Carrier phase integer ambiguity measurement method for unmanned driving positioning and attitude measurement

The invention discloses a carrier phase integer ambiguity measurement method for unmanned driving positioning and attitude measurement. The method comprises the following steps: constructing a calculation formula of wide lane ambiguity, judging whether cycle slip occurs or not, judging the influence of a cycle slip value on a calculation value, performing smooth calculation by utilizing a phase observation value, obtaining epoch cycle slip according to a TECR value, and calculating the cycle slip of an original carrier phase observation value. According to the invention, an MW combination method is adopted to eliminate atmospheric ionosphere and troposphere delay errors, station star geometric distance, satellite and receiver clock error. The method has long wavelength and high suitabilityfor solving the cycle slip problem in the dynamic environment. The ionosphere change rate is calculated by adopting the continuous phase observation value without cycle slip to detect the cycle slipand eliminate the influenc