase residual, it performs change point detection to determine cycle slips, triggers ambiguity reset, and performs re-initialization constraints based on inertial prediction state and uncertainty to complete the update estimation. This achieves the technical effects of robust cycle slip detection and rapid recovery, improved fixed solution preservation capability and switching smoothness, and enhanced continuity and stability of navigation solutions.

The invention discloses a precise point positioning method, system and device under limited satellite communication resources, a medium and a product, and relates to the field of advanced precise positioning of satellite navigation, the method comprises the following steps: receiving user data and a precise satellite correction product in real time at a system end, generating correction data matched with a user end positioning model, carrying out lightweight coding on the precision satellite correction product, and broadcasting to a user side; at a user side, analyzing a lightweight coded precise satellite correction product, determining ultra-wide lane comprehensive deviation correction information, determining a fixed EWL integer ambiguity, and determining a fixed WL integer ambiguity in combination with a wide lane integer ambiguity fixing model; in combination with a narrow lane integer ambiguity fixed model, determining a user position under a narrow lane fixed solution and updating the current user position; the PRN number of the current user visible satellite and the updated user position are sent to the system end, precise point positioning is completed, the convergence time is shortened, and the positioning precision is improved.

This application provides a positioning method, system, and device based on BeiDou high-precision differential positioning. The method includes: receiving observation data from a reference station network at a central end; obtaining a state vector based on the observation data, the state vector including the reference station coordinate increment, tropospheric grid value, and ionospheric grid value; generating correction packets at regular grid points at preset intervals; transmitting the correction packets to the device coverage area through a one-way broadcast channel to reduce the uplink exposure risk of device-side location information; receiving the correction packets and verifying the signature and timeliness of the power grid inspection device, performing interpolation operations on four neighboring grid points to obtain the covariance after correction and propagation at the device, and constructing an observation weight matrix; the power grid inspection device performing cycle slip detection and ionospheric-free combination processing on local observations; performing a chi-square test on the solution residuals for integrity monitoring, and if the ambiguity is successfully fixed and passes the integrity monitoring, then fixing and resolving based on the integer ambiguity to obtain the positioning result.

This invention discloses a satellite positioning method, system, device, and medium, relating to the field of positioning technology. The method includes the following steps: acquiring multi-band GNSS data; employing double-difference observation, fixing integer ambiguity parameters, and calculating the quadratic difference between the receiver and satellites for the multi-band GNSS data to obtain independent positioning results for each system; setting an optimization logic based on multiple threshold conditions to select the system with the highest accuracy score; performing adaptive weight allocation using a normalization method based on the real-time accuracy scores of each GNSS system in the horizontal and vertical directions; and obtaining a coordinate fusion result as the satellite positioning result by weighted summing of the coordinate components calculated by each GNSS system with their adaptive weights in the corresponding directions. Through dynamic optimization and weighted fusion of satellite constellations from different satellite navigation and positioning systems, the reliability and environmental adaptability of the positioning solution are significantly enhanced.

The invention relates to a time sequence RTK / INS (Real Time Kinematic / Inertial Navigation System) integrated navigation method based on double differences between GNSS epochs, and belongs to the technical field of navigation positioning and integrated navigation. The method comprises the following steps: performing single-point positioning and error correction on GNSS original observation data, and constructing an inter-epoch double-difference observation value; carrying out Lie group / manifold space pre-integration on IMU data, estimating a carrier state and assisting cycle slip detection; and finally, based on a factor graph optimization framework, fusing various constraint factors for modeling and solving, checking fixed integer ambiguity through an LAMBDA method and Ratio, and performing feedback optimization. According to the invention, centimeter-level high-precision relative positioning can be realized, and the continuity, robustness and calculation precision of positioning in a complex environment can be improved.

The invention discloses a method for improving the positioning precision of an intelligent grounding wire based on a carrier phase difference technology, and the method comprises the following steps: S1, deploying a reference station at a known precise coordinate, integrating a miniature Beidou receiver and the like on the intelligent grounding wire, and completing the equipment calibration and time synchronization; s2, calculating a carrier phase theoretical value, comparing the carrier phase theoretical value with an actual observation value, resolving integer ambiguity, packaging key data into a standard format, and sending the key data to a grounding wire end in real time; s3, receiving differential data of the satellite phase observation value and the base station, constructing single-difference and double-difference models, fixing double-difference integer ambiguity, and solving by an iterative method to obtain millimeter-level high-precision three-dimensional coordinates of the grounding wire; s4, performing static verification to verify whether the positioning precision of the grounding wire at the fixed point reaches the standard or not, and optimizing the dynamic positioning stability by adopting the means of resisting multiple paths by a shielding cover, repairing cycle slip by a specific method, smoothing data by Kalman filtering and the like; the system has the advantages of higher positioning precision, strong anti-interference capability, good safety and reliability and good real-time monitoring effect.

The application discloses a kind of based on low orbit fixed enhancement Beidou PPP-B2b positioning method and device, belong to GNSS positioning technical field. Including: obtaining Beidou and low orbit satellite observation data;Decoding PPP-B2b enhancement signal, utilize its precise correction number to correct satellite orbit and clock error;Based on the data after modification constructs Beidou / low orbit fusion's precise point positioning model;In model solution, using low orbit ambiguity priority fixing strategy, utilize the advantage that low orbit satellite geometry changes fast, first its carrier phase integer ambiguity is fixed as integer;Fixed low orbit ambiguity is regarded as known constraint back substitution to fusion model, re-solution obtains receiver precise positioning result.The application effectively overcomes the problem that traditional PPP-B2b signal is easy to shield, and convergence time is long, significantly improves the continuity of positioning, convergence speed and accuracy.

A method for integer ambiguity resolution based on time correlation and adaptive sliding window belongs to the field of global satellite navigation system positioning. The method solves the problems of distortion of mean standard deviation evaluation, inaccuracy of fixed criterion and difficulty of adaptive adjustment of window length in existing methods. The method is as follows: collecting observation data and setting sampling interval, constructing double difference observation equation, solving ambiguity float solution, analyzing initial ambiguity float sequence window by autocorrelation function, calculating autocorrelation coefficient and correcting effective independent sample number in current window; calculating mean standard deviation of ambiguity float sequence window; comparing mean standard deviation of window with threshold value: less than or equal to threshold value, rounding mean value of float sequence and taking it as output, greater than threshold value, including ambiguity float solution of next epoch into current window and expanding window length until meeting fixed condition of integer ambiguity; outputting fixed value of integer ambiguity for subsequent positioning calculation. The method is used in the field of high-precision satellite navigation positioning.

The application relates to the field of satellite positioning technology and discloses a high-precision positioning method for a road inspection carrier, which comprises the following steps: acquiring a visible satellite carrier noise variation gradient; in response to the variation gradient crossing a signal degradation threshold, locking the process noise variance parameter and the integer ambiguity parameter of a corresponding satellite branch in a Kalman filter; extracting Doppler frequency shift observation value integration during degradation to acquire a phase offset compensation amount, and correcting the locked integer ambiguity parameter; in response to signal recovery, using the remaining satellites in a fixed solution state to construct a geometric topological constraint equation, checking the corrected integer ambiguity parameter, and restarting positioning calculation; and through the construction of a state maintenance mechanism based on an observation domain topological inhibition, the application prevents degraded signal pollution of a state covariance matrix, enables the system to have a hot start capability at the moment of line-of-sight recovery, and solves the convergence lag and trajectory drift problems caused by ambiguity re-search.

The application provides a RTK and INS combined positioning ambiguity solution method, comprising: obtaining a baseline vector float solution and its variance-covariance matrix, a float ambiguity and its variance-covariance matrix, and a mutual covariance matrix between the float ambiguity and the baseline vector float solution of a RTK and INS combined positioning system; determining integer ambiguity and its weight by using the float ambiguity and its variance-covariance matrix, and determining a predetermined number of integer ambiguity candidate solutions according to the weight; solving the residual error of the receiver position coordinate and the receiver position coordinate predicted by the INS by using the screened ambiguity candidate value, and updating the weight of the integer ambiguity candidate solution by using the residual error; weighting and fusing the predetermined number of integer candidate solutions obtained by using the updated ambiguity candidate value weight to obtain an ambiguity estimation value and a baseline vector estimation value; and determining a final solution according to the ambiguity estimation value and the baseline vector estimation value.

This invention relates to a rapid determination method for GNSS integer ambiguity based on solution verification and updating. The method includes: screening and classifying all observed satellites in a single epoch into reference satellites, Class I satellites, and Class II satellites; establishing double-difference carrier phase observation equations for Class I and Class II satellite pairs; solving and verifying the double-difference integer ambiguity of the Class I satellite pairs to obtain the double-difference integer ambiguity of the verified Class I satellite pairs, and then solving for the local solutions usable for positioning of the Class I satellite pairs; substituting the local solutions used for positioning of the Class I satellite pairs into the double-difference carrier phase observation equations of the Class II satellite pairs, rounding to calculate the double-difference integer ambiguity of the Class II satellite pairs; and determining the GNSS single-epoch double-difference integer ambiguity based on the double-difference integer ambiguities of the Class I and Class II satellite pairs.

A partial ambiguity resolution method suitable for complex dynamic environment belongs to the field of high-precision dynamic satellite navigation relative positioning, and the implementation method comprises the following steps: constructing a single epoch carrier phase double difference differential observation equation; calculating the weight factor corresponding to each satellite through standardized residual and IGG3 method; bringing the weight factor into the double difference factor matrix to obtain the modified observation value; solving the updated observation equation through weighted iterative least square method; fixing the partial ambiguity of the modified ambiguity float solution to obtain the integer ambiguity fixed solution; performing Ratio-based posterior consistency traversal detection; monitoring the number of satellites participating in the solution in the traversal search process; if the number of satellites is less than the threshold, the float solution is output; if the number of satellites is greater than or equal to the threshold after traversal search, the integer ambiguity fixed solution is brought into the updated observation equation to obtain the fixed solution of the three-dimensional relative position vector and its covariance matrix.

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

The invention discloses a UPD estimation method and system based on soft constraint hierarchical modeling, and the method comprises the steps: collecting double-frequency observation data of a global IGS observation station, and carrying out the calculation to obtain a wide-lane floating-point ambiguity and ionosphere-free combined ambiguity floating-point solution; estimating wide lane UPD based on the wide lane floating point ambiguity and correcting to complete fixation of the wide lane integer ambiguity; under the condition that the wide-lane integer ambiguity is fixed, combining an ionosphere-free combined ambiguity floating point solution to solve and obtain narrow-lane floating point ambiguity; dividing the observation network into a plurality of regional partitions according to global ionosphere spatial distribution characteristics and disturbance rules; and introducing a regional common mode item into each partition, taking the ionized layer total electron content extracted on the basis of a global ionized layer graph as prior information, constructing a multi-level joint resolving framework comprising a satellite narrow lane UPD, an observation station narrow lane UPD and the regional common mode item in a soft constraint mode, and performing network resolving on narrow lane floating point ambiguity to estimate a UPD product. According to the invention, the cross-regional uniformity and high time stability of UPD products are realized.

This paper proposes a baseline-length-constrained high-precision relative positioning method for BeiDou, comprising the following steps: First, establishing a double-difference relative positioning model using the pseudorange and carrier phase raw observations of the reference station and the rover station; Second, obtaining a strictly baseline-length-constrained objective function based on the double-difference relative positioning model according to the least squares criterion; Third, employing an integer ambiguity search space amplification strategy to achieve effective ambiguity search, and accurately estimating the rover station's position relative to the reference station. This invention utilizes the often underutilized baseline length information of dual antennas in real-world scenarios to improve the relative positioning solution performance, exhibiting higher reliability compared to the traditional unconstrained case. The method employs an integer ambiguity search space amplification strategy, thereby extending the standard LAMBDA algorithm to baseline-length-constrained relative positioning, achieving effective integer ambiguity search.