A testing device and testing method for the positioning ability of mobile targets in coal mines

Abstract

The present invention provides a testing device and method for the positioning ability of mobile targets in coal mines, which relates to the technical field of coal mine identification cards. The system includes a timing unit, a control unit, a laser emission unit, a laser reception unit, and a constant-speed walking device; multiple groups of clock units, laser receivers, and laser transmitters are set as test points near the positioning sub-station, at both boundaries of the sub-station positioning area, and in the middle between the sub-station and both boundaries of the positioning area; the positioning identification card is fixed on the positioning vehicle of the constant-speed walking device; the constant-speed walking device drives the positioning identification card to move forward at a constant speed from outside the coverage boundary of the sub-station, and the time of all clock units is counted, corresponding to the reception time recorded by the server of the mobile target positioning system, and the difference between the moving distance of the positioning vehicle with the positioning identification card fixed thereon and the position of the timing unit within the same time is calculated as the dynamic error evaluation value of the mobile target positioning ability. The system and method can accurately and automatically test the positioning ability of mobile targets in coal mines.

Description

Technical Field

[0001] The present invention relates to the technical field of coal mine mobile target positioning, and particularly to a device and method for testing the positioning ability of coal mine mobile targets. Background Art

[0002] Coal mine mobile target positioning is a key technology for safety production monitoring before an accident and rescue management after an accident. Mobile target positioning can comprehensively track and monitor mobile targets such as underground personnel and vehicles (including rail vehicles and rubber-tired vehicles). Existing coal mine mobile target positioning devices mainly use detectors, microwave beacons, RFID, infrared (IR) technology, radio frequency (RF) technology, and positioning technology combining radio frequency electromagnetic waves and ultrasound to achieve.

[0003] The positioning ability of coal mine mobile target positioning is a crucial factor, and it is necessary to test and evaluate the positioning accuracy of coal mine underground mobile target positioning devices.

[0004] However, existing experimental devices and methods cannot test the positioning ability of coal mine mobile targets, and the real coal mine environment cannot be simulated during the experiment, and the influencing factors that may exist during coal mine mobile target positioning cannot be comprehensively considered, so the positioning ability cannot be accurately tested. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a device and method for testing the positioning ability of coal mine mobile targets to achieve the test of the positioning ability of coal mine mobile targets in view of the above-mentioned deficiencies of the prior art.

[0006] To solve the above technical problems, the technical solutions adopted by the present invention are as follows:

[0007] On the one hand, the present invention provides a device for testing the positioning ability of coal mine mobile targets, including a timing unit, a control unit, a laser emitting unit, a laser receiving unit, and a constant-speed walking device;

[0008] The timing unit includes a display module, a first power module, a first control module, a first control interface, a clock module, a first wireless module, and a first antenna;

[0009] Among them, the first power module is connected to DC power supply to provide power for other modules in the timing unit; the first wireless module is connected to the first antenna; the first control interface is connected to the laser receiver; both the first wireless module and the first control interface are connected to the first control module; the clock module is connected to the display module;

[0010] The control unit includes a second power module, a second control module, a clear button, a start button, a USB interface, a second wireless module, and a second antenna;

[0011] Among them, the second power module is connected to the DC power supply to provide power for other modules in the control unit; the second wireless module is connected to the second antenna; the clear button, the start button, and the USB interface are all connected to the second control module; by using the USB interface, the start button, or the clear button, the second control module controls the second wireless module to transmit signals for controlling the clock module in the timing unit;

[0012] The constant-speed walking device includes a traction member, a constant-speed device, a positioning vehicle, a tail wheel, a wireless receiving controller, and a remote control; one end of the traction member is wound around the constant-speed device, and the other end is wound around the tail wheel; an identification card bracket is provided on the positioning vehicle for placing the positioning identification card; the wireless receiving controller is used to receive the control instructions of the remote control and control the rotation of the constant-speed device, thereby controlling the positioning vehicle to walk on the traction member.

[0013] Preferably, the first power module is responsible for converting the external 12V DC power supply into a 5V DC power supply; the first control interface is responsible for receiving the signals of the laser receiver and controlling the clock module through the first control module; the first wireless module is responsible for receiving the signals of the control unit and controlling the clock module through the first control module;

[0014] The first control module controls the clock module according to the signals of the first wireless module and the first control interface, and gives clock timing, clearing, and stopping signals.

[0015] Preferably, the clock module includes multiple clocks and controls the display module to display the time status according to the signals of the first control module. When there is no control signal, the display module freely displays the time.

[0016] Preferably, the display module uses a six-digit 4-inch high-definition LED display, with a maximum display of 999999S and a minimum display of 0.01S.

[0017] Preferably, the laser receiving unit includes a laser receiver, a signal output interface, and a power supply; the laser emitted by the laser emitting unit is calibrated by an optical lens and received by the laser receiving device, generating a corresponding intensity of current according to the light intensity, and the current is amplified and output by an internal amplifier.

[0018] Preferably, the laser emitting unit includes a laser emitter, an optical lens, and a power supply; the laser emitter emits a red laser through the optical lens, and the controllable distance is 15 meters.

[0019] Preferably, the constant-speed device includes a motor, a base, a speed reducer, and a braking device; the motor, the speed reducer, and the braking device are installed on the base, the motor is connected to the speed reducer, the speed reducer is connected to the braking device, the braking device is installed on the traction member, and the traction member is wound around the runner of the speed reducer; the positioning vehicle consists of a vehicle frame and a driving wheel set installed at the bottom of the vehicle frame; the identification card bracket consists of a bracket and an epoxy strip assembly; the epoxy strip is fixed on the bracket, and the bracket is fixed on the vehicle frame of the positioning vehicle.

[0020] Preferably, the wireless receiving controller includes a motor controller, a speed controller, and a wireless receiver; the motor controller is connected to the speed controller, the wireless receiver is connected to the speed controller, the speed controller is connected to the motor, the motor controller is used to control the start or stop of the motor; the speed controller is used to control the motor speed; the wireless receiver is used to receive the control instructions from the remote controller.

[0021] On the other hand, the present invention also provides a method for testing the positioning ability of mobile targets in coal mines, including the following steps:

[0022] Step 1: Set multiple groups of clock units, laser receivers, and laser transmitters as test points at positions near the positioning sub-station, on both boundaries of the sub-station positioning area, and in the middle between the sub-station and both boundaries of the positioning area. At the same time, set a control unit and a mobile target positioning system server near the sub-station; fix the positioning identification cards to be tested with a number not less than the concurrent identification number M on the epoxy strip, then fix the epoxy strip to the bracket, and the bracket is fixed on the positioning vehicle, with the positioning identification cards unobstructed and safe;

[0023] The mobile target positioning system server records the card number of the identification card, the receiving time, the distance, the number of times of receiving the positioning data of each identification card, and the total number of identification cards, and can send instructions to the control unit through the USB interface;

[0024] Step 2: Before the test, the mobile target positioning system server clears the data of the positioning identification cards. At the same time, a clearing signal is sent to the timing unit through the control unit connected to the USB interface of the mobile target positioning system server. The first control module in the timing unit receives the clearing signal and controls the clearing of multiple groups of clock units in the clock module;

[0025] Step 3: At the start of the test, use the remote controller to control the constant-speed device to make the traction member drive the positioning vehicle to move forward at a constant speed from outside the coverage boundary of the sub-station. The control unit controls the timing unit to time and counts the time of all clock units, corresponding to the receiving time recorded by the mobile target positioning system server, and calculates the difference between the moving distance of the positioning vehicle fixed with the positioning identification card and the position of the timing unit within the same time;

[0026] The positioning vehicle with a positioning identification card fixed on it moves forward at a fixed speed from outside the coverage boundary of the sub-station. At the same time, the server software of the mobile target positioning system starts to receive the data of the positioning identification card. Meanwhile, a timing signal is sent to the first control module of the timing unit through the control unit connected to the USB interface of the mobile target positioning system server, and the first control module controls the clock unit to start timing. Every time the positioning vehicle passes a test point, the laser receiver sends a current signal to the timing unit, and the first control module of the timing unit controls the clock to stop timing. After the positioning vehicle drives out of the coverage boundary of the sub-station, the control unit counts the time of all clocks, corresponding to the receiving time recorded by the mobile target positioning system server, and calculates the difference between the moving distance of the positioning vehicle with the positioning identification card fixed on it and the position of the timing unit within the same time.

[0027] Step 4: Continuously test multiple times, and take the maximum difference between the moving distance of the positioning vehicle with the positioning identification card fixed on it and the position of the timing unit obtained from multiple tests as the dynamic error evaluation value of the mobile target positioning ability. Evaluate the mobile target positioning ability of the sub-station and the identification card under the condition that the concurrency number is M according to the dynamic error evaluation value.

[0028] The beneficial effects produced by adopting the above technical solution are as follows: A coal mine mobile target positioning ability testing device and testing method provided by the present invention can accurately and automatically test the coal mine mobile target positioning ability through a laser emitter, a receiver, a timing unit, and a constant-speed walking device, and the testing accuracy is high. Description of the Drawings

[0029] Figure 1 It is a structural block diagram of a coal mine mobile target positioning ability testing device provided by an embodiment of the present invention;

[0030] Figure 2 It is a structural schematic diagram of a constant-speed walking device provided by an embodiment of the present invention;

[0031] Figure 3 It is an arrangement schematic diagram of a clock, a laser receiver, and a laser emitter provided by an embodiment of the present invention.

[0032] In the figure: 1. Traction member; 2. Positioning vehicle; 3. Constant-speed device; 4. Identification card bracket; 5. Wireless receiving controller; 6. Tail wheel; 7. Reduction box; 8. Motor. Detailed Embodiment

[0033] The following combines the drawings and embodiments to further describe in detail the specific embodiments of the present invention. The following embodiments are used to illustrate the present invention, but are not used to limit the scope of the present invention.

[0034] In this embodiment, a coal mine mobile target positioning ability testing device, such as Figure 1As shown, it includes a timing unit, a control unit, a laser emission unit, and a laser reception unit;

[0035] The timing unit consists of a display module, a first power module, a first control module, a first control interface, a clock module, a first wireless module, and a first antenna;

[0036] Among them, the first power module is connected to the DC power supply to provide power for other modules in the timing unit; the first wireless module is connected to the first antenna; the first control interface is connected to the laser receiver; both the first wireless module and the first control interface are connected to the first control module; the clock module is connected to the display module;

[0037] The first power module is responsible for converting the external 12V DC power supply into a 5V DC power supply; in this embodiment, the power module uses a linear voltage regulator power supply, which has advantages such as over-current, over-voltage, over-heat protection, small output impedance, and low noise;

[0038] The first control interface is responsible for receiving the signal from the laser receiver and controlling the clock module through the first control module; in this embodiment, the first control interface uses a high-precision linear isolation amplifier, which has strong anti-interference ability, small delay, high data rate transmission, and isolation withstand voltage of 5KV;

[0039] The first wireless module is responsible for receiving the signal from the control unit and controlling the clock module through the first control module; in this embodiment, the wireless module operates at a frequency of 433MHz, uses the FSK modulation method, and has characteristics such as strong anti-interference ability, long distance, strong penetration ability, and strong diffraction ability.

[0040] The first control module controls the clock module according to the signals of the first wireless module and the first control interface, and gives clock timing, clearing, and stop signals; in this embodiment, the first control module uses an STM32 microcontroller with an ARM core, which supports USB2.0, CAN2.0, and 10 / 100 Ethernet;

[0041] The clock module includes multiple clocks and controls the display module to display the time status according to the signal of the first control module. When there is no control signal, the display module freely displays the time; in this embodiment, the clock module uses a DS3231 clock chip as the timing source. The clock module has data power-off protection and data recording functions, with an accuracy of 2ppm and an annual error of about 1 minute;

[0042] The display module uses a six-digit 4-inch high-definition LED display, with a maximum display of 999999S and a minimum display of 0.01S;

[0043] The control unit includes a second power module, a second control module, a clearing button, a start button, a USB interface, a second wireless module, and a second antenna;

[0044] Among them, the second power module is connected to the DC power supply to provide power for other modules in the control unit; the second wireless module is connected to the second antenna; the clear button, start button, and USB interface are all connected to the second control module;

[0045] Using the USB interface, start button, or clear button, the second control module controls the second wireless module to transmit signals for controlling the clock module in the timing unit; in this embodiment, the second control module also adopts an STM32 microcontroller with an ARM core, supporting USB2.0, CAN2.0, and 10 / 100 Ethernet;

[0046] The laser receiving unit includes a laser receiver, a signal output interface, and a power supply;

[0047] The laser emitted by the laser emitter is calibrated by an optical lens and received by the laser receiving device, generating a corresponding intensity of current according to the light intensity, and the current is amplified and output by an internal amplifier; in this embodiment, the laser emitter uses pulsed modulated light, with a light spot of 4 mm, capable of achieving non-contact long-distance measurement, high speed, high precision, large measurement range, and strong resistance to light and electrical interference;

[0048] The laser emitting unit includes a laser emitter, an optical lens, and a power supply; the laser emitter emits red laser light through the optical lens, with a controllable distance of 15 meters;

[0049] The constant-speed walking device is as Figure 2 shown, including a traction member 1, a positioning vehicle 2, a constant-speed device 3, a tail wheel 6, a wireless receiving controller 5, and a remote control; one end of the traction member 1 is wound around the constant-speed device 3, and the other end is wound around the tail wheel 6; an identification card bracket 4 is provided on the positioning vehicle 2 for placing the positioning identification card; the wireless receiving controller 5 is used to receive the control instructions from the remote control and control the rotation of the constant-speed device 3, thereby controlling the positioning vehicle 2 to walk on the traction member 1.

[0050] In this embodiment, the traction member 1 is made of steel wire rope; the constant-speed device 2 includes a motor 8, a base, a speed reducer 7, and a braking device; the motor 8, speed reducer 7, and braking device are installed on the base, the motor 8 is connected to the speed reducer 7, and the speed reducer 7 is connected to the braking device; the positioning vehicle 2 includes a vehicle frame and a moving wheel set installed at the bottom of the vehicle frame; the identification card bracket 4 includes a fixed bracket and an epoxy strip assembly; the wireless receiving controller 5 includes a motor controller, a speed controller, and a wireless receiver; the motor controller is connected to the speed controller, the wireless receiver is connected to the speed controller, and the speed controller is connected to the motor 8. The motor controller is used to control the start or stop of the motor 8; the speed controller is used to control the speed of the motor 8; the wireless receiver is used to receive the control instructions from the remote control. The remote control consists of a battery, a keyboard, an LCD display screen, and a transmitter.

[0051] In this embodiment, the motor 8 is a variable-frequency motor with a power of 30 KW and a voltage of 380 V. It has high reliability, fast start-stop and reverse response, high rotational speed accuracy, and large torque. The reduction gearbox 7 uses gear reduction, has a small volume, can transmit large torque, has a small backlash, high precision, and can rotate forward and backward. The steel wire rope is wound around the runner of the reduction gearbox 7; the braking device uses a disc brake, which has good braking stability and strong heat fade resistance;

[0052] In this embodiment, the driving wheel set is composed of four 8-inch solid rubber wheels. The tail wheel 6 is installed at the end of the traction member 1 composed of the steel wire rope and is fixed with 10-mm bolts. The steel wire rope is wound no less than three turns.

[0053] In this embodiment, the speed controller uses a high-voltage IGBT module and adopts a multi-level PWM control method. The output voltage waveform is close to a sine wave, and it directly outputs high voltage without an output transformer; the wireless receiver operates at a frequency of 450 MHz and adopts an FSK modulation method, and has strong anti-interference ability, long distance, strong penetration ability, and strong diffraction ability; the motor controller uses two hydraulic pumps to control the braking device, so that the electric energy can start and stop immediately. The remote control operates at a frequency of 450 MHz. The display screen shows the movement direction and speed of the motor 8, and the keyboard is used to control the movement direction and speed of the positioning vehicle 2;

[0054] In this embodiment, a method for testing the positioning ability of a moving target in a coal mine includes the following steps:

[0055] Step 1: Set multiple groups of clock units, laser receivers, and laser transmitters as test points at positions near the positioning sub-station, on both boundaries of the sub-station positioning area, and in the middle between the sub-station and both boundaries of the positioning area, as Figure 3 shown. At the same time, set a control unit and a moving target positioning system server near the sub-station; fix the positioning identification cards to be tested with a number not less than the concurrent recognition number M on epoxy strips, then fix the epoxy strips to brackets, and fix the identification card brackets on the positioning vehicle, with the positioning identification cards being unobstructed and safe;

[0056] The moving target positioning system server can record the card numbers of the identification cards, the reception time, the distance, the number of times of receiving the positioning data of each identification card, and the total number of identification cards, and can send instructions to the control unit through a USB interface;

[0057] Step 2: Before the test, the moving target positioning system server clears the data of the positioning identification cards. At the same time, it sends a clearing signal to the timing unit through the control unit connected to the USB interface of the moving target positioning system server. The first control module in the timing unit receives the clearing signal and controls the multi-group clock units in the clock module to be cleared;

[0058] Step 3: The test starts. Use the remote control to control the constant-speed device, so that the traction member 1 drives the positioning vehicle to move forward at a constant speed from outside the coverage boundary of the sub-station. The control unit controls the timing unit to time, and counts the time of all clock units, corresponding to the reception time recorded by the mobile target positioning system server, and calculates the difference between the walking and moving distance of the positioning vehicle with the identification card fixed thereon and the position of the timing unit within the same time.

[0059] The positioning vehicle with the identification card fixed thereon moves forward at a fixed speed from outside the coverage boundary of the sub-station. At the same time, the mobile target positioning system server software starts to receive the identification card data. At the same time, a timing signal is sent from the control unit connected to the USB interface of the mobile target positioning system server to the first control module of the timing unit, and the first control module of the timing unit controls the clock unit to start timing. Every time the positioning vehicle passes a test point, the laser receiver sends a current signal to the timing unit, and the first control module of the timing unit controls the clock to stop timing. After the positioning vehicle drives out of the coverage boundary of the sub-station, the control unit counts the time of all clocks, corresponding to the reception time recorded by the mobile target positioning system server, and calculates the difference between the moving distance of the positioning vehicle with the positioning identification card fixed thereon and the position of the timing unit within the same time.

[0060] Step 4: Continuously test multiple times, and take the maximum difference between the moving distance of the positioning vehicle with the positioning identification card fixed thereon and the position of the timing unit obtained from multiple tests as the dynamic error evaluation value of the mobile target positioning ability. Evaluate the mobile target positioning ability of the sub-station and the identification card under the condition that the concurrency number is M according to the dynamic error evaluation value. The smaller the dynamic error evaluation value, the stronger the mobile target positioning ability of the sub-station and the identification card.

[0061] 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 it; 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 recorded in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope defined by the claims of the present invention.

Claims

1. A test device for the positioning ability of mobile targets in coal mines, characterized in that: It includes a mobile target positioning system server, a positioning identification card, a timing unit, a control unit, a laser emitting unit, a laser receiving unit and a constant-speed walking device; the mobile target positioning system server records the identification card number, receiving time, distance, the number of times of receiving the positioning data of each identification card and the total number of identification cards, and can send instructions to the control unit through a USB interface; The timing unit consists of a display module, a first power module, a first control module, a first control interface, a clock module, a first wireless module and a first antenna; Among them, the first power module is connected to the DC power supply to provide power for other modules in the timing unit; the first wireless module is connected to the first antenna; the first control interface is connected to the laser receiving unit; both the first wireless module and the first control interface are connected to the first control module; the clock module is connected to the display module; The control unit includes a second power module, a second control module, a clear button, a start button, a USB interface, a second wireless module and a second antenna; Among them, the second power module is connected to the DC power supply to provide power for other modules in the control unit; the second wireless module is connected to the second antenna; the clear button, the start button and the USB interface are all connected to the second control module; by using the USB interface, the start button or the clear button, the second control module controls the second wireless module to emit signals for controlling the clock module in the timing unit; The constant-speed walking device includes a traction member, a constant-speed device, a positioning vehicle, a tail wheel, a wireless receiving controller and a remote controller; one end of the traction member is wound around the constant-speed device and the other end is wound around the tail wheel; an identification card bracket is arranged on the positioning vehicle for placing the positioning identification card; the wireless receiving controller is used to receive the control instructions of the remote controller to control the rotation of the constant-speed device, thereby controlling the positioning vehicle to walk on the traction member; The first power module is responsible for converting the external 12V DC power supply into 5V DC power supply; the first control interface is responsible for receiving the signal of the laser receiver and controlling the clock module through the first control module; the first wireless module is responsible for receiving the signal of the control unit and controlling the clock module through the first control module; The first control module controls the clock module according to the signals of the first wireless module and the first control interface, and gives clock timing, clearing and stopping signals; The clock module includes multiple clocks and controls the display module to display the time status according to the signal of the first control module. When there is no control signal, the display module freely displays the time; The method for the coal mine mobile target positioning ability test device to realize the coal mine mobile target positioning ability test is as follows: Multiple groups of timing units, laser receivers and laser emitters are set as test points respectively near the positioning substation, at both boundaries of the substation positioning area and in the middle of both boundaries of the substation and the positioning area. At the same time, a control unit and a mobile target positioning system server are set near the substation; fix the positioning identification cards to be tested with no less than the concurrent identification number M on the positioning vehicle, with the positioning identification cards unobstructed and safe as the standard; Before the test, the mobile target positioning system server clears the data of the positioning identification card. At the same time, a clearing signal is sent to the timing unit through the control unit connected to the USB interface of the mobile target positioning system server. The first control module in the timing unit receives the clearing signal and controls multiple clocks in the clock module to be cleared; At the start of the test, use a remote control to control the constant speed device, so that the traction member drives the positioning vehicle to move forward at a constant speed from outside the coverage boundary of the sub-station. The control unit controls the timing unit to time and counts the time of all clocks, corresponding to the reception time recorded by the mobile target positioning system server, and calculates the difference between the moving distance of the positioning vehicle with the positioning identification card fixed and the position of the timing unit within the same time; Conduct multiple consecutive tests, and take the maximum difference between the moving distance of the positioning vehicle with the positioning identification card fixed and the position of the timing unit obtained from multiple tests as the dynamic error evaluation value of the mobile target positioning ability. Evaluate the mobile target positioning ability of the sub-station and the identification card under the condition that the concurrency number is M according to the dynamic error evaluation value.

2. The coal mine mobile target positioning ability testing device according to claim 1, characterized in that: The display module uses a six-digit 4-inch high-definition LED display, with a maximum display of 999999S and a minimum display of 0.01S.

3. The coal mine mobile target positioning ability test device according to claim 1, characterized in that: The laser receiving unit includes a laser receiver, a signal output interface and a power supply; the laser emitted by the laser emitting unit is calibrated by an optical lens and received by the laser receiving device, generating a corresponding intensity current according to the different light intensities, and the current is amplified and output by an internal amplifier.

4. A coal mine mobile target positioning ability test device according to claim 1, characterized in that: The laser emitting unit includes a laser emitter, an optical lens and a power supply; the laser emitter emits red laser light through the optical lens, and the controllable distance is 15 meters.

5. The coal mine mobile target positioning ability test device according to claim 1, wherein: The constant speed device includes a motor, a base, a speed reducer and a braking device; the motor, the speed reducer and the braking device are installed on the base, the motor is connected to the speed reducer, the speed reducer is connected to the braking device, the braking device is installed on the traction member, and the traction member is wound around the runner of the speed reducer; the positioning vehicle consists of a vehicle frame and a moving wheel set installed at the bottom of the vehicle frame; the identification card bracket consists of a bracket and an epoxy strip assembly; the epoxy strip is fixed on the bracket, and the bracket is fixed on the vehicle frame of the positioning vehicle.

6. The testing device for the coal mine mobile target positioning ability according to claim 5, wherein: The wireless receiving controller includes a motor controller, a speed controller and a wireless receiver; the motor controller is connected to the speed controller, the wireless receiver is connected to the speed controller, and the speed controller is connected to the motor. The motor controller is used to control the start or stop of the motor; The speed controller is used to control the motor speed; the wireless receiver is used to receive the control instructions from the remote control.

7. A method for testing the positioning ability of moving targets in a coal mine, implemented based on the device described in claim 1, characterized in that: It includes the following steps: Step 1: Set multiple groups of timing units, laser receivers and laser emitters as test points at positions near the positioning sub-station, on both sides of the sub-station positioning area boundary, and in the middle of both sides of the sub-station and the positioning area boundary. At the same time, set a control unit and a mobile target positioning system server near the sub-station; fix the positioning identification cards to be tested with a concurrency number not less than M on the positioning vehicle, with the positioning identification card unobstructed and safe as the criterion; Step 2: Before the test, the mobile target positioning system server clears the data of the positioning identification card. At the same time, a clearing signal is sent to the timing unit through the control unit connected to the USB interface of the mobile target positioning system server. The first control module in the timing unit receives the clearing signal and controls multiple clocks in the clock module to clear; Step 3: At the start of the test, use a remote control to control the constant speed device, so that the traction member drives the positioning vehicle to move forward at a constant speed from outside the coverage boundary of the sub-station. The control unit controls the timing unit to time and counts the time of all clocks, corresponding to the receiving time recorded by the mobile target positioning system server, and calculates the difference between the moving distance of the positioning vehicle with the positioning identification card fixed and the position of the timing unit within the same time; The positioning vehicle with the positioning identification card fixed moves forward at a fixed speed from outside the coverage boundary of the sub-station. At the same time, the mobile target positioning system server starts to receive the data of the positioning identification card. At the same time, a timing signal is sent to the first control module of the timing unit through the control unit connected to the USB interface of the mobile target positioning system server. The first control module controls the clock to start timing; every time the positioning vehicle passes a test point, the laser receiver sends a current signal to the timing unit, and the first control module of the timing unit controls the clock to stop timing; after the positioning vehicle drives out of the coverage boundary of the sub-station, the control unit counts the time of all clocks, corresponding to the receiving time recorded by the mobile target positioning system server, and calculates the difference between the moving distance of the positioning vehicle with the positioning identification card fixed and the position of the timing unit within the same time; Step 4: Continuously test multiple times, and take the maximum difference between the moving distance of the positioning vehicle with the positioning identification card fixed and the position of the timing unit obtained from multiple tests as the dynamic error evaluation value of the mobile target positioning ability, and evaluate the mobile target positioning ability of the sub-station and the identification card under the condition that the concurrent number is M according to the dynamic error evaluation value.

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