Satellite Navigation System Correction Product Continuity Evaluation Method, Terminal and Storage Medium

Abstract

The present application relates to a method, a terminal, and a storage medium for evaluating the continuity of a satellite navigation system correction product. The evaluation method includes: obtaining the evaluation scope of the continuity of the satellite navigation system correction product; obtaining the data of the correction product according to the evaluation scope; and obtaining the continuity evaluation value of the correction product according to the data of the correction product. The method, the terminal, and the storage medium for evaluating the continuity of the satellite navigation system correction product provided by the present application fully consider the actual service requirements of users, can set different evaluation scopes to evaluate the continuity of the correction product, and associate the continuous evaluation result of the correction product with the continuous evaluation result of the positioning mode, improving the practical application value of the continuity evaluation result of the correction product; and directly perform positive calculation on the continuity of the correction product, excluding interference factors introduced by the positioning algorithm or the evaluation environment, and preprocessing the evaluation data before continuity evaluation to improve the accuracy of the continuity evaluation result of the correction product.

Description

Technical Field

[0001] This application belongs to the field of satellite navigation, and particularly relates to a method for evaluating the continuity of satellite navigation system correction products, a terminal, and a storage medium. Background Art

[0002] The Global Navigation Satellite System (GNSS) can provide all-weather real-time positioning, navigation, and timing services for global users. Its core constellations include the Global Positioning System (GPS) of the United States, the Beidou Satellite Navigation System (BDS) of China, the Galileo positioning system of the European Union, and the Global Navigation Satellite System (GLONASS) of Russia. Without the assistance of enhanced information, the pseudo-range single-point positioning accuracy of an independent single-system GNSS is about 5 meters. To meet the requirements for high-precision positioning in fields such as surveying and mapping, autonomous driving, and monitoring, it is necessary to correct the original GNSS measurement errors to achieve centimeter- or even millimeter-level positioning. Currently, high-precision positioning users represented by autonomous driving generally adopt the Precise Point Positioning - Real-Time Kinematic (PPP-RTK) technology, which can provide real-time dynamic centimeter-level positioning services nationwide using only a small number of ground reference stations. As the basis for achieving high-precision positioning, the GNSS correction products required by PPP-RTK mainly include precise orbits, precise clock offsets, code biases, phase biases, ionospheric corrections, and tropospheric corrections. In addition, the PPP-RTK positioning mode can be compatible with positioning modes such as Precise Point Positioning - Float (PPP-Float) and Precise Point Positioning - Ambiguity Resolution (PPP-AR), providing different levels of services according to the actual needs of users.

[0003] In addition to accuracy, continuity is also an important indicator for measuring navigation performance, which reflects the ability of the navigation service not to experience unexpected interruptions after it starts. Continuity is usually characterized in the form of probability using statistical methods, and the specific calculation method is the sum of the times when positioning solutions are actually provided divided by the total service time. In a sense, the importance of continuity exceeds that of accuracy because ordinary users can generally accept a short-term degradation in positioning accuracy, but a positioning interruption can have fatal consequences. According to the basic principle of PPP-RTK positioning, the continuity of GNSS correction products directly determines the continuity of the final positioning result. Therefore, for PPP-RTK service providers, the continuity performance of their products is an important basis for measuring product quality. Accurately evaluating the continuity of each type of correction product and giving the product continuity parameters under different service modes is a necessary task.

[0004] The existing correction product continuity evaluation schemes mainly include back-calculation based on the continuity of terminal positioning results and direct statistical calculation based on the presence or absence of historical product data. For the first type of scheme, long-term user-side positioning tests (such as static emulating dynamic, real-time dynamic road tests, etc.) are usually used to obtain the continuity of positioning results, so as to characterize the continuity information of service products. For example, if the continuity of PPP-RTK positioning results is 90% within a certain period of a certain test, it is equivalent to that the continuity of all correction products is 90%. However, although such schemes can provide a reference for the continuity of correction products, the obtained results are extremely vulnerable to factors such as the test environment and duration, resulting in strong randomness of the calculation results, inaccurate and unrepresentative values of product continuity.

[0005] The above-mentioned second type of scheme (directly statistically calculating continuity based on historical product data) is a relatively widely used continuity evaluation method in the industry and is also the method that can theoretically calculate the result closest to the true continuity. However, in the existing specific implementation process, usually only the epochs with data are added up to determine the total duration of historical product data, and then divided by the total duration of the processed time period. Since the epochs missing due to human factors are not excluded in this process, the calculated continuity result is much smaller than the actual value. In addition, the existing correction product continuity evaluation schemes do not combine the actual service needs of users and do not associate with positioning continuity, and the obtained results have low reference value for practical applications. Summary of the Invention

[0006] In view of the above technical problems, the present application provides a satellite navigation system correction product continuity evaluation method, a terminal and a storage medium to improve the practical application value and accuracy of the correction product continuity evaluation result.

[0007] The present application provides a satellite navigation system correction product continuity evaluation method, including: obtaining the evaluation range of the satellite navigation system correction product continuity; obtaining the data of the correction product according to the evaluation range; and obtaining the continuity evaluation value of the correction product according to the data of the correction product.

[0008] In an implementation manner, the evaluation range includes system type, product service area and evaluation time period; the data of the correction product includes the historical product data of the correction product, the satellite raw observation data required for calculating the historical product data, and the post-processing product data provided by a third-party institution.

[0009] In one embodiment, before obtaining the continuity evaluation value of the corrected product, it includes: obtaining the dissemination frequency of the data of the corrected product, and determining the epoch information of the corrected product according to the dissemination frequency of the data and the evaluation time period; determining the satellite set corresponding to the corrected product at any moment in the epoch information according to the system type and the product service area; preprocessing the epoch information and the satellite set according to the data of the corrected product.

[0010] In one embodiment, the step of preprocessing the epoch information and the satellite set according to the data of the corrected product includes: if the historical product data at any moment in the epoch information, the after-event product data provided by a third party, and the original observation data of any satellite in the satellite set are all missing, removing the corresponding moment and the corresponding satellite from the epoch information and the satellite set respectively; if the historical product data at any moment in the epoch information is missing while the after-event product data provided by a third party is not missing, further obtaining the data improper processing factor corresponding to the moment; wherein the data improper processing factor includes any one of data not saved and data storage error; if there is a data improper processing factor at the corresponding moment, removing the corresponding moment from the epoch information; if there is no such data improper processing factor at the corresponding moment, keeping the epoch information unchanged.

[0011] In one embodiment, the step of obtaining the continuity evaluation value of the corrected product according to the data of the corrected product includes: obtaining the continuity of the corrected product at each moment in the preprocessed epoch information according to the historical product data, the preprocessed epoch information and the satellite set; calculating the continuity evaluation value of the corrected product according to the continuity of the corrected product at each moment.

[0012] In one embodiment, the step of obtaining the continuity of the correction product at each moment in the preprocessed epoch information according to the historical product data, the preprocessed epoch information, and the satellite set includes: If at any moment in the preprocessed epoch information, the historical product data is not missing, and the ratio of the number of satellites with actual historical product data to the total number of satellites in the preprocessed satellite set corresponding to the correction product at the corresponding moment is greater than the evaluation threshold, then the correction product is continuous at the corresponding moment; If at any moment in the preprocessed epoch information, the historical product data is not missing, and the ratio of the number of satellites with actual historical product data to the total number of satellites in the preprocessed satellite set corresponding to the correction product at the corresponding moment is less than or equal to the evaluation threshold, then the correction product is not continuous at the corresponding moment; If at any moment in the preprocessed epoch information, the historical product data is missing, then the correction product is not continuous at the corresponding moment;

[0013] The step of calculating the continuity evaluation value of the correction product according to the continuity of the correction product at each moment includes:

[0014] The continuity evaluation value of the correction product is calculated by the following formula:

[0015]

[0016] where P cont is the continuity evaluation value of the correction product; M is the total number of moments in the preprocessed epoch information; X k is the continuity characterization value of the correction product at the K-th moment in the preprocessed epoch information. The value range of X k is 0 or 1. X k = 1 indicates that the correction product is continuous at the K-th moment; X k = 0 indicates that the correction product is not continuous at the K-th moment.

[0017] In one embodiment, the evaluation range includes the positioning mode of the satellite navigation system; before obtaining the data of the correction product, it includes: determining the correction product to be evaluated for continuity according to the positioning mode; after obtaining the continuity evaluation value of the correction product, it includes: obtaining the continuity evaluation value of the positioning mode according to the continuity evaluation value of the correction product.

[0018] In one embodiment, the step of obtaining the continuity evaluation value of the positioning mode according to the continuity evaluation value of the correction product includes: obtaining the minimum value of the continuity evaluation values of each correction product in the positioning mode; taking the minimum value of the continuity evaluation value as the continuity evaluation value of the positioning mode.

[0019] The present application also provides a terminal, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of the above evaluation method are implemented.

[0020] The present application also provides a storage medium storing a computer program, and when the computer program is executed by a processor, the steps of the above evaluation method are implemented.

[0021] A method for evaluating the continuity of a satellite navigation system correction product, a terminal, and a storage medium provided by the present application fully consider the actual service requirements of users, can set different evaluation ranges to evaluate the continuity of the correction product, and associate the continuous evaluation result of the correction product with the continuous evaluation result of the positioning mode, improving the practical application value of the continuous evaluation result of the correction product; and directly perform a forward calculation on the continuity of the correction product, excluding interference factors introduced by the positioning algorithm or the evaluation environment. Before the continuity evaluation, preprocess the evaluation data to improve the accuracy of the continuous evaluation result of the correction product. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 is a schematic flowchart of the evaluation method provided in Embodiment 1 of the present application;

[0023] Figure 2 is a schematic structural diagram of the terminal provided in Embodiment 2 of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0024] The technical solution of the present application will be further described in detail below with reference to the accompanying drawings of the specification and specific embodiments. Unless otherwise defined, all technical and scientific terms used in the present application have the same meaning as commonly understood by those skilled in the technical field to which the present application belongs. The terms used in the specification of the present application herein are only for the purpose of describing specific embodiments and are not intended to limit the present application. The "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0025] Figure 1 is a schematic flowchart of the evaluation method provided in Embodiment 1 of the present application. As Figure 1 shown, the evaluation method of the present application may include the following steps:

[0026] Step S101: Obtain the evaluation range of the continuity of the satellite navigation system correction product;

[0027] Optionally, the evaluation scope includes system type, product service area, and evaluation time period; among them, the system type includes navigation systems such as the Global Positioning System (GPS) in the United States, the Beidou Satellite Navigation System (BDS) in China, the Galileo positioning system in the European Union, and the Global Navigation Satellite System (GLONASS) in Russia; the product service area includes different regions such as China and the United States; the unit of the evaluation time period can be year, month, day, or hour.

[0028] Step S102: Obtain the data of the corrected product according to the evaluation scope;

[0029] Optionally, the data of the corrected product includes the historical product data of the corrected product, the original satellite observation data required for calculating the historical product data, and the afterproduct data provided by a third-party agency; among them, the corrected product includes precise orbit, precise clock offset, code bias, phase bias, ionospheric correction, and turnaround correction; the historical product data is the historical data of the corrected product stored in the local server of the corrected product service provider; the original product data is the necessary original information required for calculating the historical product data, such as the broadcast ephemeris of the satellite for calculating the precise orbit and clock offset; the afterproduct data provided by a third-party agency is the product data of the corrected product calculated by international satellite navigation service organizations (such as IGS, NASA) according to the original satellite observation data. This data is generally generated 20 - 30 days later than the historical product data, so it is called afterproduct data.

[0030] Taking the precise orbit and clock offset products as an example, if the product service area is within China, calculate the transit time of each satellite per day (the start and end times can be appropriately extended), and then remove the data of the precise orbit and clock offset products during the time period when each satellite is outside the country.

[0031] It is worth mentioning that the evaluation scope also includes satellite frequency points; taking the code bias and phase bias products as an example, if the product service area is within China and the satellite frequency point is L1, calculate the transit time of each satellite per day (the start and end times can be appropriately extended) and determine the frequency point of each satellite, and then remove the data of the code bias and phase bias products during the time period when each satellite is outside the country and outside the L1 frequency point.

[0032] Step S103: Obtain the continuity evaluation value of the corrected product according to the data of the corrected product.

[0033] In an embodiment, before obtaining the continuity evaluation value of the corrected product, it includes:

[0034] Obtain the dissemination frequency of the data of the corrected product, and determine the epoch information of the corrected product according to the dissemination frequency of the data and the evaluation time period;

[0035] Determine the satellite set corresponding to the corrected product at any moment in the epoch information according to the system type and the product service area;

[0036] Preprocess the epoch information and the satellite set according to the data of the corrected product.

[0037] Exemplarily, if the playback frequency of the data of the corrected product is to broadcast data once every 5s, then a moment point is determined every 5s within the evaluation time period, and all the moment points form the epoch information of the corrected product; if the system type is GPS and the product service area is China, then the set of visible GPS satellites within China at any moment in the epoch information is the satellite set corresponding to the corrected product.

[0038] In one embodiment, the step of preprocessing the epoch information and the satellite set according to the data of the corrected product includes:

[0039] If the historical product data at any moment in the epoch information, the post-event product data provided by a third party, and the raw observation data of any satellite in the satellite set are all missing, then the corresponding moment and the corresponding satellite are removed from the epoch information and the satellite set respectively;

[0040] If the historical product data at any moment in the epoch information is missing while the post-event product data provided by a third party is not missing, then further obtain the data improper handling factors corresponding to the moment; among them, the data improper handling factors include any one of data not saved and data storage error; if there are data improper handling factors at the corresponding moment, then the corresponding moment is removed from the epoch information; if there are no data improper handling factors at the corresponding moment, then the epoch information remains unchanged.

[0041] Taking the precise orbit and clock offset product as an example, if at a certain moment a certain satellite does not broadcast the broadcast ephemeris due to system maintenance or satellite maneuvering, etc., and the third party does not provide the post-event product data at the corresponding moment either, then it can be determined that the continuity interruption of the corrected product is caused by satellite or system reasons, and the corresponding moment and the corresponding satellite should not be included in the continuity evaluation process of the corrected product; if the historical product data is missing at a certain moment, while the post-event product data provided by the third party at the corresponding moment is not missing, and there are data improper handling factors such as data not saved and data storage error caused by human factors at the corresponding moment, such as power failure and network disconnection at the corresponding moment, then it can be determined that the continuity interruption of the corrected product is caused by human factors, and the corresponding moment should not be included in the continuity evaluation process of the corrected product.

[0042] In one embodiment, step S103: Obtain the continuity evaluation value of the corrected product according to the data of the corrected product, including:

[0043] Obtain the continuity of the correction product at each moment in the preprocessed epoch information according to the historical product data, the preprocessed epoch information, and the satellite set.

[0044] Calculate the continuity evaluation value of the correction product according to the continuity of the correction product at each moment.

[0045] In one embodiment, the step of obtaining the continuity of the correction product at each moment in the preprocessed epoch information according to the historical product data, the preprocessed epoch information, and the satellite set includes:

[0046] If, at any moment in the preprocessed epoch information, the historical product data is not missing, and the ratio of the number of satellites with actual historical product data to the total number of satellites in the preprocessed satellite set corresponding to the correction product at the corresponding moment is greater than the evaluation threshold, then the correction product is continuous at the corresponding moment;

[0047] If, at any moment in the preprocessed epoch information, the historical product data is not missing, and the ratio of the number of satellites with actual historical product data to the total number of satellites in the preprocessed satellite set corresponding to the correction product at the corresponding moment is less than or equal to the evaluation threshold, then the correction product is not continuous at the corresponding moment;

[0048] If, at any moment in the preprocessed epoch information, the historical product data is missing, then the correction product is not continuous at the corresponding moment;

[0049] It is worth mentioning that different evaluation thresholds can be set according to different evaluation ranges and correction products to make the continuity evaluation results of the correction products more comprehensive, accurate, and reliable.

[0050] In one embodiment, the step of calculating the continuity evaluation value of the correction product according to the continuity of the correction product at each moment includes:

[0051] The continuity evaluation value of the correction product is calculated by the following formula:

[0052]

[0053] Where P cont is the continuity evaluation value of the correction product; M is the total number of moments in the preprocessed epoch information; X k is the continuity characterization value of the correction product at the K-th moment in the preprocessed epoch information, and the value range of X k is 0 or 1. X k = 1 indicates that the correction product is continuous at the K-th moment; X k = 0 indicates that the correction product is not continuous at the K-th moment.

[0054] It is worth mentioning that the evaluation scope includes the positioning mode of the satellite navigation system; before obtaining the data of the correction product, it includes: determining the correction product to be evaluated for continuity according to the positioning mode; after obtaining the continuity evaluation value of the correction product, it includes: obtaining the continuity evaluation value of the positioning mode according to the continuity evaluation value of the correction product.

[0055] Among them, the correction products corresponding to the PPP-Float positioning mode are precise orbit, precise clock offset and code bias; the correction products corresponding to the PPP-AR positioning mode are precise orbit, precise clock offset, code bias and phase bias; the correction products corresponding to the PPP-RTK positioning mode are precise orbit, precise clock offset, code bias, phase bias, ionospheric correction and tropospheric correction.

[0056] In an embodiment, the steps of obtaining the continuity evaluation value of the positioning mode according to the continuity evaluation value of the correction product include:

[0057] Obtaining the minimum value of the continuity evaluation values of the correction products in the positioning mode;

[0058] Taking the minimum value of the continuity evaluation value as the continuity evaluation value of the positioning mode.

[0059] The evaluation method provided in the first embodiment of this application obtains the evaluation scope of the continuity of the correction product of the satellite navigation system; obtains the data of the correction product according to the evaluation scope; and obtains the continuity evaluation value of the correction product according to the data of the correction product; fully considers the actual service needs of users, evaluates the continuity of the correction product by setting different evaluation scopes, and correlates the continuous evaluation result of the correction product with the continuous evaluation result of the positioning mode, improving the practical application value of the continuous evaluation result of the correction product; in addition, directly performs a positive calculation on the continuity of the correction product, excludes the interference factors introduced by the positioning algorithm or evaluation environment, and improves the accuracy of the continuous evaluation result of the correction product by preprocessing the evaluation data before the continuity evaluation.

[0060] Figure 2 It is a schematic structural diagram of the terminal provided in the second embodiment of this application. The terminal of this application includes: a processor 110, a memory 111, and a computer program 112 stored in the memory 111 and executable on the processor 110. When the processor 110 executes the computer program 112, it implements the steps in the above-mentioned various evaluation method embodiments, such as Figure 1 The steps S101 to S103 shown.

[0061] The terminal may include, but is not limited to, a processor 110 and a memory 111. Those skilled in the art can understand, Figure 2These are merely examples of terminals and do not constitute limitations on the terminals. They may include more or fewer components than shown in the figures, or combine certain components, or have different components. For example, the terminal may also include input / output devices, network access devices, buses, etc.

[0062] The so-called processor 110 may be a central processing unit (CPU), or may also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0063] The memory 111 may be an internal storage unit of the terminal, such as the hard disk or memory of the terminal. The memory 111 may also be an external storage device of the terminal, such as a plug-in hard disk equipped on the terminal, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. Further, the memory 111 may also include both the internal storage unit and the external storage device of the terminal. The memory 111 is used to store the computer program and other programs and data required by the terminal. The memory 111 may also be used to temporarily store data that has been output or will be output.

[0064] This application also provides a storage medium on which a computer program is stored. When the computer program is executed by a processor, the steps of the above-described evaluation method are implemented.

[0065] The technical features of the above-described embodiments may be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as falling within the scope described in this specification.

[0066] In this article, the term "comprising", "including" or any other variant thereof is intended to cover a non-exclusive inclusion. In addition to the listed elements, it may also include other elements not expressly listed.

[0067] The above are only specific embodiments of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art within the technical scope disclosed in the present application can easily think of changes or substitutions, which should all be covered within the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims described above.

Claims

1. A method for evaluating the continuity of satellite navigation system correction products, characterized in that Including: Obtaining the evaluation scope of the continuity of satellite navigation system correction products, including system type, product service area, and evaluation time period; The data of the correction product includes the historical product data of the correction product, the original satellite observation data required for calculating the historical product data, and the post-processing product data provided by a third-party agency; According to the evaluation scope, obtaining the data of the correction product, including: Obtaining the broadcast frequency of the data of the correction product, and determining the epoch information of the correction product according to the broadcast frequency of the data and the evaluation time period; According to the system type and the product service area, determining the satellite set corresponding to the correction product at any moment in the epoch information; According to the data of the correction product, preprocessing the epoch information and the satellite set, including: If the historical product data, the post-processing product data provided by a third-party agency, and the original observation data of any satellite in the satellite set are all missing at any moment in the epoch information, then the corresponding moment and the corresponding satellite are respectively removed from the epoch information and the satellite set; If the historical product data is missing at any moment in the epoch information, and the post-processing product data provided by a third-party agency is not missing, then further obtain the data improper processing factor at the corresponding moment; wherein, the data improper processing factor includes any one of data not saved and data storage error; If there is a data improper processing factor at the corresponding moment, then remove the corresponding moment from the epoch information; if there is no such data improper processing factor at the corresponding moment, then keep the epoch information unchanged; According to the data of the correction product, obtaining the continuity evaluation value of the correction product.

2. The evaluation method according to claim 1, wherein The step of obtaining the continuity evaluation value of the correction product according to the data of the correction product includes: Obtaining the continuity of the correction product at each moment in the preprocessed epoch information according to the historical product data, the preprocessed epoch information, and the satellite set; Calculating the continuity evaluation value of the correction product according to the continuity of the correction product at each moment.

3. The evaluation method according to claim 2, characterized in that, The step of obtaining the continuity of the correction product at each moment in the preprocessed epoch information according to the historical product data, the preprocessed epoch information, and the satellite set includes: If at any moment in the preprocessed epoch information, the historical product data is not missing, and the ratio of the number of satellites with actual historical product data to the total number of satellites in the preprocessed satellite set corresponding to the correction product at the corresponding moment is greater than the evaluation threshold, then the correction product is continuous at the corresponding moment; If at any moment in the preprocessed epoch information, the historical product data is not missing, and the ratio of the number of satellites with actual historical product data to the total number of satellites in the preprocessed satellite set corresponding to the correction product at the corresponding moment is less than or equal to the evaluation threshold, then the correction product is not continuous at the corresponding moment; If the historical product data is missing at any moment in the preprocessed epoch information, then the correction product is not continuous at the corresponding moment; The step of calculating the continuity evaluation value of the corrected product according to the continuity of the corrected product at each moment includes: The continuity evaluation value of the corrected product is calculated by the following formula: wherein, is the continuity evaluation value of the corrected product; is the total number of epochs in the preprocessed epoch information; is the continuity characterization value of the corrected product at the K-th epoch in the preprocessed epoch information, the value range of which is 0 or 1, indicating that the corrected product is continuous at the K-th epoch; indicating that the corrected product is discontinuous at the K-th epoch.

4. The evaluation method according to claim 1, wherein The evaluation scope includes the positioning mode of the satellite navigation system; Before obtaining the data of the corrected product, it includes: Determine the corrected product to be evaluated for continuity according to the positioning mode; After obtaining the continuity evaluation value of the corrected product, it includes: Obtain the continuity evaluation value of the positioning mode according to the continuity evaluation value of the corrected product.

5. The evaluation method according to claim 4, wherein The step of obtaining the continuity evaluation value of the positioning mode according to the continuity evaluation value of the corrected product includes: Obtain the minimum value of the continuity evaluation values of each corrected product in the positioning mode; Take the minimum value of the continuity evaluation value as the continuity evaluation value of the positioning mode.

6. A terminal, characterized in that, The terminal includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the steps of the evaluation method according to any one of claims 1 to 5.

7. A storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the steps of the evaluation method according to any one of claims 1 to 5.

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