Positioning sensor simulation method and device, electronic equipment and medium
A technology of positioning sensors and simulation methods, which is applied to measurement devices, satellite radio beacon positioning systems, instruments, etc., can solve problems such as unsatisfactory positioning accuracy, inaccurate satellite signal positioning, and inability to guarantee stability, and achieve a realistic level of simulation. High degree of restoration, improve positioning accuracy and stability, and avoid the effects of inaccurate positioning
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Embodiment 1
[0030] figure 1 It is a flow chart of a positioning sensor simulation method provided in this embodiment, and this embodiment is suitable for simulating sensor positioning in automatic driving. The method can be executed by a positioning sensor simulation device, which can be composed of software and / or hardware, and is generally integrated in electronic equipment.
[0031] see figure 1 , the above positioning sensor simulation method includes the following steps:
[0032] S110. Determine the initial position coordinates of the receiving end according to the position of the satellite that can receive the signal and the distance between the receiving end and the satellite; the initial position coordinates are coordinates in the earth-centered ground-fixed coordinate system.
[0033] Referring to the satellite orbit and constellation of the Beidou satellite navigation system, the satellites in the positioning sensor simulation model are based on 24 Medium Earth Orbit (MEO) sat...
Embodiment 2
[0077] Such as Figure 4 As shown, this embodiment provides a positioning sensor simulation device, including:
[0078] The initial position coordinate determination module 101 is used to determine the initial position coordinates of the receiving end according to the position of the satellite that can receive the signal and the distance between the receiving end and the satellite; the initial position coordinates are ground-fixed coordinates at the center of the earth Coordinates under the system;
[0079] A deviation determination module 102, configured to determine the deviation of the initial position coordinates according to the error model and the occlusion model;
[0080] A position coordinate determination module 103, configured to determine the position coordinates of the receiving end according to the initial position coordinates and the deviation;
[0081] Wherein, the error model is used to characterize the error caused by at least one of transmission delay, mult...
Embodiment 3
[0084] Such as Figure 5 As shown, this embodiment provides an electronic device, including:
[0085] at least one processor; and
[0086] a memory communicatively coupled to at least one of said processors; wherein,
[0087] The memory stores instructions executable by at least one of the processors, and the instructions are executed by at least one of the processors, so that at least one of the processors can execute the above method. At least one processor in the electronic device is capable of executing the above method, and thus has at least the same advantages as the above method.
[0088] Optionally, the electronic device further includes interfaces for connecting various components, including high-speed interfaces and low-speed interfaces. The various components are interconnected using different buses and can be mounted on a common motherboard or otherwise as desired. The processor can process instructions executed in the electronic device, including storing in or o...
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