CN111295567A - Course determining method, device, storage medium and movable platform - Google Patents

Abstract

A course determining method, device, storage medium and movable platform. The course determining method comprises the following steps: acquiring the current measurement length and the current measurement heading of the base line of the double RTK antenna assembly (S302); determining whether the current measurement course is an authentic course or not according to the current measurement length of the base line of the double RTK antenna assemblies (S304); if not, repeating the steps; if yes, outputting the current measured heading (S306). According to the method, the accuracy of judging the reliability of the measured course is further improved, and the accuracy and the reliability of the movable platform for executing flight operation according to the measured course are further improved.

Description

Course determination method, device, storage medium and movable platform

technical field

Embodiments of the present invention relate to the technical field of control, and in particular, to a method for determining a heading, a device for determining a heading, a computer-readable storage medium, and a movable platform.

Background technique

Since the last century, extensive research has been carried out in the fields of satellite positioning and directional attitude measurement at home and abroad. Compared with other directional attitude measurement systems, it has the advantages of low cost, small size, high precision and stability. , The mainstream directional attitude measurement technology is based on the carrier information phase difference technology. The carrier information phase difference technology, also known as RTK (RealTime Kinematic) technology, is based on the real-time processing of the carrier information phase of the two stations. The three-dimensional coordinates of the observation point are provided in real time, and the high precision of centimeter level is achieved.

Similar to the principle of pseudorange difference, the base station transmits its carrier information observation and station coordinate information to the user station in real time through the data link. The user station receives the carrier information phase of the GPS satellite and the carrier information phase from the base station, and forms phase difference observations (static, fast static and dynamic, etc.) for real-time processing, which can give centimeter-level positioning results in real time.

In the related art, the measured heading output by the positioning board developed based on RTK technology (hereinafter referred to as RTK board) is fed back to the flight controller of the movable platform, and the flight controller adjusts the flight trajectory in real time according to the measured heading. The accuracy of the mobile platform determines the accuracy of the flight trajectory of the movable platform. However, it is impossible to judge whether the measured heading output by the RTK board is credible, which may cause the movable platform to deviate from the preset flight trajectory or even be lost, causing serious economic losses.

SUMMARY OF THE INVENTION

The embodiments of the present invention aim to provide a heading determining method, a heading determining device, a movable platform and a computer-readable storage medium, so as to determine whether the measured heading is a credible heading while outputting the measured heading, so as to improve the Measure the accuracy of heading and flight path.

In order to achieve the above object, the technical solution of the first aspect of the present invention improves a heading determination method, which includes: obtaining the current measured length and the current measured heading of the baseline of the dual RTK antenna assembly; The current measured length of the baseline is used to determine whether the current measured heading is a credible heading; if so, the current measured heading is output.

The technical solution of the second aspect of the present invention provides a device for determining a heading, the device for determining a heading includes a processor, and the processor is configured to: acquire the current measured length of the baseline of the dual RTK antenna assembly and the current measured heading; According to the current measurement length of the baseline of the dual RTK antenna assembly, determine whether the current measurement heading is a credible heading; if so, output the current measurement heading.

The technical solution of the third aspect of the present invention provides a computer-readable storage medium on which a computer program is stored, characterized in that, when the computer program is executed, the headings provided in the first aspect of the embodiments of the present invention are implemented. Determine the steps of the method.

The technical solution of the fourth aspect of the present invention provides a movable platform, comprising: a power device configured to realize the movement of the movable platform; a heading defined according to the technical solution of the second aspect of the present invention The heading determining device is configured to determine the reliability of the measured heading.

Based on the heading determination method, heading determination device, movable platform, and computer-readable storage medium provided by the embodiments of the present invention, the reliability of the currently measured heading is determined by the current measured length of the baseline, especially, when the current measured heading is When it is not credible, it can trigger the measurement of the current heading again in time until the output measured heading is a credible heading. In addition, when the current measured heading is credible, the current measured heading can be provided to the flight controller in time for flight control. It can adjust and monitor the flight trajectory in real time, thereby improving the accuracy and reliability of the movable platform when performing flight operations, and reducing the possibility of the movable platform being lost.

Description of drawings

In order to illustrate the technical solutions in the embodiments of the present invention more clearly, the following briefly introduces the accompanying drawings used in the description of the embodiments. Obviously, the drawings in the following description are some embodiments of the present invention. , for those of ordinary skill in the art, other drawings can also be obtained from these drawings without creative labor.

FIG. 1 shows a schematic diagram of a movable platform system according to an embodiment of the present invention;

2 shows a schematic diagram of a dual RTK antenna assembly of a movable platform according to an embodiment of the present invention;

3 shows a schematic diagram of a solution for determining a heading according to an embodiment of the present invention;

FIG. 4 shows a schematic diagram of a method for determining a heading according to another embodiment of the present invention;

FIG. 5 shows a schematic diagram of a computer-readable storage medium of another embodiment of the present invention.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

It should be noted that when a component is referred to as being "fixed to" another component, it can be directly on the other component or there may also be a centered component. When a component is considered to be "connected" to another component, it may be directly connected to the other component or there may be a co-existence of an intervening component.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terms used herein in the description of the present invention are for the purpose of describing specific embodiments only, and are not intended to limit the present invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

The method of determining the heading includes determining using RTK, for example, orienting through the dual antenna of the movable platform, the single antenna of the movable platform, and the base station. The movable platform may be an aircraft, a hand-held mapping device, a car, a ship, or the like. The method can be used in scenarios such as mobile platform factory inspection, mobile platform trajectory correction, and mobile platform operations.

In some embodiments, the current measured length of the baseline of the dual RTK antenna assembly and the current measured heading are obtained; according to the current measured length of the baseline of the dual RTK antenna assembly, it is determined whether the current measured heading is a credible heading, and finally output Trusted current survey heading.

In some embodiments, the current measured length of the baseline of the dual RTK antenna assembly and the current measured heading are obtained; according to the current measured length of the baseline of the dual RTK antenna assembly, it is determined whether the current measured heading is a credible heading, and when the current measured heading is When the measured heading is unreliable, prompt information, such as alarm information, can be issued.

In some embodiments, the current measured length and the current measured heading of the baseline of the dual RTK antenna assembly are obtained; according to the current measured length of the baseline of the dual RTK antenna assembly, the current measured heading and the attitude of the movable platform are finally output.

Some embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The embodiments described below and features in the embodiments may be combined with each other without conflict.

As shown in FIG. 1 , the movable platform system 10 may include a control terminal 110 and a movable platform 120 . The movable platform 120 may be a single-rotor or multi-rotor movable platform, and in some cases, the movable platform 120 may be a fixed-wing movable platform.

The movable platform 120 may include a power system 102, a flight control system 104 (with a heading determination system built in), and a fuselage. Wherein, when the movable platform 120 is a multi-rotor movable platform, the fuselage may include a center frame and one or more arms connected to the center frame, and the one or more arms extend radially from the center frame. The movable platform may also include a foot stand, wherein the foot stand is connected to the fuselage for supporting the movable platform when it is landed.

The power system 102 may include one or more power components 1022 for providing flight power to the movable platform 120 that enables the movable platform 120 to move in one or more degrees of freedom.

The heading determination system may include processor 502 , memory 1044 and sensing system 1046 . Sensing system 1046 includes one or more types of sensors that can output and transmit sensory data to measure state data of movable platform 120 . The sensing system 1046 may include, for example, at least one of a barometer, a gyroscope, an ultrasonic sensor, an electronic compass, an inertial measurement unit, a visual sensor (monocular sensor or a binocular sensor), a global navigation satellite system, and a barometer. kind. For example, the global navigation satellite system may be a Global Positioning System (Global Positioning System, GPS).

The processor 502 is used to control various operations of the movable platform. For example, the processor 502 can control the movement of the movable platform, and for another example, the processor 502 can control the sensing system 1046 of the movable platform to collect data.

In various embodiments, the sensing system 1046 may include an image capture device 1064, which may be, for example, a device for capturing images, such as a camera or a video camera, and the image capture device 1064 may communicate with the processor 502 and communicate with the processor Shooting is performed under the determination of the heading of 502 .

In some embodiments, the movable platform 120 further includes a pan/tilt 106, which may include a motor 1062, and the pan/tilt 106 is used to carry the image acquisition device 1064. The processor 502 may determine the motion of the pan/tilt 106 through the motor heading. It should be understood that the pan-tilt 106 may be independent of the movable platform 120 or may be a part of the movable platform 120 . In some embodiments, the image capture device 1064 may be fixedly attached to the body of the movable platform 120 .

The movable platform 120 also includes a transmission device 112 , which can transmit the data collected by the sensing system 1046 and/or the image capture device 1064 to the control terminal 110 under the determination of the heading of the processor 502 . The control terminal 110 may include a transmission device (not shown), the transmission device of the heading determination terminal may establish a wireless communication connection with the transmission device 112 of the movable platform 120, and the transmission device of the heading determination terminal may receive data sent by the transmission device 112 , In addition, the control terminal 110 may also send a direction determination instruction to the movable platform 120 through a transmission device configured by itself.

The control terminal 110 may include a controller 1102 and a display device 1104 . The controller 1102 may determine various operations of the terminal. For example, the controller 1102 may determine the heading of the transmission device to receive data sent by the movable platform 120 through the transmission device 112, and for example, the display device 1104 may determine the heading of the display device 1104 to display the sent data, wherein the data may include an image capture device 1064 captures images of the environment, attitude information, location information, battery information, and more.

The movable platform 120 also includes a battery system 108. The battery system 108 may include a battery 1082 and a BMS (Battery Management System) 1084. By default, the battery 1082 is used to supply power to the movable platform 120, for example, to the power components 1022 and transmission equipment. 112. The hardware and electronic devices such as the PTZ 106 and the image acquisition device 1064 are supplied with power.

1 and 2, the movable platform 120 is provided with a dual RTK antenna assembly 114, which specifically includes a master RTK antenna and a slave RTK antenna, and calculates the measurement length of the baseline according to the carrier information sent by the positioning satellite, and according to the measurement Length continues to get measured heading.

It will be appreciated that any of the above-described heading determiners may include one or more processors, wherein the one or more processors may work individually or cooperatively.

It should be understood that the above naming of the components of the movable platform 120 is only for the purpose of identification, and should not be construed as a limitation on the embodiments of the present invention.

With reference to Figures 1, 2, 3 and 4, the method for determining a heading provided according to an embodiment of the present invention specifically includes:

Step S302, acquiring the current measured length and current measured heading of the baseline of the dual RTK antenna assembly.

Specifically, the carrier information sent by the positioning satellite to the dual RTK antenna assembly takes a certain time, that is, the transmission delay, to propagate from the positioning satellite to the dual RTK antenna assembly. As we all know, the transmission delay of carrier information is proportional to the transmission distance. When the distance between the main RTK antenna and the slave RTK antenna to the positioning satellite is different, the continuous carrier information received by the main RTK antenna and the slave RTK antenna will have different values at the same time. The phase, ie the phase difference, is further combined with the integer ambiguity and the phase difference to calculate the current measured length of the baseline and the current measured heading.

Step S304, according to the current measurement length of the baseline of the dual RTK antenna assembly, determine whether the current measurement heading is a credible heading.

Specifically, since the baseline of the dual RTK antenna assembly has an actual baseline size, there is an error between the calculated current measured length of the baseline and the actual baseline size. Based on this, it can be determined whether the calculated current measured length of the baseline is credible. If the current measured length of the baseline is unreliable, step S302 needs to be performed again until the current measured length of the baseline is within the allowable error range. In one embodiment, if the current measured length of the baseline is unreliable, the current measured length of the baseline can also be fused with other data to obtain a credible current measured length.

Step S306, if yes, output the current measured heading.

Specifically, when it is determined that the current measured heading is a credible heading, the current measured heading is output for the flight control system to feedback and adjust the flight trajectory of the movable platform.

Based on the method for determining the heading provided by the embodiment of the present invention, when the dual RTK antenna assembly receives carrier information of the positioning satellite, it may be due to poor satellite search conditions or multipath interference, or when the movable platform is indoors, usually dual RTK antennas There is a large error in the current measurement length of the baseline calculated by the antenna component, which leads to a larger error in the current measurement heading, and checking whether the current measurement heading is credible by using the current measurement length of the baseline can improve the dual Reliability and accuracy of RTK antenna assembly for directional attitude measurement of movable platforms.

In some embodiments, the acquiring the current measurement length and the current measurement heading of the baseline of the dual RTK antenna assembly includes: receiving carrier information sent by a positioning satellite, where the carrier information is used to determine the current measurement of the baseline of the dual RTK antenna assembly Length and current survey heading.

Specifically, the carrier information sent by the positioning satellite is received, and the carrier information is used to determine the current measurement length and the current measurement heading of the baseline of the dual RTK antenna assembly, that is, the current measurement length and the current measurement heading of the baseline are obtained based on the phase difference solution. .

In some embodiments, the dual RTK antenna assembly is used for receiving carrier information sent by a positioning satellite.

In some embodiments, the dual RTK antenna assembly includes a master RTK antenna and a slave RTK antenna, and the acquiring a current measured length and a current measurement heading of the baseline of the dual RTK antenna assembly includes: determining carrier information phase of the master RTK antenna and The carrier information phase of the slave RTK antenna; the difference between the carrier information phase of the master RTK antenna and the carrier information phase of the slave RTK antenna is calculated, and recorded as a single-difference observation value; according to the single-difference observation The value generates the current measured length of the baseline of the dual RTK antenna assembly and the current measured heading.

Specifically, by determining the carrier information phase of the master RTK antenna and the carrier information phase of the slave RTK antenna, and calculating the difference between the carrier information phase of the master RTK antenna and the carrier information phase of the slave RTK antenna value, and recorded as a single-difference observation value, and finally, according to the single-difference observation value, the current measurement length and the current measurement heading of the baseline of the dual RTK antenna assembly are generated, which can improve the positioning accuracy of the dual RTK antenna assembly to the centimeter level .

Among them, the calculation process of the single-difference observation value also adds the clock deviation, the whole cycle ambiguity, the delay error of the transmission system, the ephemeris error of the positioning satellite, etc., to further improve the current measurement length of the solution baseline and the current measurement heading. reliability.

In some embodiments, determining whether the current measured heading is a credible heading according to the current measured length of the baseline of the dual RTK antenna assembly specifically includes: according to whether the current measured length of the baseline satisfies a preset error range, It is determined whether the current measured heading is a credible heading.

Specifically, by comparing whether the current measurement length of the baseline satisfies the preset error range, it can be determined whether the positioning scheme of the dual RTK antenna assembly satisfies the preset error. Therefore, when it is determined that the current measurement length of the baseline satisfies the preset error range, Then it can be determined that the current measured heading calculated according to the current measured length of the baseline is also credible.

In some embodiments, before acquiring the current measurement length of the baseline of the dual RTK antenna assembly, the method further includes: determining the preset error range according to the baseline size of the dual RTK antenna assembly; according to the error range and the baseline The size determines the preset baseline length and stores it.

Specifically, since the baseline size of the dual RTK antenna assembly is directly related to the preset error range, determining the preset error range according to the baseline size of the dual RTK antenna assembly can improve the reliability and accuracy of the error range Then, by determining and storing the preset baseline length according to the error range and the baseline size, it is possible to further improve whether the current measured length of the baseline is credible, and further improve whether the current measured heading is acceptable or not. The reliability and accuracy of the plan of the letter heading.

In some embodiments, there is a positive correlation between the baseline size and the error margin.

Specifically, that is, if the actual baseline size is larger, the error range is larger, that is, the confidence interval of the currently measured heading is larger, and at the same time, the smaller the actual baseline size is, the smaller the error range is, that is, the current measurement heading is smaller. the smaller the confidence interval.

In some embodiments, before acquiring the current measured length of the baseline of the dual RTK antenna assembly, the method further includes: acquiring a record of whether the historical measured heading is a credible heading, determining the preset baseline length, and storing.

Specifically, by obtaining a record of whether the historically measured heading is a credible heading, the preset baseline length is determined and stored. The historically measured heading is also calculated based on the baseline length, and the historically measured heading is more in line with the actual flight environment of the mobile platform. , therefore, combined with a large number of historical measured headings, a preset baseline length that is more in line with the actual flight environment can be provided, and then it can be more accurately determined whether the current measured heading is a credible heading based on the preset baseline length and the current measured length of the baseline .

In some embodiments, the margin of error is less than or equal to 20 centimeters.

Specifically, based on a large amount of experimental data, it can be determined that the error range is less than or equal to 20 cm.

In some embodiments, the method further includes: acquiring corresponding state identification information according to the star search situation.

Specifically, the corresponding state identification information is obtained through the star search situation, and the state identification information assists in determining whether the current measured length of the baseline is credible, and then determines whether the current measured heading is a credible heading.

Among them, the status identification information output by the dual RTK antenna components is as follows:

Table 1

In some embodiments, determining whether the current measured heading is a credible heading according to the current measured length of the baseline of the dual RTK antenna assemblies, specifically includes: according to the current measured length of the baseline of the dual RTK antenna assemblies and all The status identification information is used to determine whether the current measured heading is a credible heading.

Specifically, according to the current measurement length of the baseline of the dual RTK antenna assembly, as shown in Table 1, when the status identification information is 50, the current measurement heading is judged by comparing the current measurement length of the baseline with the preset baseline length Whether it is credible, thereby reducing the situation that the mobile platform adopts wrong heading information due to the misjudgment of the dual RTK antenna components, thereby improving the accuracy and reliability of the flight trajectory of the mobile platform.

In some embodiments, the satellite search situation includes at least one of the following: the number of satellites found, a signal-to-noise ratio, an elevation angle, a locking time, and positioning information.

For example, when the mobile platform is flying in the urban area, due to the large number of high-rise buildings, the signal propagation process is disturbed, resulting in signal fading and phase shift, resulting in inaccurate signals received by dual RTK antenna components.

For example, in low-latitude regions, the ionospheric activity is more active, which will lead to fluctuations in the observed signal-to-noise ratio of satellites, frequent loss of signal lock, and large calculation errors.

For another example, the design of the dual RTK antenna assembly itself is not good, resulting in problems such as low and unstable signal-to-noise ratio of the received satellite signal, poor ability to filter clutter, and easy signal loss.

For another example, if the star search speed is too fast, it is easy to cause drift, that is, the positioning is inaccurate and the positioning is deviated.

In some embodiments, the acquiring the corresponding state identification information according to the star search situation includes: acquiring the narrow lane fixed solution or other pre-stored identification information in the state identification information according to the star search situation.

Specifically, the narrow-lane fixed solution involves the sum of the phase observations of the carrier information of the main RTK antenna and the slave RTK antenna. The effective wavelength of the carrier information corresponding to the narrow-lane fixed solution is 10.7 cm. The narrow-lane fixed solution eliminates the effect of the ionosphere on the current measurement heading. The impact is very effective, and other pre-stored identification information can be referred to as shown in Table 1, but is not limited to this.

In some embodiments, determining whether the current measured heading is a credible heading according to the current measured length of the baseline of the dual RTK antenna assembly and the status identification information, specifically includes: after detecting that the status identification information is When the narrow lane is fixed for the solution, it is compared whether the current measured length of the baseline satisfies a preset error range.

Specifically, when it is detected that the state identification information is the narrow-lane fixed solution, comparing whether the current measured length of the baseline satisfies a preset error range, that is, verifying the narrow-lane fixed solution according to the current measured length of the baseline Whether the solution is credible. If so, it is determined that the current measured heading is credible, and the current measured heading is output. If not, repeat the above steps. In some embodiments, the current measured heading includes a yaw angle and/or a pitch angle; wherein the yaw angle is an angle determined according to the head direction of the movable platform and a preset heading, and the The pitch angle is an included angle determined according to the body direction of the movable platform and the horizontal direction.

In some embodiments, generating the current measured length of the baseline and the current measured heading according to the single-difference observation value specifically includes: in the first coordinate system, according to the single-difference observation value and the corresponding whole week The ambiguity calculation obtains the measurement result of the baseline; according to the preset coordinate rotation matrix, the measurement result of the baseline is converted from the first coordinate system to the second coordinate system to determine the longitude and latitude coordinates corresponding to the main RTK antenna; The current survey heading is determined from the longitude coordinates and the latitude coordinates.

Specifically, in the first coordinate system, the measurement result of the baseline is calculated and obtained according to the single-difference observation value and the corresponding integer ambiguity, and then the measurement result of the baseline is converted into the first coordinate according to the preset coordinate rotation matrix. The system is converted to the second coordinate system to determine the longitude and latitude coordinates corresponding to the main RTK antenna, and finally, the current measurement heading is determined according to the longitude coordinates and the latitude coordinates, so that the accuracy of the current measurement heading is improved to centimeters.

In some embodiments, the first coordinate system includes a geocentric coordinate system.

In some embodiments, the second coordinate system includes a north celestial coordinate system.

In some embodiments, outputting the current measured heading includes sending the current measured heading to a terminal device. The terminal device can be a movable platform, that is, the carrier of the dual RTK antenna assembly, or a remote control terminal or a mobile phone APP. When the current measurement heading is output, the user can know the current measurement heading information.

In some embodiments, outputting the current measured heading further includes controlling the alarm device to issue alarm information. When the carrier of the dual RTK antenna assembly is close to the obstacle, or there is a risk of hitting the obstacle according to the current measured heading, the alarm device will be controlled and an alarm message will be issued. The alarm device can be a movable platform, that is, the carrier of the dual RTK antenna assembly, or a remote control terminal or a mobile phone APP. The alarm message can be issued by the lighting of the warning light, the sound of the alarm from the speaker, or the vibration of the vibrator.

The specific steps of some of the above embodiments will be described below according to FIG. 4 :

As shown in FIG. 4 , the method for determining the heading of the movable platform includes: step S402, obtaining the current measurement length and current measurement heading of the baseline of the dual RTK antenna assembly; step S404, obtaining the corresponding state identification information according to the star search situation; step S406, judging whether the state identification information is a narrow lane fixed solution, if so, execute step S408, if not, execute step S402; step S408, compare whether the current measured length of the baseline meets the preset error range, if yes, execute Step S410, if not, execute Step S402; Step S410, output the current measured heading.

As shown in FIG. 5 , the heading determination device 500 relative to the above heading determination method specifically includes the following hardware devices and implementation solutions:

The heading determining device includes a processor 502 and a dual RTK antenna assembly 504 .

In some embodiments, the processor 502 is used to:

Obtain the current measured length of the baseline of the dual RTK antenna assembly 504 and the current measured heading.

Specifically, the carrier information sent by the positioning satellite to the dual RTK antenna assembly 504 requires a certain time, that is, a transmission delay, to propagate from the positioning satellite to the dual RTK antenna assembly 504 . As we all know, the transmission delay of carrier information is proportional to the transmission distance. When the distance between the main RTK antenna and the slave RTK antenna to the positioning satellite is different, the continuous carrier information received by the main RTK antenna and the slave RTK antenna will have different values at the same time. The phase, ie the phase difference, is further combined with the integer ambiguity and the phase difference to calculate the current measured length of the baseline and the current measured heading.

The processor 502 determines whether the current measured heading is a credible heading according to the current measured length of the baseline of the dual RTK antenna assembly 504; if not, repeat the above steps.

Specifically, since the baseline of the dual RTK antenna assembly 504 has an actual baseline size, there is an error between the current measured length of the calculated baseline and the actual baseline size, and based on this, it can be determined whether the calculated current measured length of the baseline is credible , if the current measurement length of the baseline is unreliable, it needs to be re-executed, and the current measurement length to the baseline is within the allowable error range.

The processor 502 is further configured to: output the current measured heading if it is determined whether the current measured heading is a credible heading.

Specifically, when it is determined that the current measured heading is a credible heading, the current measured heading is output for the flight control system to feedback and adjust the flight trajectory of the movable platform.

Based on the heading determination method provided by the embodiment of the present invention, when the dual RTK antenna assembly 504 receives the carrier information of the positioning satellite, it may be due to poor satellite search conditions or multipath interference, or when the movable platform is indoors, the dual RTK antenna assembly 504 usually doubles. There is a large error in the current measurement length of the baseline calculated by the RTK antenna assembly 504, which in turn leads to a larger error in the current measurement heading. The current measurement length of the baseline is used to verify whether the current measurement heading is credible. The reliability and accuracy of the orientation attitude measurement of the movable platform by the dual RTK antenna assembly 504 is improved.

In some embodiments, the obtaining, by the processor 502, the current measured length and the current measured heading of the baseline of the dual RTK antenna assembly 504 includes: receiving carrier information sent by a positioning satellite, where the carrier information is used to determine the dual RTK antennas The current measured length and current measured heading of the baseline of component 504 .

Specifically, the carrier information sent by the positioning satellite is received, and the carrier information is used to determine the current measurement length and the current measurement heading of the baseline of the dual RTK antenna assembly 504, that is, the current measurement length and the current measurement of the baseline are obtained based on the phase difference calculation. course.

In some embodiments, the dual RTK antenna assembly 504 is used for receiving carrier information sent by positioning satellites. The carrier information is used to determine the current measured length and current measured heading of the baseline of the dual RTK antenna assembly.

In some embodiments, the dual RTK antenna assembly 504 includes a master RTK antenna and a slave RTK antenna, and the processor 502 acquiring the current measured length and current measured heading of the baseline of the dual RTK antenna assembly 504 includes: determining the master The carrier information phase of the RTK antenna and the carrier information phase of the slave RTK antenna; calculate the difference between the carrier information phase of the master RTK antenna and the carrier information phase of the slave RTK antenna, and record it as a single-difference observation value ; Generate the current measurement length and the current measurement heading of the baseline of the dual RTK antenna assembly 504 according to the single-difference observations.

Specifically, by determining the carrier information phase of the master RTK antenna and the carrier information phase of the slave RTK antenna, and calculating the difference between the carrier information phase of the master RTK antenna and the carrier information phase of the slave RTK antenna value, and denoted as a single-difference observation value, and finally, according to the single-difference observation value, the current measurement length and the current measurement heading of the baseline of the dual RTK antenna assembly 504 are generated, which can improve the positioning accuracy of the dual RTK antenna assembly 504 to centimeter level.

Among them, the calculation process of the single-difference observation value also adds the clock deviation, the whole cycle ambiguity, the delay error of the transmission system, the ephemeris error of the positioning satellite, etc., to further improve the current measurement length of the solution baseline and the current measurement heading. reliability.

In some embodiments, the processor 502 determines whether the current measured heading is a credible heading according to the current measured length of the baseline of the dual RTK antenna assembly 504, and specifically includes: comparing whether the current measured length of the baseline is The preset error range is satisfied; if not, repeat the above steps; if yes, determine that the current measured heading is credible, and output the current measured heading.

Specifically, by comparing whether the current measured length of the baseline satisfies the preset error range, it can be determined whether the positioning scheme of the dual RTK antenna assembly 504 satisfies the preset error. Therefore, when it is determined that the current measured length of the baseline satisfies the preset error range , it can be determined that the current measured heading calculated according to the current measured length of the baseline is also credible.

In some embodiments, before acquiring the current measurement length of the baseline of the dual RTK antenna assembly 504, the processor 502 is further configured to: determine the preset error range according to the baseline size of the dual RTK antenna assembly 504; The error range and the baseline size determine the preset baseline length and store it.

Specifically, since the baseline size of the dual RTK antenna assembly 504 is directly related to the preset error range, determining the preset error range according to the baseline size of the dual RTK antenna assembly 504 can improve the reliability of the error range and accuracy, and then by determining and storing the preset baseline length according to the error range and the baseline size, it is possible to further improve whether the current measured length of the baseline is credible, and then to further improve whether the current measured heading is judged. Scheme reliability and accuracy for trusted headings.

In some embodiments, there is a positive correlation between the baseline size and the error margin.

Specifically, that is, if the actual baseline size is larger, the error range is larger, that is, the confidence interval of the currently measured heading is larger, and at the same time, the smaller the actual baseline size is, the smaller the error range is, that is, the current measurement heading is smaller. the smaller the confidence interval.

In some embodiments, before acquiring the current measurement length of the baseline of the dual RTK antenna assembly 504, the processor 502 is further configured to: acquire a record of whether the historical measurement heading is a credible heading, and determine the preset baseline length, and store.

Specifically, by obtaining a record of whether the historically measured heading is a credible heading, the preset baseline length is determined and stored. The historically measured heading is also calculated based on the baseline length, and the historically measured heading is more in line with the actual flight environment of the mobile platform. , therefore, combined with a large number of historical measured headings, a preset baseline length that is more in line with the actual flight environment can be provided, and then it can be more accurately determined whether the current measured heading is a credible heading based on the preset baseline length and the current measured length of the baseline .

In some embodiments, the margin of error is less than or equal to 20 centimeters.

Specifically, based on a large amount of experimental data, it can be determined that the error range is less than or equal to 20 cm.

In some embodiments, the processor 502 is further configured to: acquire corresponding state identification information according to a star search situation.

Specifically, the corresponding state identification information is obtained through the star search situation, and the state identification information assists in determining whether the current measured length of the baseline is credible, and then determines whether the current measured heading is a credible heading.

The status identification information output by the dual RTK antenna assembly 504 is specifically shown in Table 1.

In some embodiments, the processor 502 determines whether the current measured heading is a credible heading according to the current measured length of the baseline of the dual RTK antenna assembly 504 , and specifically includes: according to the current measurement length of the dual RTK antenna assembly 504 The current measured length of the baseline and the state identification information determine whether the current measured heading is a credible heading.

Specifically, according to the current measurement length of the baseline of the dual RTK antenna assembly 504, as shown in Table 1, when the status identification information is 50, the current measurement length of the baseline is compared with the preset baseline length, so as to determine the current measurement length Whether the heading is credible, thereby reducing the situation that the movable platform adopts wrong heading information due to the misjudgment of the dual RTK antenna assembly 504, thereby improving the accuracy and reliability of the flight trajectory of the movable platform.

In some embodiments, the satellite search situation includes at least one of the following: the number of satellites found, a signal-to-noise ratio, an elevation angle, a locking time, and positioning information.

In some embodiments, the processor 502 acquiring the corresponding state identification information according to the star search situation includes: acquiring a narrow lane fixed solution or other pre-stored identification information in the state identification information according to the star search situation.

Specifically, the narrow-lane fixed solution involves the sum of the phase observations of the carrier information of the main RTK antenna and the slave RTK antenna. The effective wavelength of the carrier information corresponding to the narrow-lane fixed solution is 10.7 cm. The narrow-lane fixed solution eliminates the effect of the ionosphere on the current measurement heading. The impact is very effective, and other pre-stored identification information can be referred to as shown in Table 1, but is not limited to this.

In some embodiments, the processor 502 determines whether the current measured heading is a credible heading according to the current measured length of the baseline of the dual RTK antenna assembly 504 and the status identification information, and specifically includes: after detecting When the state identification information is the narrow lane fixed solution, compare whether the current measurement length of the baseline satisfies a preset error range.

Specifically, when it is detected that the state identification information is the narrow-lane fixed solution, comparing whether the current measured length of the baseline satisfies a preset error range, that is, verifying the narrow-lane fixed according to the current measured length of the baseline Whether the solution is credible. If the current measured length of the baseline satisfies the preset error range, it is determined that the current measured heading is credible, and the current measured heading is output; if not, the above steps are repeated.

In some embodiments, the current measured heading includes a yaw angle and/or a pitch angle; wherein, the yaw angle is an angle determined according to the head direction of the movable platform and a preset heading, and the The pitch angle is an included angle determined according to the body direction of the movable platform and the horizontal direction.

In some embodiments, the processor 502 generates the current measured length of the baseline and the current measured heading according to the single-difference observation value, which specifically includes: in the first coordinate system, according to the single-difference observation value and the corresponding integer ambiguity calculation to obtain the measurement result of the baseline; according to the preset coordinate rotation matrix, the measurement result of the baseline is converted from the first coordinate system to the second coordinate system to determine the longitude corresponding to the main RTK antenna coordinates and latitude coordinates; the current survey heading is determined according to the longitude coordinates and the latitude coordinates.

Specifically, in the first coordinate system, the measurement result of the baseline is calculated and obtained according to the single-difference observation value and the corresponding integer ambiguity, and then the measurement result of the baseline is converted into the first coordinate according to the preset coordinate rotation matrix. The system is converted to the second coordinate system to determine the longitude and latitude coordinates corresponding to the main RTK antenna, and finally, the current measurement heading is determined according to the longitude coordinates and the latitude coordinates, so that the accuracy of the current measurement heading is improved to centimeters.

In some embodiments, the first coordinate system includes a geocentric coordinate system.

In some embodiments, the second coordinate system includes a north celestial coordinate system.

As shown in FIG. 5 , an embodiment of the present invention provides a computer-readable storage medium 600, the heading determination device 500 is provided with a processor 502 and a memory 1044, and the computer-readable storage medium 600 stores a computer program thereon 602, the computer program 602, when executed by the processor 502, implements the steps of the heading determination method as defined in any of the above embodiments.

The above-mentioned processor 502 may be a central processing unit (Central Processing Unit, CPU), and the processor 502 may also be other general-purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), off-the-shelf programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

Among them, the memory 1044 is used for storing program codes and recording status data.

In some embodiments, the processor 502 executes the computer program 602 to implement the method for determining the heading, and the specific steps are as follows:

Obtain the current measured length of the baseline of the dual RTK antenna assembly 504 and the current measured heading.

Specifically, it takes a certain time for the carrier information sent by the positioning satellite to the dual RTK antenna assembly 504 to be propagated by the positioning satellite to the dual RTK antenna assembly 504, that is, a transmission delay. As we all know, the transmission delay of carrier information is proportional to the transmission distance. When the distance between the main RTK antenna and the slave RTK antenna to the positioning satellite is different, the continuous carrier information received by the main RTK antenna and the slave RTK antenna will have different values at the same time. The phase, ie the phase difference, is further combined with the integer ambiguity and the phase difference to calculate the current measured length of the baseline and the current measured heading.

According to the current measured length of the baseline of the dual RTK antenna assembly 504, it is determined whether the current measured heading is a credible heading, and if not, the above steps are repeated.

Specifically, since the baseline of the dual RTK antenna assembly 504 has an actual baseline size, there is an error between the current measured length of the calculated baseline and the actual baseline size, and based on this, it can be determined whether the calculated current measured length of the baseline is credible , if the current measurement length of the baseline is unreliable, it needs to be re-executed, and the current measurement length to the baseline is within the allowable error range.

If so, output the current measured heading.

Specifically, when it is determined that the current measured heading is a credible heading, the current measured heading is output for the flight control system to feedback and adjust the flight trajectory of the movable platform.

Based on the heading determination method provided by the embodiment of the present invention, when the dual RTK antenna assembly 504 receives the carrier information of the positioning satellite, it may be due to poor satellite search conditions or multipath interference, or when the movable platform is indoors, the dual RTK antenna assembly 504 usually doubles. There is a large error in the current measurement length of the baseline calculated by the RTK antenna assembly 504, which in turn leads to a larger error in the current measurement heading. The current measurement length of the baseline is used to verify whether the current measurement heading is credible. The reliability and accuracy of the orientation attitude measurement of the movable platform by the dual RTK antenna assembly 504 is improved.

In some embodiments, the acquiring the current measured length and the current measured heading of the baseline of the dual RTK antenna assembly 504 includes: receiving carrier information sent by a positioning satellite, where the carrier information is used to determine the baseline of the dual RTK antenna assembly 504 The current measured length and the current measured heading.

Specifically, the carrier information sent by the positioning satellite is received, and the carrier information is used to determine the current measurement length and the current measurement heading of the baseline of the dual RTK antenna assembly 504, that is, the current measurement length and the current measurement of the baseline are obtained based on the phase difference calculation. course.

In some embodiments, the dual RTK antenna assembly 504 is used for receiving carrier information sent by positioning satellites.

In some embodiments, the dual RTK antenna assembly 504 includes a master RTK antenna and a slave RTK antenna, and the obtaining the current measured length and current measurement heading of the baseline of the dual RTK antenna assembly 504 includes: determining carrier information of the master RTK antenna Phase and the carrier information phase of the slave RTK antenna; calculate the difference between the carrier information phase of the master RTK antenna and the carrier information phase of the slave RTK antenna, and record it as a single-difference observation value; The difference observations generate the current measured length of the baseline of the dual RTK antenna assembly 504 and the current measured heading.

Specifically, by determining the carrier information phase of the master RTK antenna and the carrier information phase of the slave RTK antenna, and calculating the difference between the carrier information phase of the master RTK antenna and the carrier information phase of the slave RTK antenna value, and denoted as a single-difference observation value, and finally, according to the single-difference observation value, the current measurement length and the current measurement heading of the baseline of the dual RTK antenna assembly 504 are generated, which can improve the positioning accuracy of the dual RTK antenna assembly 504 to centimeter level.

Among them, the calculation process of the single-difference observation value also adds the clock deviation, the whole cycle ambiguity, the delay error of the transmission system, the ephemeris error of the positioning satellite, etc., to further improve the current measurement length of the solution baseline and the current measurement heading. reliability.

In some embodiments, determining whether the current measured heading is a credible heading according to the current measured length of the baseline of the dual RTK antenna assembly 504 specifically includes: comparing whether the current measured length of the baseline satisfies a preset error range ; if not, repeat the above steps; if yes, determine that the current measurement heading is credible, and output the current measurement heading.

Specifically, by comparing whether the current measured length of the baseline satisfies the preset error range, it can be determined whether the positioning scheme of the dual RTK antenna assembly 504 satisfies the preset error. Therefore, when it is determined that the current measured length of the baseline satisfies the preset error range , it can be determined that the current measured heading calculated according to the current measured length of the baseline is also credible.

In some embodiments, before acquiring the current measurement length of the baseline of the dual RTK antenna assembly 504, the method further includes: determining the preset error range according to the baseline size of the dual RTK antenna assembly 504; The predetermined baseline length is determined by the baseline size and stored.

Specifically, since the baseline size of the dual RTK antenna assembly 504 is directly related to the preset error range, determining the preset error range according to the baseline size of the dual RTK antenna assembly 504 can improve the reliability of the error range and accuracy, and then by determining and storing the preset baseline length according to the error range and the baseline size, it is possible to further improve whether the current measured length of the baseline is credible, and then to further improve whether the current measured heading is judged. Scheme reliability and accuracy for trusted headings.

In some embodiments, there is a positive correlation between the baseline size and the error margin.

Specifically, that is, if the actual baseline size is larger, the error range is larger, that is, the confidence interval of the currently measured heading is larger, and at the same time, the smaller the actual baseline size is, the smaller the error range is, that is, the current measurement heading is smaller. the smaller the confidence interval.

In some embodiments, before acquiring the current measurement length of the baseline of the dual RTK antenna assembly 504, the method further includes: acquiring a record of whether the historical measurement heading is a credible heading, determining the preset baseline length, and storing.

Specifically, by obtaining a record of whether the historically measured heading is a credible heading, the preset baseline length is determined and stored. The historically measured heading is also calculated based on the baseline length, and the historically measured heading is more in line with the actual flight environment of the mobile platform. , therefore, combined with a large number of historical measured headings, a preset baseline length that is more in line with the actual flight environment can be provided, and then it can be more accurately determined whether the current measured heading is a credible heading based on the preset baseline length and the current measured length of the baseline .

In some embodiments, the margin of error is less than or equal to 20 centimeters.

Specifically, based on a large amount of experimental data, it can be determined that the error range is less than or equal to 20 cm.

In some embodiments, the method further includes: acquiring corresponding state identification information according to the star search situation.

Specifically, the corresponding state identification information is obtained through the star search situation, and the state identification information assists in determining whether the current measured length of the baseline is credible, and then determines whether the current measured heading is a credible heading.

The status identification information output by the dual RTK antenna assembly 504 is specifically shown in Table 1 above.

In some embodiments, determining whether the current measured heading is a credible heading according to the current measured length of the baseline of the dual RTK antenna assembly 504 specifically includes: according to the current measured length of the baseline of the dual RTK antenna assembly 504 and the state identification information to determine whether the current measured heading is a credible heading.

Specifically, according to the current measurement length of the baseline of the dual RTK antenna assembly 504, as shown in Table 1, when the status identification information is 50, the current measurement length of the baseline is compared with the preset baseline length, so as to determine the current measurement length Whether the heading is credible, thereby reducing the situation that the movable platform adopts wrong heading information due to the misjudgment of the dual RTK antenna assembly 504, thereby improving the accuracy and reliability of the flight trajectory of the movable platform.

In some embodiments, the satellite search situation includes at least one of the following: the number of satellites found, a signal-to-noise ratio, an elevation angle, a locking time, and positioning information.

In some embodiments, the acquiring the corresponding state identification information according to the star search situation includes: acquiring the narrow lane fixed solution or other pre-stored identification information in the state identification information according to the star search situation.

Specifically, the narrow-lane fixed solution involves the sum of the phase observations of the carrier information of the main RTK antenna and the slave RTK antenna. The effective wavelength of the carrier information corresponding to the narrow-lane fixed solution is 10.7 cm. The narrow-lane fixed solution eliminates the effect of the ionosphere on the current measurement heading. The impact is very effective, and other pre-stored identification information can be referred to as shown in Table 1, but is not limited to this.

In some embodiments, determining whether the current measured heading is a credible heading according to the current measured length of the baseline of the dual RTK antenna assembly 504 and the state identification information specifically includes: after detecting the state identification information When fixing the solution for the narrow lane, compare whether the current measured length of the baseline satisfies a preset error range.

Specifically, when it is detected that the state identification information is the narrow-lane fixed solution, comparing whether the current measured length of the baseline satisfies a preset error range, that is, verifying the narrow-lane fixed solution according to the current measured length of the baseline Whether the solution is credible. If the current measured length of the baseline satisfies the preset error range, it is determined that the current measured heading is credible, and the current measured heading is output; if not, the above steps are repeated.

In some embodiments, the current measured heading includes a yaw angle and/or a pitch angle; wherein the yaw angle is an angle determined according to the head direction of the movable platform and a preset heading, and the The pitch angle is an included angle determined according to the body direction of the movable platform and the horizontal direction.

In some embodiments, generating the current measured length of the baseline and the current measured heading according to the single-difference observation value specifically includes: in the first coordinate system, according to the single-difference observation value and the corresponding whole week The ambiguity calculation obtains the measurement result of the baseline; according to the preset coordinate rotation matrix, the measurement result of the baseline is converted from the first coordinate system to the second coordinate system to determine the longitude and latitude coordinates corresponding to the main RTK antenna; The current survey heading is determined from the longitude coordinates and the latitude coordinates.

Specifically, in the first coordinate system, the measurement result of the baseline is calculated and obtained according to the single-difference observation value and the corresponding integer ambiguity, and then the measurement result of the baseline is converted into the first coordinate according to the preset coordinate rotation matrix. The system is converted to the second coordinate system to determine the longitude and latitude coordinates corresponding to the main RTK antenna, and finally, the current measurement heading is determined according to the longitude coordinates and the latitude coordinates, so that the accuracy of the current measurement heading is improved to centimeters.

In some embodiments, the first coordinate system includes a geocentric coordinate system.

In some embodiments, the second coordinate system includes a north celestial coordinate system.

Further, it is to be understood that any description of a process or method in the flowcharts or otherwise described herein can be understood to represent executable instructions comprising one or more steps for implementing a specified logical function or process modules, segments or portions of code, and the scope of the preferred embodiments of the present invention includes alternative implementations, which may not be in the order shown or discussed, including in a substantially simultaneous manner or in reverse, depending on the functionality involved order to perform the functions, which should be understood by those skilled in the art to which embodiments of the present invention pertain.

The logic and/or steps represented in flowcharts or otherwise described herein, for example, may be considered an ordered listing of executable instructions for implementing the logical functions, may be embodied in any computer-readable medium, For use with, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a system including a processor, or other system that can fetch instructions from and execute instructions from an instruction execution system, apparatus, or apparatus) or equipment. For the purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport the program for use by or in connection with an instruction execution system, apparatus, or apparatus. More specific examples (non-exhaustive list) of computer readable media include the following: electrical connections with one or more wiring (electronic devices), portable computer disk cartridges (magnetic devices), random access memory (RAM), Read Only Memory (ROM), Erasable Editable Read Only Memory (EPROM or Flash Memory), Fiber Optic Devices, and Portable Compact Disc Read Only Memory (CDROM). In addition, the computer readable medium may even be paper or other suitable medium on which the program may be printed, as may be done, for example, by optically scanning the paper or other medium, followed by editing, interpretation, or other suitable means as necessary process to obtain the program electronically and then store it in computer memory.

It should be understood that various parts of the present invention may be implemented in hardware, software, firmware or a combination thereof. In the above-described embodiments, various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented by any one or a combination of the following techniques known in the art: Discrete logic circuits, application specific integrated circuits with suitable combinational logic gates, Programmable Gate Arrays (PGA), Field Programmable Gate Arrays (FPGA), etc.

Those of ordinary skill in the art can understand that all or part of the steps carried by the methods of the above embodiments can be completed by instructing the relevant hardware through a program, and the program can be stored in a computer-readable storage medium, and the program can be executed when the program is executed. , including one or a combination of the steps of the method embodiment.

In addition, each functional unit in each embodiment of the present invention may be integrated into one processing module, or each unit may exist physically alone, or two or more units may be integrated into one module. The above-mentioned integrated modules can be implemented in the form of hardware, and can also be implemented in the form of software function modules. If the integrated modules are implemented in the form of software functional modules and sold or used as independent products, they may also be stored in a computer-readable storage medium.

The above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, and the like.

The above are only preferred embodiments of the present invention, and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims (39)

1. A course determining method is suitable for a movable platform and is characterized by comprising the following steps:

acquiring the current measurement length and the current measurement course of the base line of the double RTK antenna assemblies;

determining whether the current measurement course is an authentic course according to the current measurement length of the base line of the double RTK antenna assemblies;

and if so, outputting the current measurement course.

2. The heading determination method of claim 1, wherein the acquiring the current measured length of the baseline and the current measured heading for the dual RTK antenna assembly comprises:

and receiving carrier information sent by the positioning satellite, wherein the carrier information is used for determining the current measurement length and the current measurement heading of the base line of the double RTK antenna assembly.

3. The method of determining heading as claimed in claim 2, wherein the dual RTK antenna assemblies are configured to receive carrier information transmitted by a positioning satellite.

4. The method of determining a heading as claimed in claim 1 or 2, wherein the dual RTK antenna assembly includes a master RTK antenna and a slave RTK antenna, and the acquiring a current measured length of the baseline and a current measured heading of the dual RTK antenna assembly includes:

determining a carrier information phase of the master RTK antenna and a carrier information phase of the slave RTK antenna;

calculating a difference value between the carrier information phase of the master RTK antenna and the carrier information phase of the slave RTK antenna, and recording the difference value as a single difference observation value;

and generating the current measurement length and the current measurement heading of the base line of the double RTK antenna assemblies according to the single-difference observation value.

5. The heading determination method of claim 1, wherein determining whether the current measured heading is an authentic heading based on a current measured length of a baseline of the dual RTK antenna assembly comprises:

and comparing whether the current measurement length of the baseline meets a preset error range.

6. The heading determination method of claim 5, further comprising, prior to obtaining the current measured length of the baseline of the dual RTK antenna assembly:

determining the preset error range according to a baseline size of the dual RTK antenna assembly;

and determining the length of the preset base line according to the error range and the size of the base line, and storing.

7. The method of determining heading of claim 6, wherein the baseline dimension is positively correlated with the error range.

8. The heading determination method of claim 5, further comprising, prior to obtaining the current measured length of the baseline of the dual RTK antenna assembly:

and acquiring a record of whether the historical measured course is a credible course, determining the length of the preset baseline, and storing.

9. The heading determination method of claim 5,

the error range is less than or equal to 20 centimeters.

10. The heading determination method of claim 1, further comprising, prior to determining whether the current measured heading is an authentic heading based on a current measured length of a baseline of the dual RTK antenna assembly:

and determining whether to determine the current measurement heading according to the current measurement length of the base line of the double RTK antenna assemblies according to the state identification information of the RTK positioning device.

11. The method for determining heading of claim 10, wherein the status indication information is determined from a star finding situation, wherein the star finding situation comprises at least one of: number of satellites searched, signal-to-noise ratio, elevation angle, lock time, positioning information.

12. The heading determination method of claim 10, wherein determining whether the current measured heading is an authentic heading based on the current measured length of the baseline of the dual RTK antenna assembly comprises:

and determining whether the current measuring course is an authentic course or not according to the current measuring length of the base line of the double RTK antenna assemblies and the state identification information.

13. The heading determination method of claim 11, comprising:

and acquiring a narrow lane fixed solution or other pre-stored identification information in the state identification information according to the satellite searching condition.

14. The method for determining a heading of claim 13, wherein determining whether the current measured heading is an authentic heading based on the current measured length of the baseline of the dual RTK antenna assembly and the status identification information includes:

and when the state identification information is detected to be the narrow lane fixed solution, determining whether the current measured course is a credible course.

15. The heading determination method of claim 1,

the current measurement course comprises a yaw angle and/or a pitch angle;

the yaw angle is an included angle determined according to the machine head direction of the movable platform and a preset course, and the pitch angle is an included angle determined according to the machine body direction of the movable platform and the horizontal direction.

16. The method for determining the heading of claim 4, wherein generating the current measured length of the baseline and the current measured heading from the single-difference observation specifically comprises:

in a first coordinate system, calculating to obtain a measurement result of a baseline according to the single-difference observation value and the corresponding integer ambiguity;

converting the measurement result of the base line from a first coordinate system to a second coordinate system according to a preset coordinate rotation matrix so as to determine a longitude coordinate and a latitude coordinate corresponding to the main RTK antenna;

and determining the current measuring course according to the longitude coordinate and the latitude coordinate.

17. The heading determination method of claim 16,

the first coordinate system comprises a geocentric coordinate system; and/or the presence of a gas in the gas,

the second coordinate system comprises a north-east coordinate system.

18. The heading determination method of claim 1, wherein outputting the current measured heading comprises:

and sending the current measured course to terminal equipment, and/or controlling an alarm device to send out alarm information.

19. A heading determination device for a movable platform, the heading determination device comprising a processor configured to:

acquiring the current measurement length and the current measurement course of the base line of the double RTK antenna assemblies;

determining whether the current measurement course is an authentic course according to the current measurement length of the base line of the double RTK antenna assemblies;

and if so, outputting the current measurement course.

20. The heading determination device of claim 19, further comprising dual RTK antenna assemblies for receiving carrier information transmitted by a positioning satellite.

21. The heading determination device of claim 20, wherein the carrier information is used to determine a current measured length and a current measured heading of a baseline of the dual RTK antenna assembly.

22. The heading determination device of claim 19 or 20, wherein the dual RTK antenna assembly includes a master RTK antenna and a slave RTK antenna, and the acquiring the current measured length of the baseline and the current measured heading of the dual RTK antenna assembly specifically includes:

determining a carrier information phase of the master RTK antenna and a carrier information phase of the slave RTK antenna;

calculating a difference value between the carrier information phase of the master RTK antenna and the carrier information phase of the slave RTK antenna, and recording the difference value as a single difference observation value;

and generating the current measurement length and the current measurement heading of the base line of the double RTK antenna assemblies according to the single-difference observation value.

23. The heading determination device of claim 19, wherein the processor determines whether the current measured heading is an authentic heading based on the current measured length of the baseline of the dual RTK antenna assembly, including:

and comparing whether the current measurement length of the baseline meets a preset error range.

24. The heading determination device of claim 23, wherein the processor, prior to acquiring the current measured length of the baseline of the dual RTK antenna assembly, is further configured to:

determining the preset error range according to a baseline size of the dual RTK antenna assembly;

and determining the length of the preset base line according to the error range and the size of the base line, and storing.

25. The heading determining device of claim 24,

the baseline dimension is positively correlated with the error range.

26. The heading determination device of claim 23, wherein the processor, prior to acquiring the current measured length of the baseline of the dual RTK antenna assembly, is further configured to:

and acquiring a record of whether the historical measured course is a credible course, determining the length of the preset baseline, and storing.

27. The heading determining device of claim 23,

the error range is less than or equal to 20 centimeters.

28. The heading determination device of claim 19, wherein the processor is further configured to:

and determining whether to determine the current measurement heading according to the current measurement length of the base line of the double RTK antenna assemblies according to the state identification information of the RTK positioning device.

29. The heading determination device of claim 28, wherein the processor determines whether the current measured heading is an authentic heading based on the current measured length of the baseline of the dual RTK antenna assembly, including:

and determining whether the current measuring course is an authentic course or not according to the current measuring length of the base line of the double RTK antenna assemblies and the state identification information.

30. The heading determination device of claim 28, wherein the status indication information is determined from a star finding situation, wherein the star finding situation comprises at least one of: number of satellites searched, signal-to-noise ratio, elevation angle, lock time, positioning information.

31. The heading determining device of claim 28, comprising:

and acquiring a narrow lane fixed solution or other pre-stored identification information in the state identification information according to the satellite searching condition.

32. The heading determination device of claim 29, wherein the processor determines whether the current measured heading is an authentic heading based on the current measured length of the baseline of the dual RTK antenna assembly and the state identification information, including:

and when the state identification information is detected to be the narrow lane fixed solution, determining whether the current measured course is a credible course.

33. The heading determining device of claim 19,

the current measurement course comprises a yaw angle and/or a pitch angle;

the yaw angle is an included angle determined according to the machine head direction of the movable platform and a preset course, and the pitch angle is an included angle determined according to the machine body direction of the movable platform and the horizontal direction.

34. The heading determination device of claim 22, wherein the processor generates the current measured length of the baseline and the current measured heading from the single-difference observation, specifically comprising:

in a first coordinate system, calculating to obtain a measurement result of a baseline according to the single-difference observation value and the corresponding integer ambiguity;

converting the measurement result of the base line from a first coordinate system to a second coordinate system according to a preset coordinate rotation matrix so as to determine a longitude coordinate and a latitude coordinate corresponding to the main RTK antenna;

and determining the current measuring course according to the longitude coordinate and the latitude coordinate.

35. The heading determining device of claim 34,

the first coordinate system comprises a geocentric coordinate system; and/or the presence of a gas in the gas,

the second coordinate system comprises a north-east coordinate system.

36. The heading determination device of claim 19, wherein the outputting the current measured heading comprises:

and sending the current measured course to terminal equipment, and/or controlling an alarm device to send out alarm information.

37. A computer-readable storage medium, on which a computer program is stored, characterized in that the computer program, when executed, carries out the steps of the method of determining a heading according to any one of claims 1 to 18.

38. A movable platform, comprising:

a motive device configured to effect movement of the movable platform;

the heading determination device as claimed in any one of claims 19 to 36 configured to determine a confidence level of a measured heading.

39. The movable platform of claim 38,

the movable platform is an unmanned aerial vehicle or a flying image acquisition device.

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