Inertial navigation RTK attitude angle acquisition method, electronic equipment and storage medium

The invention discloses an inertial navigation RTK attitude angle acquisition method, which comprises the following steps of: calculating position increment among a plurality of epochs to obtain an attitude matrix, and calculating to obtain a pitch angle, a roll angle and a course angle according to elements in the attitude matrix; therefore, the GNSS position increment is obtained by adopting the GNSS carrier phase single station epoch difference model, the carrier phase ambiguity does not need to be fixed, the position increment superior to centimeter level can be obtained, the realization difficulty is lower, the position increment precision is higher, the method can be applied to most RTK fixed and limited scenes, and the method can be widely applied to the field of real-time kinematic engineering. And the environmental adaptability and availability of the inertial navigation RTK are improved. 本发明公开了一种惯导RTK姿态角获取方法，计算多个历元之间的位置增量，以获得姿态矩阵，根据所述姿态矩阵中的元素计算得到俯仰角、横滚角和航向角；故其GNSS位置增量采用的是GNSS载波相位单站历元间差分模型求得的，不需要对载波相