TDOA System Positioning Accuracy Measurement Method, Device, Electronic Equipment and Storage Medium

Abstract

The present invention provides a method, device, electronic device and storage medium for measuring the positioning accuracy of a TDOA system. The method includes: using the TDOA system to perform n localizations on a signal source at a test position to obtain n measured localization positions; determining error information according to the n measured localization positions and the actual geographical location of the test position; determining calibration information according to the n measured localization positions and m sets of time difference information obtained during each localization; using the calibration information to correct the error information; and determining the system positioning accuracy of the TDOA system based on the positioning accuracy of the TDOA system for multiple test positions.

Description

Technical Field

[0001] The present invention relates to the field of wireless communication, and in particular, to a method, device, equipment and medium for measuring the positioning accuracy of a TDOA system. Background Art

[0002] TDOA positioning is a method of positioning using time differences. For example: by measuring the absolute time differences of signals arriving at each monitoring station, hyperbolas with the detection stations as foci and the distance differences as the major axes can be made to determine the position of the signal.

[0003] According to the TDOA positioning principle, its positioning accuracy is affected by two major factors. One is the system factor, including the measurement accuracy of the station positions and the time difference measurement accuracy. The other is the non-system factor, including the relative geometric positions of the wireless signal source and each station (referred to as the station layout form). To compare the positioning accuracies of different TDOA systems, the influence of non-system factors on the positioning accuracy needs to be eliminated.

[0004] The influence of the station layout form on the positioning accuracy can be described by the Geometric Dilution of Precision (GDOP). The smaller the GDOP, the higher the positioning accuracy. According to Figure 1 It can be seen that the GDOP value changes with the position of the wireless signal source. For example, Figure 1 the GDOP values in regions 1, 2, and 3 are relatively large, and when measuring in these regions, the positioning error will increase, resulting in a decrease in the positioning accuracy.

[0005] Currently, the mainstream physical quantity representing the positioning accuracy of a TDOA system is the geographical position error. However, if only the geographical position error is considered, the positioning error caused by non-system factors cannot be eliminated, so the system positioning accuracy cannot be accurately characterized. Summary of the Invention

[0006] The present invention provides a method, device, electronic equipment and storage medium for measuring the positioning accuracy of a TDOA system to solve the influence of non-system factors on the system positioning accuracy.

[0007] The present invention obtains a correction factor based on the position information and the time difference change, and uses this correction factor to correct the geographical position error, which is the mainstream representation of the positioning accuracy of the TDOA system, so as to eliminate the influence of non-system factors on the positioning accuracy of the TDOA system, and make the measured positioning accuracy better reflect the positioning ability of the TDOA system.

[0008] According to the first aspect of the present invention, there is provided a method for measuring the positioning accuracy of a TDOA system, including:

[0009] Use the TDOA system to locate the signal source at the test position n times to obtain n measured positioning positions; the TDOA system includes multiple TDOA stations;

[0010] According to the n measured positioning positions and the actual geographical location of the test position, determine error information, where the error information characterizes the error of the multiple measured positioning positions relative to the actual geographical location;

[0011] According to the n measured positioning positions and the m sets of time difference information obtained each time of positioning, determine correction information, where the correction information characterizes the influence of the position where the signal source is located on the positioning result of the TDOA system; each set of time difference information characterizes the time difference between the signals received by the corresponding two TDOA stations at the corresponding moment from the signal source;

[0012] Use the correction information to correct the error information, so as to use the corrected error information to characterize the positioning accuracy of the TDOA system for the test position;

[0013] Based on the positioning accuracy of the TDOA system for multiple test positions, determine the system positioning accuracy of the TDOA system.

[0014] Optionally, determining error information according to the n measured positioning positions and the actual geographical location of the test position includes:

[0015] Calculate the geographical location error ΔL of a single positioning according to the following formula iδ :

[0016]

[0017] where: (α δ , β δ ) characterizes the actual geographical location of the test position, (x i , y i ) (1≤i≤n) characterizes the measured positioning position of the i-th positioning, and R is a constant representing the semi-major axis of the earth's oblate spheroid.

[0018] Obtain the error information according to the statistical value of the single geographical location error obtained from n positionings.

[0019] Optionally, determining correction information according to the n measured positioning positions and the m sets of time difference information obtained each time of positioning includes:

[0020] Calculate m sets of partial derivative information for each measured positioning location; each set of partial derivative information characterizes the partial derivative of the displacement of the measured positioning location in the x-axis direction with respect to a corresponding set of time difference information, and: the partial derivative of the displacement of the measured positioning location in the y-axis direction with respect to a corresponding set of time difference information;

[0021] Determine the correction information according to all the partial derivative information of the n measured positioning locations.

[0022] Optionally, calculating m sets of partial derivative information for each measured positioning location includes:

[0023] Determine the first reference position information and the second reference position information according to the measured positioning location;

[0024] Among them, there is a specified first distance difference in the x-axis direction between the first reference position information and the measured positioning location, and there is a specified second distance difference in the y-axis direction between the second reference position information and the measured positioning location;

[0025] Determine the first reference time difference corresponding to the first reference position information;

[0026] Determine the second reference time difference corresponding to the second reference position information;

[0027] Determine the partial derivative information according to the measured positioning location, the time difference information of the measured positioning location, the first reference time difference, and the second reference time difference.

[0028] Optionally, using the correction information to correct the error information to use the corrected error information to characterize the positioning accuracy of the TDOA system for the test location includes:

[0029] Correct the error information according to the following formula:

[0030]

[0031] Among them: ΔL′ δ Respectively represent the uncorrected error information;

[0032] ξ δ Represents the correction information;

[0033] ΔL δ Represents the corrected error information;

[0034] ceil() is the ceiling function.

[0035] Optionally, before using the correction information to correct the error information, it further includes:

[0036] Determine that the test position is a valid test position according to the calibration information.

[0037] Optionally, determining that the test position is a valid test position according to the calibration information includes:

[0038] Compare the calibration information with a preset threshold, and determine that the calibration information is less than the preset threshold.

[0039] According to a second aspect of the present invention, there is provided a device for measuring the positioning accuracy of a TDOA system, including:

[0040] A TDOA system positioning module, configured to perform n times of positioning on a signal source at a test position by using the TDOA system to obtain n measured positioning positions; the TDOA system includes a plurality of TDOA stations;

[0041] An error information determination module, configured to determine error information according to the n measured positioning positions and the actual geographical location of the test position, where the error information characterizes the error of the n measured positioning positions relative to the actual geographical location;

[0042] A calibration information determination module, configured to determine calibration information according to the n measured positioning positions and m sets of time difference information obtained during each positioning, where the calibration information characterizes the influence of the position where the signal source is located on the positioning result of the TDOA system; each set of time difference information characterizes the time difference between the signals received by two corresponding TDOA stations at a corresponding moment from the signal source;

[0043] An error information calibration module, configured to calibrate the error information by using the calibration information, so as to use the calibrated error information to characterize the positioning accuracy of the TDOA system for the test position;

[0044] A system positioning accuracy determination module of the TDOA system, configured to determine the system positioning accuracy of the TDOA system based on the positioning accuracy of the TDOA system for a plurality of the test positions.

[0045] Optionally, the error information determination module, configured to determine error information according to the n measured positioning positions and the actual geographical location of the test position, includes:

[0046] Calculate the geographical location error ΔL of a single positioning according to the following formula iδ :

[0047]

[0048] Where: (α δ , β δ ) characterizes the actual geographical location of the test position, (x i,y i (1 ≤ i ≤ n) represents the measured positioning position of the i-th positioning. R is a constant representing the semi-major axis of the Earth's ellipsoid (R = 6378.14 km).

[0049] The error information is obtained based on the statistical value of the single-location geographical error obtained from n positionings.

[0050] Optionally, a correction information determination module is configured to determine correction information according to the n measured positioning positions and the m sets of time difference information obtained at each positioning, including:

[0051] Calculating m sets of partial derivative information for each measured positioning position; each set of partial derivative information represents the partial derivative of the displacement of the measured positioning position in the x-axis direction with respect to a corresponding set of time difference information, and: the partial derivative of the displacement of the measured positioning position in the y-axis direction with respect to a corresponding set of time difference information;

[0052] Determining the correction information according to all the partial derivative information of the n measured positioning positions.

[0053] Optionally, calculating m sets of partial derivative information for each measured positioning position includes:

[0054] Determining first reference position information and second reference position information according to the measured positioning position;

[0055] Wherein, there is a specified first distance difference in the x-axis direction between the first reference position information and the measured positioning position, and there is a specified second distance difference in the y-axis direction between the second reference position information and the measured positioning position;

[0056] Determining a first reference time difference corresponding to the first reference position information;

[0057] Determining a second reference time difference corresponding to the second reference position information;

[0058] Determining the partial derivative information according to the measured positioning position, the time difference information of the measured positioning position, the first reference time difference, and the second reference time difference.

[0059] Optionally, an error information correction module is configured to correct the error information by using the correction information, so as to use the corrected error information to represent the positioning accuracy of the TDOA system for the test position, including:

[0060] Correcting the error information according to the following formula:

[0061]

[0062] Where: ΔL′ δrespectively characterize the uncorrected error information;

[0063] ξ δ characterize the correction information;

[0064] ΔL δ characterize the error information after correction

[0065] ceil() is the ceiling function.

[0066] Optionally, before correcting the error information using the correction information, it further includes:

[0067] Optionally, determining that the test position is a valid test position according to the correction information includes:

[0068] Compare the correction information with a preset threshold, and determine that the correction information is less than the preset threshold.

[0069] According to a third aspect of the present invention, there is provided an electronic device, including a processor and a memory; the memory stores a program that can be called by the processor; wherein, when the processor executes the program, it implements the TDOA system positioning accuracy measurement method according to any one of the first aspects of the present invention.

[0070] According to a fourth aspect of the present invention, there is provided a storage medium, characterized in that a program is stored thereon, and when the program is executed by a processor, it implements the TDOA system positioning accuracy measurement method according to any one of the first aspects of the present invention.

[0071] The TDOA system positioning accuracy measurement method, device, electronic device and storage medium provided by the present invention obtain a correction factor according to position information and time difference change, and use the correction factor to correct the geographical position error that mainly characterizes the TDOA system positioning accuracy, so as to eliminate the influence of geographical position on the TDOA system positioning accuracy and obtain a more effective positioning accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0072] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention, and for those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0073] Figure 1 It is a schematic diagram showing the distribution of the geometric dilution of precision GDOP in the TDOA positioning system in an embodiment of the present invention;

[0074] Figure 2Schematic flow of the TDOA system positioning accuracy measurement method in an embodiment of the present invention Figure 1 ;

[0075] Figure 3 Schematic flow of the TDOA system positioning accuracy measurement method in an embodiment of the present invention Figure 2 ;

[0076] Figure 4 Schematic flow of the TDOA system positioning accuracy measurement method in an embodiment of the present invention Figure 3 ;

[0077] Figure 5 Schematic flow of the TDOA system positioning accuracy measurement method in an embodiment of the present invention Figure 4 ;

[0078] Figure 6 Schematic diagram of the modules of the TDOA system positioning accuracy measurement device in an embodiment of the present invention Figure 4 ;

[0079] Figure 7 Distribution diagram of the selected range of test positions in the TDOA system positioning accuracy measurement in an embodiment of the present invention;

[0080] Figure 8 Schematic diagram of the structure of the electronic device for TDOA system positioning accuracy measurement in an embodiment of the present invention. Detailed implementation manners

[0081] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with 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, rather than all 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.

[0082] Terms such as "first", "second", "third", "fourth", etc. (if any) in the specification and claims of the present invention and the above accompanying drawings are used to distinguish similar objects, and do not necessarily describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present invention described here can be implemented in an order different from those illustrated or described here. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products, or devices.

[0083] The technical solution of the present invention will be described in detail below with specific embodiments. The following several specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments.

[0084] Figure 2 is a schematic flowchart of a method for measuring the positioning accuracy of a TDOA system in an embodiment of the present invention Figure 1 , specifically including:

[0085] S1: Use the TDOA system to perform n localizations on the signal source at the test position to obtain n measured localization positions; the TDOA system includes multiple TDOA stations;

[0086] S2: Determine error information according to the n measured localization positions and the actual geographical location of the test position, where the error information characterizes the error of the n measured localization positions relative to the actual geographical location;

[0087] S3: Determine correction information according to the n measured localization positions and m sets of time difference information obtained during each localization, where the correction information characterizes the influence of the position of the signal source on the localization result of the TDOA system; each set of time difference information characterizes the time difference between the signals received by the corresponding two TDOA stations at the corresponding moment;

[0088] S4: Use the correction information to correct the error information, so as to use the corrected error information to characterize the positioning accuracy of the TDOA system for the test position;

[0089] S5: Determine the system positioning accuracy of the TDOA system based on the positioning accuracy of the TDOA system for multiple test positions.

[0090] Among them, the test position can be understood as the geographical location of the actual longitude and latitude of the positioning signal source. In this embodiment, a group of positioning signal sources are randomly selected within a regional range ( Figure 7 ), and the selected test position has GPS longitude and latitude information.

[0091] The measured localization position can be understood as the position obtained by TDOA positioning measurement when the signal source is at the test position. For example, in step S1, a certain signal source at the test position is localized n times to obtain n measured localization positions. The measured localization position can be characterized by two-dimensional coordinates. For example, the measured localization position (x i , y i ) mentioned later. In other examples, the trajectory position can also be three-dimensional coordinates, and other forms that can characterize the position can also be used to describe the trajectory position..

[0092] TDOA positioning is a method of positioning using time difference. The position of the signal can be determined by measuring the absolute time difference of the signal reaching each monitoring station. The TDOA station can be understood as the monitoring station used in TDOA positioning.

[0093] The time difference information represents the time difference when the two corresponding TDOA sites receive the signals from the UAV at the corresponding times. It can also be understood that each set of time difference information corresponds to two corresponding TDOA sites, and the time difference information represents the time difference between the signal source (i.e., the same signal from the UAV) reaching the corresponding two TDOAs. Furthermore, a set of time difference information can be formed between every two TDOA sites.

[0094] Positioning accuracy refers to the degree of closeness between the location information of a spatial entity (the location coordinates obtained by positioning the system) and its actual location (such as the actual longitude and latitude of the signal source). For example, the current mainstream physical quantity that characterizes the positioning accuracy of the TDOA system is the geographic location error. The usual calculation method is to randomly select some test locations within a certain range (such as within the encirclement of each site), calculate the geographic location error at each test location, and take the average value of all test locations as the system positioning accuracy. However, the positioning accuracy of the TDOA system is different when the signal source location and the station layout are different, so this method of characterizing the system positioning accuracy is not accurate. In this embodiment, the geographic location error can be corrected. In a further scheme, the correction information of each location can also be used to determine whether the test location is valid, and at the valid test location. The correction information reflects the positioning error caused by the signal source location. Through correction based on this, the influence of non-system factors on the positioning accuracy of the TDOA system can be eliminated.

[0095] Please refer to Figure 3 , a flow chart of a method for measuring positioning accuracy of a TDOA system in one embodiment of the present invention Figure 2 , step S2, determining error information according to the n measured positioning positions and the actual geographical location of the test position, wherein the error information represents errors of the multiple measured positioning positions relative to the actual geographical location;

[0096] In this embodiment, the actual geographical location of the test location is the actual latitude and longitude geographical location of the signal source, and its GPS latitude and longitude information is a known quantity, which is represented by (α δ , β δ ) represents the test position T δ The coordinates of the actual geographic location, for the test location T δ The coordinates of the n measured positions obtained by performing n positioning can be expressed as (x i ,y i )(1≤i≤n);

[0097] The specific steps are as follows:

[0098] S21: Calculate the single - location geographical position error ΔL iδ , and according to the test location and one of the n measured location positions among the n measured location positions, use formula (1):

[0099]

[0100] where: (α δ , β δ ) represents the actual geographical position coordinates of the test location, (x i , y i )(1 ≤ i ≤ n) represents the measured location position obtained in the i - th positioning during the n - time positioning of the test location, and R is the radius of the Earth's oblate spheroid (R = 6378.14 km).

[0101] S22: Obtain the error information according to the statistical value of the single - location geographical position error obtained from the n - time positioning. In this implementation, the average value of the n - time measurements ΔL′ can be calculated using formula (2) δ

[0102]

[0103] Please refer to Figure 4 , the flow schematic of the positioning accuracy measurement method of the TDOA system in an embodiment of the present invention Figure 3 , step S3, according to the n measured location positions and the m sets of time - difference information obtained each time of positioning, determine the correction information, where the correction information represents the influence of the position where the signal source is located on the positioning result of the TDOA system; each set of time - difference information represents the time difference between the signals received by the corresponding two TDOA stations at the corresponding moment; specifically, it further includes:

[0104] S31: Calculate the m sets of partial - derivative information for each measured location position;

[0105] S32: Determine the correction information according to the partial - derivative information of the n measured location positions.

[0106] Please refer to Figure 5 , the flow schematic of the positioning accuracy measurement method of the TDOA system in an embodiment of the present invention Figure 3 , where step S31 can specifically include:

[0107] S311; Determine the first reference position information and the second reference position information according to the measured location position;

[0108] S312; Determine the first reference time - difference corresponding to the first reference position information;

[0109] S313; Determine the second reference time difference corresponding to the second reference position information;

[0110] S314; Determine the partial derivative information according to the measured positioning position, the time difference information, the first reference time difference and the second reference time difference.

[0111] The first reference time difference and the second reference time difference can be respectively obtained by inverse derivation according to the measured positioning position, the first reference position information and the second reference position information using the Taylor expansion formula, and other methods other than the Taylor expansion formula can also be used for inverse derivation here.

[0112] Among them, there is a specified first distance difference in the x-axis direction between the first reference position information and the measured positioning position, and there is a specified second distance difference in the y-axis direction between the second reference position information and the measured positioning position;

[0113] In this solution, three detection and positioning stations are used to describe the principle, and the positions in this solution are described in a two-dimensional space. Taking m = 3 as an example, in step S3 of this solution, for example, correction information can be determined according to the measured positioning position at the test position and three groups of time difference information. In this implementation, a, b, and c represent three different TDOA stations, τ is the time difference information, and the three groups of time difference information τ1, τ2, and τ3 respectively represent the time differences between stations a and b, between stations a and c, and between stations b and c. Δτ is the time difference change amount, and Δx and Δy are the position distance change amounts. In this solution, the following method is used to describe the formula, and the meanings are as follows:

[0114] Equivalent to

[0115] Step S31 calculates the 3 groups of partial derivative information for each measured positioning position, and the calculation process is as follows:

[0116] The first step, the actual positioning result position is (x i , y i )(i = ε, 1 ≤ ε ≤ n), and the corresponding three groups of time differences are shown in formula (3):

[0117]

[0118] The second step, assume that when the position is (x ε + delat_x, y ε ), the corresponding three groups of time differences are shown in formula (4):

[0119]

[0120] Step 3: Assume that when the position is (x ε , y ε + delat_y), the corresponding three groups of time differences are as shown in formula (5):

[0121]

[0122] Step 4: The partial derivative results of x and y with respect to the time difference τ obtained according to formulas (3), (4), and (5) are as follows:

[0123] and

[0124] Step S32: According to the partial derivative information of the n measured positioning positions calculated above, the correction information ξ j (j = δ, 1 ≤ δ ≤ m) is calculated by formula (6):

[0125]

[0126] The significance of the correction information can, to a certain extent, represent the positioning error caused by the influence of the station layout form. Before using the correction information to correct the error information, it is also necessary to determine whether the test position is a valid test position according to the correction information.

[0127] In this embodiment, by comparing the correction information with a preset threshold, it is determined whether the test position is a valid test position. If the correction information is less than the preset threshold, it means that the test position is a valid test position; if the correction information is greater than the preset threshold, it means that the test position is too affected by the station layout form to be used to measure the influence of the system on the positioning accuracy, indicating that the test position is invalid.

[0128] Step S4: Use the correction information to correct the error information so as to use the corrected error information to characterize the positioning accuracy of the TDOA system for the test position. Using the correction information obtained in Step S3, the error information ΔL′ δ calculated for a valid test position in S2 is corrected according to formula (7) to obtain the corrected error information ΔL δ , and it is used in Step S5 to confirm the positioning accuracy of the TDOA system for the test position.

[0129]

[0130] where ξ δ represents the correction information; ΔL δ represents the corrected error information; ceil() is the ceiling function, for example, ceil(1.1) = 2.

[0131] Step S5: determining the system positioning accuracy of the TDOA system based on the positioning accuracy of the TDOA system for the plurality of test locations.

[0132] In this embodiment, some test locations are randomly selected within the encirclement of the TDOA system site for measurement. The selected area range is as follows: Figure 7 As shown, according to q valid test positions (1≤j≤q), the ΔL calculated by formula (8) is the system positioning accuracy of the TDOA system in the present invention:

[0133]

[0134] Currently, the mainstream physical quantity that characterizes the positioning accuracy of the TDOA system is to calculate the average geographic location error of different test locations. However, since the positioning accuracy of the TDOA system at different locations is also different, the average geographic location error cannot accurately characterize the positioning accuracy of the TDOA system.

[0135] The present invention obtains a correction factor based on position information and time difference changes, and uses the correction factor to correct the geographical location error that mainly characterizes the positioning accuracy of the TDOA system, thereby eliminating the influence of non-system factors such as geographical location on the positioning accuracy of the TDOA system, and obtaining a more accurate positioning accuracy that can better reflect the positioning capability of the TDOA system.

[0136] Please refer to Figure 6 , a schematic diagram of a module of a TDOA system positioning accuracy measurement device according to an embodiment of the present invention Figure 1 The embodiment of the present invention further provides a TDOA system positioning accuracy measurement device 200, comprising:

[0137] The TDOA system positioning module 210 is used to use the TDOA system to perform n positioning of the signal source at the test position to obtain n measured positioning positions; the TDOA system includes multiple TDOA sites;

[0138] An error information determination module 220, configured to determine error information based on the n measured positioning positions and the actual geographical location of the test position, wherein the error information represents errors of the multiple measured positioning positions relative to the actual geographical location;

[0139] The correction information determination module 230 is used to determine the correction information according to the n measured positioning positions and the m groups of time difference information obtained during each positioning, wherein the correction information represents the influence of the position of the signal source on the positioning result of the TDOA system; each group of time difference information represents the time difference between the signals of the signal source received by the corresponding two TDOA stations at the corresponding time;

[0140] An error information correction module 240, configured to correct the error information by using the correction information, so as to use the corrected error information to characterize the positioning accuracy of the TDOA system for the test position;

[0141] A system positioning accuracy determination module 250 of the TDOA system, configured to determine the system positioning accuracy of the TDOA system based on the positioning accuracies of the TDOA system for multiple test positions.

[0142] Wherein, an error information determination module 220 is configured to determine error information according to the n measured positioning positions and the actual geographical location of the test position, including:

[0143] Calculating the geographical location error ΔL of a single positioning according to the following formula iδ :

[0144]

[0145] Wherein: (α δ , β δ ) represents the actual geographical location of the test position, (x i , y i ) (1 ≤ i ≤ n) represents the measured positioning position of the i-th positioning, and R is a constant representing the semi-major axis of the Earth's oblate spheroid (R = 6378.14 km).

[0146] Wherein, a correction information determination module 230 is configured to determine correction information according to the n measured positioning positions and m sets of time difference information obtained during each positioning, including:

[0147] Calculating m sets of partial derivative information for each measured positioning position; each set of partial derivative information represents the partial derivative of the displacement of the measured positioning position in the x-axis direction with respect to a corresponding set of time difference information, and: the partial derivative of the displacement of the measured positioning position in the y-axis direction with respect to a corresponding set of time difference information;

[0148] Determining the correction information according to all the partial derivative information of the n measured positioning positions.

[0149] Calculating m sets of partial derivative information for each measured positioning position, including:

[0150] Determining first reference position information and second reference position information according to the measured positioning position;

[0151] Wherein, there is a specified first distance difference between the first reference position information and the measured positioning position in the x-axis direction, and there is a specified second distance difference between the second reference position information and the measured positioning position in the y-axis direction;

[0152] Determine a first reference time difference corresponding to the first reference position information;

[0153] Determine a second reference time difference corresponding to the second reference position information;

[0154] Determine the partial derivative information according to the measured positioning position, the time difference information of the measured positioning position, the first reference time difference, and the second reference time difference.

[0155] Among them, the error information correction module 240 is used to correct the error information by using the correction information, so as to use the corrected error information to characterize the positioning accuracy of the TDOA system for the test position, including:

[0156] Correct the error information according to the following formula:

[0157]

[0158] Among them: ΔL′ δ respectively represent the uncorrected error information;

[0159] Among them, ξ δ represents the correction information; ΔL δ represents the corrected error information; ceil() is the ceiling function.

[0160] Before correcting the error information by using the correction information, it further includes: determining that the test position is a valid test position according to the correction information, including:

[0161] Compare the correction information with a preset threshold, and determine that the correction information is less than the preset threshold.

[0162] Please refer to Figure 8 , and provides an electronic device 30, including:

[0163] A processor 31; and,

[0164] A memory 32 for storing executable instructions of the processor;

[0165] Among them, the processor 31 is configured to execute the methods involved above by executing the executable instructions.

[0166] The processor 31 can communicate with the memory 32 through a bus 33.

[0167] An embodiment of the present invention also provides a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the methods involved above are implemented.

[0168] Those of ordinary skill in the art will understand that all or part of the steps of implementing the above method embodiments can be completed by hardware related to program instructions. The foregoing program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps of the above method embodiments; and the foregoing storage medium includes: various media such as ROM, RAM, magnetic disks, or optical discs that can store program codes.

[0169] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some or all of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for measuring the positioning accuracy of a TDOA system, characterized in that, Including: Using a TDOA system to perform n localizations on a signal source at a test location to obtain n measured localization positions; the TDOA system includes multiple TDOA stations; Determining error information based on the n measured localization positions and the actual geographical location of the test location, where the error information characterizes the error of the multiple measured localization positions relative to the actual geographical location; Determining calibration information based on the n measured localization positions and m sets of time difference information obtained during each localization, where the calibration information characterizes the influence of the position of the signal source on the localization result of the TDOA system; each set of time difference information characterizes the time difference between the signals received by two corresponding TDOA stations at a corresponding moment; Using the calibration information to correct the error information so as to use the corrected error information to characterize the localization accuracy of the TDOA system for the test location; Determining the system localization accuracy of the TDOA system based on the localization accuracies of the TDOA system for multiple test locations.

2. The method for measuring the positioning accuracy of the TDOA system according to claim 1, characterized in that Determining error information based on the n measured localization positions and the actual geographical location of the test location includes: Calculate the geographical location error ΔL of a single positioning according to the following formula iδ : Where: (α δ , β δ ) represents the actual geographical location of the test position, (x i , y i ) represents the measured positioning position of the i-th positioning, and 1 ≤ i ≤ n, and R is a constant representing the semi-major axis of the Earth's oblate spheroid; Obtaining the error information based on the statistical value of the geographical location error of the single localization obtained from n localizations.

3. The method for measuring the positioning accuracy of the TDOA system according to claim 1, wherein Determining calibration information based on the n measured localization positions and m sets of time difference information obtained during each localization includes: Calculating m sets of partial derivative information for each measured localization position; each set of partial derivative information characterizes the partial derivative of the displacement of the measured localization position in the x-axis direction with respect to a corresponding set of time difference information, and: the partial derivative of the displacement of the measured localization position in the y-axis direction with respect to a corresponding set of time difference information; Determining the calibration information based on all the partial derivative information of the n measured localization positions.

4. The method for measuring the positioning accuracy of the TDOA system according to claim 3, wherein Calculating m sets of partial derivative information for each measured localization position includes: Determining first reference position information and second reference position information based on the measured localization position; Wherein, there is a specified first distance difference in the x-axis direction between the first reference position information and the measured localization position, and there is a specified second distance difference in the y-axis direction between the second reference position information and the measured localization position; Determining a first reference time difference corresponding to the first reference position information; Determining a second reference time difference corresponding to the second reference position information; Determining the partial derivative information based on the measured localization position, the time difference information of the measured localization position, the first reference time difference, and the second reference time difference.

5. The method for measuring the positioning accuracy of the TDOA system according to claim 1, characterized in that, Using the calibration information to correct the error information so as to use the corrected error information to characterize the localization accuracy of the TDOA system for the test location includes: Correcting the error information according to the following formula: where: ΔL′ δ respectively represent the uncorrected error information; ξ δ characterizes the correction information; ΔL δ characterizes the calibrated error information; ceil() is the ceiling function.

6. The method for measuring the positioning accuracy of the TDOA system according to any one of claims 1 to 5, characterized in that, Before using the calibration information to correct the error information, it further includes: Determining that the test location is a valid test location based on the calibration information.

7. The method for measuring the positioning accuracy of the TDOA system according to claim 6, characterized in that Determining that the test location is a valid test location based on the calibration information includes: Compare the calibration information with a preset threshold, and determine that the calibration information is less than the preset threshold.

8. A positioning accuracy measurement device for a TDOA system, characterized in that, Comprising: A TDOA system positioning module for using the TDOA system to perform n positionings on a signal source at a test position to obtain n measured positioning positions; the TDOA system includes a plurality of TDOA stations; An error information determination module for determining error information according to the n measured positioning positions and the actual geographical location of the test position, where the error information characterizes the error of the n measured positioning positions relative to the actual geographical location; A calibration information determination module for determining calibration information according to the n measured positioning positions and m sets of time difference information obtained each time a positioning is performed, where the calibration information characterizes the influence of the position where the signal source is located on the positioning result of the TDOA system; each set of time difference information characterizes the time difference between the signals received by two corresponding TDOA stations at a corresponding moment from the signal source; An error information calibration module for calibrating the error information using the calibration information, so as to use the calibrated error information to characterize the positioning accuracy of the TDOA system for the test position; A system positioning accuracy determination module of the TDOA system for determining the system positioning accuracy of the TDOA system based on the positioning accuracy of the TDOA system for a plurality of the test positions.

9. The positioning accuracy measuring device of a TDOA system according to claim 8, characterized in that, An error information determination module for determining error information according to the n measured positioning positions and the actual geographical location of the test position, including: Calculate the geographical location error ΔL of a single positioning according to the following formula iδ :[[]]END]] Where: (α δ , β δ ) represents the actual geographical location of the said test position, (x i , y i ) represents the actually measured positioning position of the i-th positioning, and 1 ≤ i ≤ n, and R is a constant representing the semi-major axis of the Earth's oblate spheroid; Obtaining the error information according to the statistical value of the geographical location error of the single positioning obtained from the n positionings.

10. A TDOA system positioning accuracy measurement device according to claim 8, characterized in that, A calibration information determination module for determining calibration information according to the n measured positioning positions and m sets of time difference information obtained each time a positioning is performed, including: Calculating m sets of partial derivative information for each measured positioning position; each set of partial derivative information characterizes the partial derivative of the displacement of the measured positioning position in the x-axis direction with respect to a corresponding set of time difference information, and: the partial derivative of the displacement of the measured positioning position in the y-axis direction with respect to a corresponding set of time difference information; Determining the calibration information according to all the partial derivative information of the n measured positioning positions.

11. A TDOA system positioning accuracy measurement device according to claim 10, characterized in that, Calculating m sets of partial derivative information for each measured positioning position, including: Determining first reference position information and second reference position information according to the measured positioning position; Wherein, there is a specified first distance difference in the x-axis direction between the first reference position information and the measured positioning position, and there is a specified second distance difference in the y-axis direction between the second reference position information and the measured positioning position; Determining a first reference time difference corresponding to the first reference position information; Determining a second reference time difference corresponding to the second reference position information; Determining the partial derivative information according to the measured positioning position, the time difference information of the measured positioning position, the first reference time difference, and the second reference time difference.

12. The TDOA system positioning accuracy measurement device according to claim 8, characterized in that, An error information calibration module for calibrating the error information using the calibration information, so as to use the calibrated error information to characterize the positioning accuracy of the TDOA system for the test position, including: The error information is corrected according to the following formula: where: ΔL′ δ respectively represent the uncorrected error information; ξ δ characterizes the correction information; ΔL δ characterizes the calibrated error information; ceil() is the ceiling function.

13. The TDOA system positioning accuracy measuring device according to any one of claims 8 to 12, characterized in that Before correcting the error information by using the correction information, it further includes: Determining that the test position is a valid test position according to the correction information.

14. The TDOA system positioning accuracy measurement device according to claim 13, characterized in that, Determining that the test position is a valid test position according to the correction information includes: Comparing the correction information with a preset threshold and determining that the correction information is less than the preset threshold.

15. An electronic device, characterized in that, It includes a processor and a memory; the memory stores a program that can be called by the processor; wherein, when the processor executes the program, it implements the TDOA system positioning accuracy measurement method according to any one of claims 1-5.

16. A storage medium, characterized in that, A program is stored thereon, and when the program is executed by a processor, it implements the TDOA system positioning accuracy measurement method according to any one of claims 1-5.

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