A method and device for evaluating positioning accuracy

Abstract

A positioning accuracy evaluation method and device are used to comprehensively evaluate the positioning accuracy of vehicle-mounted navigation devices or systems under vehicle-mounted dynamic driving conditions. The method comprises: determining the scene in which the positioning device to be measured is located, and determining the positioning accuracy of the positioning device to be measured according to the scene; wherein the scene is related to the number of different satellite signals received by the positioning device to be measured at the same time. In this way, the positioning accuracy of vehicle-mounted navigation devices or systems in multiple scenes can be evaluated, and the evaluation is more objective and comprehensive, thereby meeting the requirements for high reliability and safety of vehicle-mounted navigation devices or systems in the field of intelligent connected vehicles.

Description

Technical Field

[0001] The present application relates to the field of vehicle positioning technology, and in particular to a positioning accuracy assessment method and device. Background Art

[0002] Satellite navigation positioning technology is a high-precision positioning technology that works all day, all weather, and in an open environment. When the satellite signal is unobstructed, the performance of satellite navigation positioning is optimal.

[0003] The current Global Navigation Satellite System (GNSS) generally includes the Global Positioning System (GPS), the Beidou Navigation Satellite System (BDS), the Global Navigation Satellite System (GLONASS), the Galileo Satellite Navigation System (Galileo) and other systems.

[0004] However, when GNSS is applied in different fields or carriers, the effective satellite signals received by the carrier vary with the environment, and the positioning performance varies greatly, which makes it difficult to generalize, that is, it is difficult to give a reasonable evaluation mechanism and accuracy assessment method. At present, satellite navigation and positioning technology is one of the important means for various ground transportation tools, especially intelligent connected vehicles, to obtain high-precision absolute position information. However, its satellite signals are susceptible to external interference or obstruction, which causes the positioning accuracy of the vehicle-mounted navigation and positioning system to drop sharply or even fail. Therefore, how to comprehensively and objectively evaluate the positioning accuracy has become a focus in the current field of intelligent connected vehicles. However, there is currently no good method for evaluating the positioning accuracy of GNSS-based vehicle-mounted navigation devices or systems. Summary of the invention

[0005] The present application provides a positioning accuracy evaluation method and device for comprehensively evaluating the positioning accuracy of a GNSS-based vehicle navigation device or system under vehicle dynamic driving conditions.

[0006] In a first aspect, the present application provides a positioning accuracy assessment method, which may include: after determining a scene in which a device to be positioned is located, determining the positioning accuracy of the device to be positioned in the scene; wherein the scene is related to the number of different satellite signals received by the device to be positioned at the same time.

[0007] Through the above method, scenes are distinguished according to the number of different satellite signals received by the device to be positioned at the same time, and the classification of scenes can be defined by the quantitative value of the number of satellite signals, so that a more comprehensive scene division can be obtained, so that the evaluation of the positioning accuracy of the device to be positioned is more objective and comprehensive, thereby meeting the requirements for high reliability and safety of satellite navigation devices in the field of intelligent connected vehicles.

[0008] In a possible design, the scene may be an open scene, a semi-blocked scene, or a fully-blocked scene, so that the positioning accuracy of the device to be positioned in the open scene, the semi-blocked scene, or the fully-blocked scene can be determined.

[0009] In a possible design, the scenario may also be related to a positioning influencing factor, which may include one or more of the following: Position Dilution Of Precision (PDOP), the positioning state of the device to be positioned, and the working time of the device to be positioned in the positioning state. In addition to the number of different satellite signals received, the scenario may be more accurately distinguished in combination with the positioning influencing factor, thereby more accurately determining the scenario in which the device to be positioned is located.

[0010] In a possible design, the specific method for determining the scene where the device to be positioned is located can be: when the number of different satellite signals received by the device to be positioned is greater than or equal to a first value, the PDOP value is less than a second value, and the positioning states of the device to be positioned are all fixed solutions, the scene where the device to be positioned is determined to be the open scene; when the number of different satellite signals received by the device to be positioned is greater than or equal to 0 and less than a third value, and the working time of the device to be positioned in the positioning state is greater than a fourth value, the scene where the device to be positioned is determined to be the fully occluded scene; when the scene where the device to be positioned is neither the open scene nor the fully occluded scene, the scene where the device to be positioned is determined to be the semi-occluded scene; wherein the first value is greater than the third value.

[0011] Through the above method, it is possible to accurately determine whether the scene where the device to be positioned is located is the open scene, the semi-obstructed scene, or the fully obstructed scene based on the actual conditions of the number of different satellite signals related to scene division, the PDOP, the positioning status of the device to be positioned, and the working time of the device to be positioned in the positioning state.

[0012] In a possible design, the semi-blocked scene may include one or more sub-scenes, so that the semi-blocked scene can be divided into finer sub-scenes, so as to subsequently obtain the positioning accuracy of the device to be positioned in a more accurate scene.

[0013] In a possible design, when the scene where the device to be positioned is located is the semi-occluded scene, the positioning parameters of the device to be positioned and the correspondence between the positioning parameter interval set and the sub-scene are obtained; the sub-scene where the device to be positioned is located is determined according to the positioning parameters of the device to be positioned and the correspondence between the positioning parameter interval set and the sub-scene; wherein the positioning parameters include one of the number of the different satellite signals received by the device to be positioned, the PDOP value, the duration of low-quality positioning, and the interval duration of low-quality positioning; or, the positioning parameters include at least two of the number of the different satellite signals received by the device to be positioned, the PDOP value, the duration of low-quality positioning, the interval duration of low-quality positioning, and the frequency of occurrence of low-quality positioning; the positioning parameter interval set includes one or more of the following: an interval of the number of different satellite signals received, an interval of PDOP values, an interval of duration of low-quality positioning, an interval duration of low-quality positioning, and an interval of frequency of occurrence of low-quality positioning; wherein the low-quality positioning is used to indicate that the positioning error of the device to be positioned is greater than a preset threshold.

[0014] Through the above method, when the scene where the device to be positioned is located is the semi-occluded scene, it is possible to further accurately determine which sub-scene the scene where the device to be positioned is located based on the positioning parameters of the device to be positioned and the correspondence between the positioning parameter interval set and the sub-scene, and then subsequently obtain the positioning accuracy of the device to be positioned in the sub-scene.

[0015] In one possible design, when the device to be positioned is a non-combined GNSS satellite navigation device, it is also determined that the number of different satellite signals received by the device to be positioned is greater than or equal to a fifth value. In this way, the non-combined GNSS satellite navigation device can be used to determine the scene only when a certain condition is met, that is, the number of different satellite signals received is greater than or equal to a value.

[0016] In a possible design, the correspondence between the positioning parameter interval set and the sub-scenario is obtained by merging the two sets of simulation positioning parameters corresponding to the at least two simulations determined when the difference in position errors corresponding to at least two simulations in any sub-scenario is not greater than a sixth value; wherein the position error corresponding to any simulation is determined based on a sample measurement position corresponding to any simulation and an actual position corresponding to the sample measurement position; the sample measurement position is determined by a sample satellite signal output by the positioning device to be measured in any simulation based on a received satellite signal simulator, and the sample satellite signal is output by the simulated satellite signal under a set of simulation positioning parameters; the set of simulation positioning parameters includes the number of the different satellite signals received in any sub-scenario, the PDOP value, the duration of the low-quality positioning, the interval duration of the low-quality positioning, and the frequency of occurrence of the low-quality positioning.

[0017] Through the above method, based on the positioning parameter interval set that is merged from two sets of simulation positioning parameters corresponding to at least two simulations in which the position error is not greater than the sixth value in each sub-scene, the correspondence between the positioning parameter interval set and the sub-scene can be accurately obtained. Furthermore, when the device to be positioned is in the semi-occluded scene, the sub-scene where the device to be positioned is located can be further determined based on the correspondence between the positioning parameter interval set and the sub-scene.

[0018] In a possible design, the sub-scenario may be one or more of the following six scenarios: an urban road overpass, a bridge hole, a single-sided blocked road, an overpass, a tree-lined road, or a high-rise building in the city. In this way, a more comprehensive scenario can be obtained based on the actual situation, and the positioning accuracy of the positioning device to be measured in the more comprehensive scenario can be determined.

[0019] In one possible design, the sixth value may be greater than or equal to 1 centimeter.

[0020] In a possible design, the fifth value may be 3+N, where N represents the number of different satellite navigation systems to which the satellite signals received by the positioning device to be determined belong. For example, when all satellite signals are derived from GPS, then N=1, and the fifth value may be 4; for another example, when the satellite signals are derived from GPS and BDS respectively, then N=2, and the fifth value may be 5; for another example, when the satellite signals are derived from GPS, BDS and GLONASS respectively, then N=3, and the fifth value may be 6.

[0021] In one possible design, the first value may be 15, 16, 17, or the like.

[0022] In a possible design, the second value may be 2 or 3, etc.

[0023] In a possible design, the third value may be 3+N, where N represents the number of different satellite navigation systems to which the satellite signals received by the positioning device to be determined belong. For example, when all satellite signals are derived from GPS, then N=1, and the third value may be 4; for another example, when the satellite signals are derived from GPS and BDS respectively, then N=2, and the third value may be 5; for another example, when the satellite signals are derived from GPS, BDS and GLONASS respectively, then N=3, and the third value may be 6.

[0024] In one possible design, the fourth value may be 60 seconds (s), 59s or 61s, etc.

[0025] In a second aspect, the present application further provides a positioning accuracy assessment device, which is used to implement the method in the first aspect or each possible design example of the first aspect. The method can be implemented by hardware, or by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the above method.

[0026] In one possible design, the structure of the positioning accuracy assessment device may include a first processing unit and a second processing unit, which can perform the corresponding functions in the above-mentioned first aspect or various possible design examples of the first aspect. Please refer to the detailed description in the method example for details, which will not be repeated here.

[0027] In a third aspect, the present application further provides an electronic device, wherein the structure of the electronic device includes a processor and a memory, wherein the processor is configured to support the electronic device to perform corresponding functions in the above-mentioned first aspect or each possible design example of the first aspect. The memory is coupled to the processor and stores necessary program instructions and data for the electronic device.

[0028] In a fourth aspect, a computer-readable storage medium provided by an embodiment of the present application stores program instructions, and when the program instructions are run on a computer, the computer executes any possible design of the first aspect above. Exemplarily, the computer-readable storage medium can be any available medium that can be accessed by a computer. Taking this as an example but not limited to: a computer-readable medium may include a non-transient computer-readable medium, a random access memory (random-access memory, RAM), a read-only memory (read-only memory, ROM), an electrically erasable programmable read-only memory (electrically EPROM, EEPROM), a CD-ROM or other optical disk storage, a disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store a desired program code in the form of an instruction or data structure and can be accessed by a computer.

[0029] In a fifth aspect, an embodiment of the present application provides a computer program product comprising computer program codes or instructions, which, when executed on a computer, enables the computer to implement the method described in the first aspect or any possible design of the first aspect.

[0030] In a sixth aspect, the present application also provides a chip, comprising a processor, wherein the processor is coupled to a memory and is used to read and execute program instructions stored in the memory so that the chip implements the method described in the above-mentioned first aspect or any possible design of the first aspect.

[0031] For each of the above-mentioned aspects from the second to the sixth aspects and the technical effects that may be achieved by each of the aspects, please refer to the above-mentioned description of the technical effects that can be achieved by the various possible schemes in the first aspect, and no further details will be given here. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1a A schematic diagram of an implementation environment provided for this application;

[0033] Figure 1b A schematic diagram of another implementation environment provided for this application;

[0034] Figure 2 A flowchart of a positioning accuracy evaluation method provided in this application;

[0035] Figure 3 A simulation schematic diagram provided for this application;

[0036] Figure 4 A schematic diagram of a sub-scenario for determining the location of a device to be positioned provided by the present application;

[0037] Figure 5A schematic diagram of a sub-scenario for determining the location of a device to be positioned provided by the present application;

[0038] Figure 6 A schematic diagram of the relationship between the influence of the positioning accuracy of the positioning device to be measured in a sub-scenario provided in this application;

[0039] Figure 7 A schematic diagram of the structure of a positioning accuracy evaluation device provided in this application;

[0040] Figure 8 This is a structural diagram of a positioning accuracy assessment device provided in this application. DETAILED DESCRIPTION

[0041] The present application will be described in further detail below in conjunction with the accompanying drawings.

[0042] The embodiment of the present application provides a positioning accuracy evaluation method and device, which are used to comprehensively evaluate the positioning accuracy of a GNSS-based vehicle navigation device or system under vehicle dynamic driving conditions. The method and device described in the present application are based on the same technical concept. Since the principles of the method and device to solve the problem are similar, the implementation of the device and the method can refer to each other, and the repeated parts will not be repeated.

[0043] It should be understood that, in this application, unless otherwise specified, " / " means or, for example, A / B can mean A or B; "and / or" in this application is only a way to describe the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. "At least one" means one or more, and "more than one" means two or more.

[0044] In this application, "exemplary", "in an optional embodiment", "in a specific embodiment", etc. are used to indicate examples, illustrations, or descriptions. Any embodiment or design described as "exemplary" in this application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of the word "exemplary" is intended to present concepts in a concrete way.

[0045] In addition, the words "first", "second", etc. involved in this application are only used for the purpose of distinguishing the description and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features, nor can they be understood as indicating or implying order.

[0046] Since satellite navigation signals are easily blocked and their performance degraded, usually satellite navigation receiver terminal equipment or combined navigation equipment based on satellite navigation gives positioning performance indicators (such as positioning accuracy) in static tests in open environments (such as rooftops or special test sites). In the field of intelligent connected vehicle positioning applications, users are more concerned about the positioning performance of the vehicle under actual dynamic driving conditions. For example, when the vehicle drives from an open road into a tunnel, the positioning accuracy of the above-mentioned satellite navigation receiver terminal equipment will be significantly reduced. However, there is currently no evaluation of the positioning accuracy in corresponding scenarios under vehicle-mounted dynamic driving conditions. Based on this, the present application proposes a positioning accuracy evaluation method to achieve a comprehensive evaluation of the positioning accuracy of vehicle-mounted navigation equipment or systems based on all working conditions and multiple scenarios under vehicle-mounted dynamic driving conditions.

[0047] The positioning accuracy evaluation method provided in the embodiment of the present application can be used to evaluate the positioning accuracy of the vehicle-mounted GNSS navigation device (such as a vehicle-mounted GNSS receiver terminal device) or the vehicle-mounted GNSS and inertial navigation system (InertialNavigation System, INS) combined navigation device in the intelligent networked car. Of course, in addition to the above-mentioned vehicle-mounted navigation equipment, the present application can also perform positioning accuracy evaluation on other ground vehicles (such as engineering vehicles, commercial vehicles, light rail transit vehicles, shared bicycles, etc.) positioning navigation equipment or systems. In the following description of this application, the above-mentioned devices that need to be evaluated for positioning accuracy can all be referred to as devices to be positioned. Of course, the device to be positioned is just an example of a name, and there may be other names, which are not limited by this application.

[0048] For example, Figure 1a A schematic diagram of an implementation environment is shown. Figure 1a Four vehicles (vehicle 1, vehicle 2, vehicle 3 and vehicle 4) are traveling, wherein each of the four vehicles includes a GNSS navigation device or a GNSS and INS combined navigation device, and the position of the vehicle can be located by the GNSS navigation device or the GNSS and INS combined navigation device in each vehicle. The positioning accuracy of the GNSS navigation device or the GNSS and INS combined navigation device on each vehicle needs to be evaluated, that is, the GNSS navigation device or the GNSS and INS combined navigation device on each vehicle can be used as the positioning device to be measured in this application.

[0049] It should be noted that Figure 1a The road on which the four vehicles are traveling may be a highway, a tree-lined road, a mountain road, etc., and this application does not limit this. Figure 1aThe number of vehicles shown in the figure is only an example, there may be more or fewer vehicles, and the navigation device in each vehicle (eg, the GNSS and INS combined navigation device) may be an object to be evaluated.

[0050] For example, Figure 1b A schematic diagram of yet another implementation environment is shown. Figure 1b In the example, a vehicle is traveling on a tree-lined road. At a certain moment in the road, some satellite signals are blocked by trees, causing the positioning device to be measured in the vehicle to be unable to receive the blocked satellite signals. Figure 1b As shown in , there are six satellites transmitting satellite signals, but at a moment, the satellite signals transmitted by satellite 2 and satellite 4 are blocked by trees, and the positioning device to be determined in the vehicle can only receive satellite signals transmitted by satellite 1, satellite 3, satellite 5 and satellite 6.

[0051] It should be noted that Figure 1b The number of satellites is not limited to 6, and the number of satellite signals received by the vehicle's positioning device at a certain moment on a tree-lined road is not limited to 4. This is only an example and is not a limitation of the present application.

[0052] The positioning accuracy evaluation method provided in the present application can be applied to the scenario of factory testing of the positioning device to be measured in the vehicle, can also be applied to the scenario of a customer performing a qualification test on the positioning device to be measured, can also be applied to the scenario of comparing the positioning accuracy of the positioning devices to be measured produced by two different manufacturers, or other scenarios where the positioning accuracy of the positioning device to be measured needs to be evaluated, and can also be applied to the scenario of improving the performance of the positioning device to be measured after improved design, and used to guide improved design or related research work.

[0053] In the present application, the positioning accuracy assessment method may be implemented by a positioning accuracy assessment device, which may be a device with a computing function, such as a computer device, etc. The following description is made by taking the positioning accuracy assessment device as the execution subject.

[0054] Based on the above description, the present invention provides a positioning accuracy evaluation method, which can be used to evaluate Figure 1a and Figure 1b The positioning accuracy of the navigation device in any vehicle. The method can be implemented by a positioning accuracy evaluation device. Figure 2 As shown, the specific process of the method may include:

[0055] Step 201: The positioning accuracy evaluation device determines a scene where the device to be positioned is located; wherein the scene is related to the number of different satellite signals received by the device to be positioned at the same time.

[0056] Specifically, the number of different satellite signals received by the device to be positioned at the same time refers to the number of different satellite signals received by the device to be positioned at a certain time. That is, the same time means that the time when the device to be positioned receives the different satellite signals is the same.

[0057] The positioning device to be measured may be a non-combined GNSS satellite navigation device or a GNSS and INS combined navigation device, wherein the GNSS and INS combined navigation device is a combination of a GNSS satellite navigation device and an INS navigation device.

[0058] In an optional implementation, the scene may be divided into an open scene, a semi-occluded scene, a fully-occluded scene, or the like.

[0059] Exemplarily, the scene can be divided only based on the number of different satellite signals received by the device to be positioned at the same time. That is, when the number of different satellite signals received is in different numerical ranges, different scenes can be respectively corresponded. For example, when the number of different satellite signals received is in the first range, the device to be positioned is in the open scene; when the number of different satellite signals received is in the second range, the device to be positioned is in the semi-blocked scene; when the number of different satellite signals received is in the third range, the device to be positioned is in the fully blocked scene. Exemplarily, the first range can be a number range greater than or equal to 15, the second range can be a number range greater than or equal to 0 and less than 4, and the third range can be a number range greater than or equal to 4 and less than 15. It should be noted that the specific examples of the above ranges are only examples, and it should be understood that other ranges can also be used, and this application is not listed here one by one. It should be noted that the above only takes three scenes as an example, and it should be understood that there can be more or fewer scenes, and this application is not limited to this.

[0060] By distinguishing scenes according to the number of different satellite signals received by the device to be measured at the same time, it is possible to define the classification of scenes by the quantitative value of the number of satellite signals, thereby obtaining a more comprehensive scene division, making the subsequent evaluation of the positioning accuracy of the device to be measured more objective and comprehensive.

[0061] When the scene is divided only based on the number of different satellite signals received, the classification accuracy of the obtained scene may be relatively low. In order to make the scene more accurate, in an optional implementation, the scene may also be related to a positioning influencing factor, and the positioning influencing factor includes one or more of the following: Position Dilution Of Precision (PDOP), the positioning state of the device to be positioned, and the working time of the device to be positioned in the positioning state. In this way, the scene is determined by combining the number of different satellite signals received by the device to be positioned and the positioning influencing factor, which can make the determined scene more accurate, and thus make the evaluated positioning accuracy of the device to be positioned more accurate.

[0062] Among them, the positioning state of the device to be positioned usually refers to the device to be positioned receiving satellite signals and differential correction information (Real-Time Kinematic, RTK) at the same time. According to the type of differential correction information and the type of integer ambiguity calculation value used in the process of calculating the positioning value, it is divided into single-point positioning solution, pseudo-range differential solution, floating-point solution and fixed solution.

[0063] The PDOP is a point or position precision dilution factor, wherein the precision dilution factor (DOP) is a quantitative indicator that measures the geometric conditions that users have when performing GNSS measurements, and is also referred to as the DOP value or precision factor. The size of the DOP value depends on the distribution of each navigation satellite in the user's field of view, reflecting the amplification effect of the geometric figure formed between the positioning device to be measured and the satellite on the ranging error: under the condition of the same ranging accuracy, the lower the DOP value, the more robust the geometric figure formed between the positioning device to be measured and the satellite, the smaller the amplification effect on the ranging error, and the higher the navigation accuracy provided by the GNSS service. For example, in a normal open scene, the number of different satellite signals received by the satellite navigation and positioning device is greater than 15, and the PDOP value is less than or equal to 2, which indicates that the satellite positioning accuracy is good; when the satellite navigation and positioning device is blocked by urban buildings, the number of different satellite signals received is greater than or equal to 4, but less than 8, and the PDOP value is greater than 6, which indicates that the satellite positioning accuracy is poor.

[0064] The working time of the device to be positioned in the positioning state is the continuous working time of the device to be positioned under a certain working condition. For example, the certain working condition may be that the number of different satellite signals received by the device to be positioned is greater than 4 and less than or equal to 15.

[0065] Exemplarily, the positioning accuracy evaluation device determines the scene where the device to be positioned is located. The specific method may be: when the number of different satellite signals received by the device to be positioned is greater than or equal to a first value, the PDOP value is less than a second value, and the positioning states of the device to be positioned are all fixed solutions, the positioning accuracy evaluation device determines that the scene where the device to be positioned is located is the open scene; when the number of different satellite signals received by the device to be positioned is greater than or equal to 0 and less than a third value, and the working time of the device to be positioned in the positioning state is greater than a fourth value, the positioning accuracy evaluation device determines that the scene where the device to be positioned is located is the fully occluded scene; when the scene where the device to be positioned is located is neither the open scene nor the fully occluded scene, the positioning accuracy evaluation device determines that the scene where the device to be positioned is located is the semi-occluded scene; wherein the first value is greater than the third value.

[0066] Based on the above method, the positioning accuracy evaluation device can accurately determine whether the scene where the device to be positioned is located is the open scene, the fully obstructed scene or the semi-obstructed scene according to the actual conditions of the number of different satellite signals related to the scene division, the PDOP, the positioning status of the device to be positioned, or the working time of the device to be positioned in the positioning state, and then accurately obtain the positioning accuracy of the device to be positioned in the specific scene.

[0067] Among them, the positioning states of the device to be positioned are all fixed solutions, which means that the device to be positioned is always in a state of receiving differential correction information, and the baseline vector solution is obtained when the integer ambiguity parameter takes an integer.

[0068] It should be noted that when the positioning accuracy evaluation device determines that the scene where the device to be measured is located is the fully occluded scene, the working time of the device to be measured in the positioning state is the unlock time, that is, the time when the device to be measured is considered unable to lock the valid satellite signal in the fully occluded scene, and the number of valid satellite signals tracked by the device to be measured is less than the third value.

[0069] In practice, all scenes except the open scene and the fully blocked scene can be classified as the semi-blocked scene. It should be noted that the open scene, the fully blocked scene and the semi-blocked scene are just example names, and other names are also possible, and this application does not limit this.

[0070] Optionally, the first value may be 15, 16 or 17, etc., the second value may be 2 or 3, etc., and the third value may be 3+N, where N represents the number of different satellite navigation systems to which the satellite signals received by the device to be positioned belong. For example, when all satellite signals are derived from GPS, then N=1, and the third value may be 4; for another example, when the satellite signals are derived from GPS and BDS respectively, then N=2, and the third value may be 5; for another example, when the satellite signals are derived from GPS, BDS and GLONASS respectively, then N=3, and the third value may be 6; the fourth value may be 60 seconds (s), 59s or 61s, etc. Of course, the first value, the second value, the third value and the fourth value may be partially or completely replaced by other values, and the present application does not limit the specific values ​​of the above values.

[0071] Furthermore, the semi-blocked scene can be divided into one or more sub-scenes. In this way, the semi-blocked scene can be divided into finer sub-scenes, so as to obtain the positioning accuracy of the device to be positioned in a more accurate scene later.

[0072] Optionally, the positioning accuracy evaluation device can predetermine the corresponding relationship between the positioning parameter interval set and the sub-scene in the semi-occluded scene, and the positioning parameter interval set includes one or more of the following: the number interval of different satellite signals received, the PDOP value interval, the duration interval of low-quality positioning, the interval duration interval of low-quality positioning, and the frequency interval of low-quality positioning; wherein the low-quality positioning indicates that the positioning error of the device to be measured is greater than a preset threshold; wherein the frequency of occurrence of the low-quality positioning can be the frequency of occurrence of the low-quality positioning per hour. This method can be used to obtain the corresponding relationship between the sub-scene of the quantitative constraint and the positioning parameter interval set. Specifically, the specific sub-scene in which the device to be measured is located can be determined by which positioning parameter interval set the positioning parameter is in.

[0073] Among them, when the satellite signal is blocked by objects, buildings, dense trees, etc., the performance of the device to be positioned will be reduced, resulting in a large positioning error of the device to be positioned, thereby reducing the positioning quality of the device to be positioned, which is called low-quality positioning.

[0074] Specifically, when the positioning accuracy evaluation device predetermines the correspondence between the positioning parameter interval set and the sub-scene in the semi-occluded scene, the specific method may be: the positioning accuracy evaluation device obtains at least two sample measurement positions of the device to be measured in any sub-scene, wherein any sample measurement position is determined by the device to be measured in a simulation based on a sample satellite signal output by a received satellite signal simulator, and the sample satellite signal is output by the simulated satellite signal under a set of simulated positioning parameters; the set of simulated positioning parameters includes the number of different satellite signals received in a sub-scene, the PDOP value, and the duration of the low-quality positioning. , the interval duration of the low-quality positioning and the frequency of occurrence of the low-quality positioning; the positioning accuracy evaluation device determines the position error between each sample measurement position and the actual position corresponding to each sample measurement position; when the positioning accuracy evaluation device determines that the difference between the position errors corresponding to at least two simulations is not greater than the sixth value, the positioning accuracy evaluation device determines a positioning parameter interval set after merging the two sets of positioning parameters corresponding to the at least two simulations, and obtains a positioning parameter interval set corresponding to any sub-scene; the positioning accuracy evaluation device determines the correspondence between the obtained positioning parameter interval set corresponding to any sub-scene and the any sub-scene as the sub-scene classification result.

[0075] The sixth value is greater than or equal to 1 centimeter (cm). It should be noted that the sixth value is only an example and can be other values, which are not limited in the present application.

[0076] For example, in the above process, the specific process of outputting a sample satellite signal from the satellite signal simulator in a simulation can be as follows: Figure 3 As shown in the simulation schematic diagram shown. Specifically, assuming that the motion trajectory of a vehicle is known, the motion parameters of the vehicle are input into the satellite signal simulator 301, so that the satellite signal simulator 301 transmits a satellite signal based on the assumed vehicle motion. The parameters of the satellite signal simulator 301 are set by inputting a set of simulation positioning parameters under the semi-occluded scene during each simulation process, so that the satellite signal simulator 301 outputs the satellite signal under the simulation. Among them, the motion parameters of the vehicle may include the vehicle driving in a straight line at a constant speed for X time (for example, X is one hour), or the vehicle driving in a straight line with an acceleration of A for X time, etc.

[0077] Each time the satellite signal simulator 301 is simulated, a satellite signal is output. The satellite signal simulator 301 converts the output satellite signal into a radio frequency signal and inputs the radio frequency signal into the positioning device 302 to be measured. Figure 3The device to be positioned 302 can obtain the measurement position under the positioning parameters in the simulation based on the radio frequency signal, that is, a sample measurement position.

[0078] After the positioning accuracy evaluation device determines the position errors corresponding to multiple simulations, if the difference between the position errors corresponding to at least two simulations is not greater than the sixth value, the positioning accuracy evaluation device can determine the positioning parameter interval set after merging the two sets of positioning parameters corresponding to the at least two simulations as the positioning parameter interval set corresponding to a sub-scene. The above method can be used to obtain the correspondence between the sub-scene and the positioning parameter interval set in the semi-occluded scene. So that the positioning accuracy evaluation device can subsequently directly determine which sub-scene the scene where the positioning device to be measured is located through the correspondence between the sub-scene and the positioning parameter interval set.

[0079] The correspondence between the sub-scenario and the positioning parameter interval set determined by simulation is obtained in advance and can be directly used when the positioning accuracy evaluation device evaluates the scene where the device to be positioned is located.

[0080] Specifically, on the basis of the correspondence between the positioning parameter interval set and the sub-scene, when the scene where the device to be positioned is located is the semi-occluded scene, the positioning accuracy evaluation device obtains the positioning parameters of the device to be positioned and the correspondence between the positioning parameter interval set and the sub-scene; the positioning accuracy evaluation device determines the sub-scene where the device to be positioned is located according to the positioning parameters of the device to be positioned and the correspondence between the positioning parameter interval set and the sub-scene; wherein the positioning parameter includes one of the number of different satellite signals received by the device to be positioned, the PDOP value, the low-quality positioning duration, and the low-quality positioning interval duration; or, the positioning parameter includes at least two of the number of different satellite signals received by the device to be positioned, the PDOP value, the low-quality positioning duration, the low-quality positioning interval duration, and the frequency of occurrence of low-quality positioning. In this way, when the scene where the device to be positioned is located is the semi-occluded scene, it is possible to further accurately determine which sub-scene the scene where the device to be positioned is located based on the positioning parameters of the device to be positioned and the correspondence between the positioning parameter interval set and the sub-scene, and then subsequently obtain the positioning accuracy of the device to be positioned in the sub-scene.

[0081] In one example, in the semi-occluded scenario, when the device to be positioned is a GNSS and INS combined navigation device, the positioning accuracy evaluation device can directly determine which sub-scenario the scene where the device to be positioned is located based on any one of the dimensions of the number of different satellite signals received by the device to be positioned, the PDOP value, the duration of low-quality positioning, and the interval duration of low-quality positioning according to the above method. It can also directly determine which sub-scenario the scene where the device to be positioned is located based on at least two of the dimensions of the number of different satellite signals received by the device to be positioned, the PDOP value, the duration of low-quality positioning, the interval duration of low-quality positioning, and the frequency of occurrence of low-quality positioning according to the above method. Figure 4 , which shows a schematic diagram of determining a sub-scenario where the device to be positioned is located when the device to be positioned is a GNSS and INS combined navigation device.

[0082] In another example, in the semi-occluded scenario, when the device to be positioned is a non-combined GNSS satellite navigation device, the positioning accuracy evaluation device needs to first determine whether the number of different satellite signals received by the device to be positioned is greater than or equal to the fifth value. If so, the positioning accuracy evaluation device can directly determine which sub-scenario the scene where the device to be positioned is located based on the above method based on any one of the dimensions of the number of different satellite signals received by the device to be positioned, the PDOP value, the duration of low-quality positioning, and the interval duration of low-quality positioning. It can also directly determine which sub-scenario the scene where the device to be positioned is located based on at least two of the dimensions of the number of different satellite signals received by the device to be positioned, the PDOP value, the duration of low-quality positioning, the interval duration of low-quality positioning, and the frequency of occurrence of low-quality positioning. Otherwise, the positioning accuracy evaluation device needs to re-perform performance evaluation until it is determined whether the number of different satellite signals received by the device to be positioned is greater than or equal to the fifth value before performing the above process of determining which sub-scenario the scene where the device to be positioned is located. Figure 5 , which is a schematic diagram of determining a sub-scenario where the device to be positioned is located when the device to be positioned is a non-combined GNSS navigation device.

[0083] The fifth value may be 3+N, where N represents the number of different satellite navigation systems to which the satellite signals received by the positioning device to be determined belong. For example, when all satellite signals are derived from GPS, then N=1, and the fifth value may be 4; for another example, when the satellite signals are derived from GPS and BDS respectively, then N=2, and the fifth value may be 5; for another example, when the satellite signals are derived from GPS, BDS and GLONASS respectively, then N=3, and the fifth value may be 6. It should be noted that the fifth value of 4, 5 or 6 is only a preferred example, and the fifth value may also have other values, which are not limited in this application.

[0084] In an optional implementation, the sub-scenes included in the semi-obstructed scene may be one or more of the following six scenes: an urban road overpass, a bridge hole, a road with one side blocked, an overpass, a boulevard, or an urban high-rise building obstruction. It should be noted that the urban road overpass, the bridge hole, the road with one side blocked, the overpass, the boulevard, or the urban high-rise building obstruction are only examples of the sub-scenes included in the semi-obstructed scene, and are not intended to limit the sub-scenes of the semi-obstructed scene.

[0085] For example, when the one or more sub-scenes are one or more of the urban road overpass, the bridge hole, the single-sided blocked road, the overpass, the boulevard, and the urban high-rise building block, in the process of simulating and determining the corresponding relationship between the sub-scene and the positioning parameter interval set, it can be obtained that the relationship of the influence of the sub-scene on the positioning accuracy of the positioning device to be measured can be as follows: Figure 6 shown.

[0086] Step 202: The positioning accuracy evaluation device determines the positioning accuracy of the device to be positioned in the scenario.

[0087] Specifically, the positioning accuracy evaluation device can use a conventional algorithm to determine the evaluation accuracy of the device to be measured in any scenario. For example, the positioning accuracy evaluation device can calculate the positioning accuracy of the device to be measured in the scenario multiple times, and then take the average value of the positioning accuracy determined multiple times, take the middle value or use other algorithms to obtain a value, and use the obtained value as the positioning accuracy of the device to be measured in the scenario. This application is not limited to this.

[0088] By adopting the positioning accuracy evaluation method provided by the entity of the present application, scenes can be distinguished according to the number of different satellite signals received by the device to be measured at the same time, and the classification of scenes can be defined by the quantitative value of the number of satellite signals, so that a relatively comprehensive scene division can be obtained, and the positioning accuracy of the device to be measured in all scenes can be evaluated, so that the evaluation of the positioning accuracy of the device to be measured is more objective and comprehensive, thereby meeting the requirements for high reliability and safety of satellite navigation equipment in the field of intelligent connected vehicles.

[0089] For example, in the prior art, due to differences in the environment in different regions, such as the test results of the positioning accuracy of the same positioning device to be measured in regions A and B, are not comparable, and thus the positioning accuracy of the positioning device to be measured cannot be accurately evaluated. However, the positioning accuracy evaluation method provided by the embodiment of the present application can ignore the impact of environmental differences in different regions (such as City A and City B), and propose a unified constraint rule for all regions. For example, the scene is related to the number of different satellite signals received by the positioning device to be measured, so that the evaluation rules for all regional references can be the same, thereby obtaining a relatively unified evaluation result of the positioning accuracy of the positioning device to be measured. Therefore, the method provided by the present application can realize large-scale test evaluation such as regional level, and meet the requirements for high reliability and safety of satellite navigation equipment in the field of intelligent connected vehicles.

[0090] Based on the above embodiments, the present application also provides a positioning accuracy evaluation device for achieving the above Figure 2 The function of the positioning accuracy evaluation device in the embodiment described above. Figure 7 As shown, the positioning accuracy evaluation device 700 may include a first processing unit 701 and a second processing unit 702. Specifically, the positioning accuracy evaluation device 700 implements the above Figure 2 The functions of the positioning accuracy assessment device in the embodiments described above may specifically include:

[0091] The first processing unit 701 is used to determine the scene in which the device to be positioned is located, wherein the scene is related to the number of different satellite signals received by the device to be positioned at the same time; the second processing unit 702 is used to determine the positioning accuracy of the device to be positioned in the scene.

[0092] In an optional implementation, the scene may be an open scene, a semi-occluded scene, or a fully-occluded scene.

[0093] In a specific implementation, the scenario is also related to a positioning influencing factor, which may include one or more of the following: a position precision attenuation factor PDOP, a positioning state of the device to be positioned, and a working time of the device to be positioned in the positioning state.

[0094] Exemplarily, when determining the scene in which the device to be positioned is located, the first processing unit 701 is specifically used to: when the number of different satellite signals received by the device to be positioned is greater than or equal to a first value, the PDOP value is less than a second value, and the positioning states of the device to be positioned are all fixed solutions, determine that the scene in which the device to be positioned is located is the open scene; when the number of different satellite signals received by the device to be positioned is greater than or equal to 0 and less than a third value, and the working time of the device to be positioned in the positioning state is greater than a fourth value, determine that the scene in which the device to be positioned is located is the fully occluded scene; when the scene in which the device to be positioned is located is neither the open scene nor the fully occluded scene, determine that the scene in which the device to be positioned is located is the semi-occluded scene; wherein the first value is greater than the third value.

[0095] Specifically, the semi-occluded scene may include one or more sub-scenes.

[0096] In an optional implementation, the first processing unit 701 is specifically used to: when the scene where the device to be positioned is located is the semi-occluded scene, obtain the positioning parameters of the device to be positioned and the corresponding relationship between the positioning parameter interval set and the sub-scene; determine the sub-scene where the device to be positioned is located according to the positioning parameters of the device to be positioned and the corresponding relationship between the positioning parameter interval set and the sub-scene; wherein the positioning parameters include one of the number of different satellite signals received by the device to be positioned, the PDOP value, the duration of low-quality positioning, and the interval duration of low-quality positioning; or, the positioning parameters include at least two of the number of different satellite signals received by the device to be positioned, the PDOP value, the duration of low-quality positioning, the interval duration of low-quality positioning, and the frequency of occurrence of low-quality positioning; the positioning parameter interval set includes one or more of the following: an interval of the number of different satellite signals received, an interval of PDOP values, an interval of duration of low-quality positioning, an interval duration of low-quality positioning, and an interval of frequency of occurrence of low-quality positioning; wherein the low-quality positioning is used to indicate that the positioning error of the device to be positioned is greater than a preset threshold.

[0097] Optionally, when the device to be positioned is a non-combined global satellite navigation system GNSS satellite navigation type device, the first processing unit 701 is further used to: determine that the number of different satellite signals received by the device to be positioned is greater than or equal to a fifth value.

[0098] Exemplarily, the correspondence between the positioning parameter interval set and the sub-scenario is obtained by merging the two sets of simulation positioning parameters corresponding to at least two simulations determined based on the difference in position errors corresponding to at least two simulations in any sub-scenario being no greater than a sixth value; wherein the position error corresponding to any simulation is determined based on a sample measurement position corresponding to any simulation and an actual position corresponding to the sample measurement position; the sample measurement position is determined by a sample satellite signal output by a satellite signal simulator received by the positioning device to be measured in any simulation, and the sample satellite signal is output by the simulated satellite signal under a set of simulation positioning parameters; the set of simulation positioning parameters includes the number of different satellite signals received in any sub-scenario, the PDOP value, the duration of the low-quality positioning, the interval duration of the low-quality positioning, and the frequency of occurrence of the low-quality positioning.

[0099] Exemplarily, the sub-scene may be one or more of the following six scenes: an urban road overpass, a bridge tunnel, a road blocked on one side, an overpass, a boulevard, or a high-rise building in the city.

[0100] Based on the above positioning accuracy evaluation device, scenes can be distinguished according to the number of different satellite signals received by the device to be measured at the same time, so that the classification of scenes can be defined by the quantitative value of the number of satellite signals, thereby obtaining a relatively comprehensive scene division, and the positioning accuracy of the device to be measured in all scenes can be evaluated, so that the evaluation of the positioning accuracy of the device to be measured is more objective and comprehensive, thereby meeting the requirements for high reliability and safety of satellite navigation equipment in the field of intelligent connected vehicles.

[0101] It should be noted that the division of units in the embodiments of the present application is schematic and is only a logical function division. There may be other division methods in actual implementation. Each functional unit in the embodiments of the present application may be integrated into a processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0102] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) or a processor (processor) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk and other media that can store program code.

[0103] Based on the above embodiments, the present application also provides an electronic device for implementing the above Figure 2 The function of the positioning accuracy evaluation device in the embodiment described above. Figure 8 As shown, the electronic device 800 may include a processor 801 and a memory 802. The processor 801 may be a central processing unit (CPU), a network processor (NP) or a combination of a CPU and a NP. The processor 801 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD) or a combination thereof. The PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a generic array logic (GAL) or any combination thereof. When implementing the above functions, the processor 801 may be implemented by hardware, or may execute corresponding software implementations by hardware.

[0104] Optionally, the electronic device 800 may also have a bus 803. The processor 801 and the memory 802 communicate via the bus 803, or may communicate via other means such as wireless transmission. Optionally, the bus 803 may be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 8 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0105] Specifically, the memory 802 is used to store programs, and the processor 801 is used to execute the programs stored in the memory 802. The memory 802 stores programs, and the processor 801 can call the programs stored in the memory 802 to perform the following operations:

[0106] Determine a scene in which the device to be positioned is located, wherein the scene is related to the number of different satellite signals received by the device to be positioned at the same time; and determine the positioning accuracy of the device to be positioned in the scene.

[0107] In an optional implementation, the scene may be an open scene, a semi-occluded scene, or a fully-occluded scene.

[0108] In a specific implementation, the scenario may also be related to a positioning influencing factor, which may include one or more of the following: a position precision decay factor PDOP, a positioning state of the device to be positioned, and a working time of the device to be positioned in the positioning state.

[0109] Exemplarily, when determining the scene in which the device to be positioned is located, the processor 801 is specifically used to: when the number of different satellite signals received by the device to be positioned is greater than or equal to a first value, the PDOP value is less than a second value, and the positioning states of the device to be positioned are all fixed solutions, determine that the scene in which the device to be positioned is located is the open scene; when the number of different satellite signals received by the device to be positioned is greater than or equal to 0 and less than a third value, and the working time of the device to be positioned in the positioning state is greater than a fourth value, determine that the scene in which the device to be positioned is located is the fully occluded scene; when the scene in which the device to be positioned is located is neither the open scene nor the fully occluded scene, determine that the scene in which the device to be positioned is located is the semi-occluded scene; wherein the first value is greater than the third value.

[0110] Optionally, the semi-occluded scene may include one or more sub-scenes.

[0111] Exemplarily, the processor 801 is specifically used to: when the scene where the device to be positioned is located is the semi-occluded scene, obtain the positioning parameters of the device to be positioned and the correspondence between the positioning parameter interval set and the sub-scene; determine the sub-scene where the device to be positioned is located according to the positioning parameters of the device to be positioned and the correspondence between the positioning parameter interval set and the sub-scene; wherein the positioning parameters include one of the number of different satellite signals received by the device to be positioned, the PDOP value, the duration of low-quality positioning, and the interval duration of low-quality positioning; or, the positioning parameters include at least two of the number of different satellite signals received by the device to be positioned, the PDOP value, the duration of low-quality positioning, the interval duration of low-quality positioning, and the frequency of occurrence of low-quality positioning; the positioning parameter interval set includes one or more of the following: an interval of the number of different satellite signals received, an interval of PDOP values, an interval of duration of low-quality positioning, an interval duration of low-quality positioning, and an interval of frequency of occurrence of low-quality positioning; wherein the low-quality positioning is used to indicate that the positioning error of the device to be positioned is greater than a preset threshold.

[0112] In an optional implementation, when the device to be positioned is a non-combined global satellite navigation system GNSS satellite navigation type device, the processor 801 is further used to: determine that the number of different satellite signals received by the device to be positioned is greater than or equal to a fifth value.

[0113] Specifically, the correspondence between the positioning parameter interval set and the sub-scenario is obtained by merging the two sets of simulation positioning parameters corresponding to the at least two simulations determined when the difference in position errors corresponding to at least two simulations in any sub-scenario is not greater than the sixth value; wherein the position error corresponding to any simulation is determined based on the sample measurement position corresponding to the any simulation and the actual position corresponding to the sample measurement position; the sample measurement position is determined by a sample satellite signal output by the satellite signal simulator received by the positioning device to be measured in any simulation, and the sample satellite signal is output by the simulated satellite signal under a set of simulation positioning parameters; the set of simulation positioning parameters includes the number of the different satellite signals received in any sub-scenario, the PDOP value, the duration of the low-quality positioning, the interval duration of the low-quality positioning and the frequency of occurrence of the low-quality positioning.

[0114] Exemplarily, the sub-scene may be one or more of the following six scenes: an urban road overpass, a bridge tunnel, a road blocked on one side, an overpass, a boulevard, or a high-rise building in the city.

[0115] Based on the above electronic device, scenes can be distinguished according to the number of different satellite signals received by the device to be measured at the same time, and the classification of scenes can be defined by the quantitative value of the number of satellite signals, so that a relatively comprehensive scene division can be obtained, and the positioning accuracy of the device to be measured in all scenes can be evaluated, so that the evaluation of the positioning accuracy of the device to be measured is more objective and comprehensive, thereby meeting the requirements for high reliability and safety of satellite navigation equipment in the field of intelligent connected vehicles.

[0116] An embodiment of the present application also provides a computer-readable storage medium, which is used to store a computer program. When the computer program is executed by a computer, the computer can implement the positioning accuracy assessment method provided by the above method embodiment.

[0117] An embodiment of the present application also provides a computer program product, which is used to store a computer program. When the computer program is executed by a computer, the computer can implement the positioning accuracy assessment method provided by the above method embodiment.

[0118] An embodiment of the present application also provides a chip, including a processor, which is coupled to a memory and is used to call a program in the memory so that the chip can implement the positioning accuracy assessment method provided by the above method embodiment.

[0119] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0120] The present application is described with reference to the flowchart and / or block diagram of the method, device (system), and computer program product according to the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the process and / or box in the flowchart and / or block diagram can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device produce a device for implementing the function specified in one process or multiple processes in the flowchart and / or one box or multiple boxes in the block diagram.

[0121] These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured product including an instruction device that implements the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0122] These computer program instructions may also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, whereby the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0123] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A positioning accuracy assessment method, characterized in that: include: Determine a scene in which the device to be positioned is located, wherein the scene is related to the number of different satellite signals received by the device to be positioned at the same time; Determine the positioning accuracy of the device to be positioned in the scenario; The scene is an open scene, a semi-occluded scene, or a fully-occluded scene; The scenario is also related to a positioning influencing factor, which includes one or more of the following: a position precision reduction factor PDOP, a positioning state of the device to be positioned, and a working time of the device to be positioned in the positioning state; The determining of the scene where the device to be positioned is located includes: when the number of the different satellite signals received by the device to be positioned is greater than or equal to a first value, the PDOP value is less than a second value, and the positioning states of the device to be positioned are all fixed solutions, determining that the scene where the device to be positioned is located is the open scene; When the number of the different satellite signals received by the device to be positioned is greater than or equal to 0 and less than a third value, and the working time of the device to be positioned in the positioning state is greater than a fourth value, it is determined that the scene where the device to be positioned is located is the fully blocked scene; When the scene where the device to be positioned is located is neither the open scene nor the fully blocked scene, determining that the scene where the device to be positioned is located is the semi-blocked scene; The first value is greater than the third value.

2. The method according to claim 1, characterized in that The semi-occluded scene includes one or more sub-scenes.

3. The method according to claim 2, characterized in that When the scene where the device to be positioned is located is the semi-occluded scene, the method further includes: Obtaining the positioning parameters of the device to be positioned and the corresponding relationship between the positioning parameter interval set and the sub-scenario; Determine the subscene where the device to be positioned is located according to the corresponding relationship between the positioning parameter of the device to be positioned and the positioning parameter interval set and the subscene; The positioning parameter includes one of the number of the different satellite signals received by the positioning device to be measured, the PDOP value, the duration of low-quality positioning, and the interval duration of low-quality positioning; Alternatively, the positioning parameters include at least two of the number of the different satellite signals received by the positioning device to be measured, the PDOP value, the duration of the low-quality positioning, the interval duration of the low-quality positioning, and the frequency of occurrence of low-quality positioning; The positioning parameter interval set includes one or more of the following: an interval of the number of different satellite signals received, an interval of PDOP values, an interval of duration of low-quality positioning, an interval of interval duration of low-quality positioning, and an interval of occurrence frequency of low-quality positioning; The low-quality positioning is used to indicate that the positioning error of the device to be positioned is greater than a preset threshold.

4. The method according to claim 3, characterized in that When the device to be positioned is a non-combined global satellite navigation system GNSS satellite navigation device, the method further includes: It is determined that the number of the different satellite signals received by the device to be positioned is greater than or equal to a fifth value.

5. The method according to claim 3 or 4, characterized in that The correspondence between the positioning parameter interval set and the sub-scenario is obtained by combining the two sets of simulation positioning parameters corresponding to at least two simulations determined when the difference in position errors corresponding to at least two simulations under any sub-scenario is not greater than a sixth value; Among them, the position error corresponding to any simulation is determined based on the sample measurement position corresponding to any simulation and the actual position corresponding to the sample measurement position; the sample measurement position is determined by the positioning device to be measured in any simulation based on a sample satellite signal output by the received satellite signal simulator, and the sample satellite signal is a simulated satellite signal output under a set of simulation positioning parameters; the set of simulation positioning parameters includes the number of different satellite signals received in any sub-scenario, the PDOP value, the duration of the low-quality positioning, the interval duration of the low-quality positioning and the frequency of occurrence of the low-quality positioning.

6. The method according to any one of claims 2 to 4, characterized in that: The sub-scene is one or more of the following six scenes: an urban road overpass, a bridge hole, a single-side blocked road, an overpass, a boulevard, or a city high-rise building block.

7. A positioning accuracy evaluation device, characterized in that: include: A first processing unit, configured to determine a scene in which the device to be positioned is located, wherein the scene is related to the number of different satellite signals received by the device to be positioned at the same time; A second processing unit, used to determine the positioning accuracy of the device to be positioned in the scenario; The scene is an open scene, a semi-occluded scene, or a fully-occluded scene; The scenario is also related to a positioning influencing factor, which includes one or more of the following: a position precision reduction factor PDOP, a positioning state of the device to be positioned, and a working time of the device to be positioned in the positioning state; The first processing unit, when determining the scene where the device to be positioned is located, is specifically configured to: When the number of the different satellite signals received by the device to be positioned is greater than or equal to a first value, the PDOP value is less than a second value, and the positioning states of the device to be positioned are all fixed solutions, determining that the scene where the device to be positioned is located is the open scene; When the number of the different satellite signals received by the device to be positioned is greater than or equal to 0 and less than a third value, and the working time of the device to be positioned in the positioning state is greater than a fourth value, it is determined that the scene where the device to be positioned is located is the fully blocked scene; When the scene where the device to be positioned is located is neither the open scene nor the fully blocked scene, determining that the scene where the device to be positioned is located is the semi-blocked scene; The first value is greater than the third value.

8. The device according to claim 7, characterized in that The semi-occluded scene includes one or more sub-scenes.

9. The device according to claim 8, characterized in that When the scene where the device to be positioned is located is the semi-occluded scene, the first processing unit is specifically configured to: Obtaining the positioning parameters of the device to be positioned and the corresponding relationship between the positioning parameter interval set and the sub-scenario; Determine the subscene where the device to be positioned is located according to the corresponding relationship between the positioning parameter of the device to be positioned and the positioning parameter interval set and the subscene; The positioning parameter includes one of the number of the different satellite signals received by the positioning device to be measured, the PDOP value, the duration of low-quality positioning, and the interval duration of low-quality positioning; Alternatively, the positioning parameters include at least two of the number of the different satellite signals received by the positioning device to be measured, the PDOP value, the duration of the low-quality positioning, the interval duration of the low-quality positioning, and the frequency of occurrence of low-quality positioning; The positioning parameter interval set includes one or more of the following: an interval of the number of different satellite signals received, an interval of PDOP values, an interval of duration of low-quality positioning, an interval of interval duration of low-quality positioning, and an interval of occurrence frequency of low-quality positioning; The low-quality positioning is used to indicate that the positioning error of the device to be positioned is greater than a preset threshold.

10. The device according to claim 9, characterized in that When the device to be positioned is a non-combined global satellite navigation system GNSS satellite navigation device, the first processing unit is further used for: It is determined that the number of the different satellite signals received by the device to be positioned is greater than or equal to a fifth value.

11. The device according to claim 9 or 10, characterized in that The correspondence between the positioning parameter interval set and the sub-scenario is obtained by combining the two sets of simulation positioning parameters corresponding to at least two simulations determined when the difference in position errors corresponding to at least two simulations under any sub-scenario is not greater than a sixth value; Among them, the position error corresponding to any simulation is determined based on the sample measurement position corresponding to any simulation and the actual position corresponding to the sample measurement position; the sample measurement position is determined by the positioning device to be measured in any simulation based on a sample satellite signal output by the received satellite signal simulator, and the sample satellite signal is a simulated satellite signal output under a set of simulation positioning parameters; the set of simulation positioning parameters includes the number of different satellite signals received in any sub-scenario, the PDOP value, the duration of the low-quality positioning, the interval duration of the low-quality positioning and the frequency of occurrence of the low-quality positioning.

12. The device according to any one of claims 8 to 10, characterized in that: The sub-scene is one or more of the following six scenes: an urban road overpass, a bridge hole, a single-side blocked road, an overpass, a boulevard, or a city high-rise building block.

13. An electronic device, characterized in that: comprising a processor and a memory, wherein: The memory is used to store programs; The processor is coupled to the memory, and is used to call the program in the memory so that the electronic device executes the method according to any one of claims 1-6.

14. A computer-readable storage medium, characterized in that: The method comprises instructions, which, when executed on a computer, cause the computer to execute the method according to any one of claims 1 to 6.

15. A computer program product comprising instructions, characterized in that When the computer program product is run on a computer, the computer is enabled to execute the method according to any one of claims 1 to 6.

Images