A combined navigation verification method and device, a terminal device and a readable medium

Abstract

This invention discloses a method, apparatus, terminal device, and readable medium for verifying integrated navigation. The verification method includes obtaining measured data and reference data of a vehicle through an actual road test; adding timestamps to the measured data and reference data and recording and storing them; obtaining the reference pose of the vehicle during the actual road test through a high-precision integrated inertial navigation system; calculating the measured pose of the vehicle using an integrated navigation algorithm based on the measured data played back in timed order according to the timestamps; comparing the measured pose with the reference pose; determining whether the comparison result is within a preset threshold range; and thus determining whether the integrated navigation algorithm is qualified. The original data can be played back an unlimited number of times during subsequent algorithm iteration development, thereby avoiding the physical limitations of the prior art and solving the problems of low testing efficiency and high testing cost.

Description

Technical Field

[0001] This invention relates to the field of navigation technology, and in particular to a combined navigation verification method, apparatus, terminal device, and readable medium. Background Technology

[0002] With the continuous development of science and technology and the increasing market demand, single navigation systems can no longer meet people's needs. Combining several navigation systems on a vehicle to form an integrated navigation system can better meet people's needs. Currently, there are three types of integrated navigation positioning algorithms: loose combination, tight combination, and deep combination. Testing integrated navigation positioning algorithms generally requires real-vehicle road tests. Every time the algorithm is modified, the vehicle must be driven out for testing. However, the above testing methods have problems such as physical limitations, low testing efficiency, and high testing costs, which are not conducive to verifying integrated navigation. Summary of the Invention

[0003] In view of this, embodiments of this application provide a verification method, apparatus, terminal device, and readable medium for integrated navigation to solve the problems of low testing efficiency and high testing cost in the prior art.

[0004] In a first aspect, embodiments of this application provide a method for verifying integrated navigation, including:

[0005] The vehicle is subjected to actual road tests to obtain test data, and the test data is recorded and stored with a timestamp added.

[0006] The reference pose of the vehicle for the actual road test is obtained by a high-precision integrated inertial navigation system.

[0007] The measured pose of the vehicle is calculated using a combined navigation algorithm based on the measured data replayed in the order of the timestamps.

[0008] The measured pose and the reference pose are compared to determine whether the comparison result is within a preset threshold range.

[0009] If the comparison result is within the threshold range, then the integrated navigation algorithm is deemed qualified.

[0010] In some embodiments, it also includes:

[0011] If the comparison result is not within the threshold range, the integrated navigation algorithm is adjusted, and the step of calculating the vehicle's measured pose using the integrated navigation algorithm based on the measured data played back in the order of the timestamps is returned.

[0012] In some embodiments, the high-precision integrated inertial navigation system includes real-time and offline types, and acquiring the reference pose of the vehicle for the actual road test through the high-precision integrated inertial navigation system includes:

[0013] If the high-precision integrated inertial navigation system is of the real-time type, then during the actual road test of the vehicle, the reference pose of the vehicle is acquired once at a preset interval.

[0014] If the high-precision integrated inertial navigation system is an offline type, then after the vehicle has undergone actual road testing, the reference pose of the vehicle is uniformly acquired at preset intervals.

[0015] In some embodiments, the measured data is recorded and played back using a ROS Bag.

[0016] In some embodiments, the measured data includes inertial navigation data, satellite navigation data, and vehicle body data. The step of conducting actual road tests on the vehicle to obtain the measured data includes:

[0017] The inertial navigation system of the vehicle collects the inertial navigation data, which includes three-axis acceleration and three-axis angular velocity.

[0018] The satellite navigation data is collected through the vehicle's global satellite navigation system, and the satellite navigation data includes longitude, latitude, and altitude;

[0019] The vehicle body data is obtained through the vehicle's CAN bus analyzer, and the vehicle body data includes the overall vehicle speed, four-wheel speed, and steering wheel angle.

[0020] The inertial navigation data, satellite navigation data, and vehicle body data are recorded and stored by adding timestamps using a test industrial control computer.

[0021] In some embodiments, the global satellite navigation system includes a main control board and satellite antennas;

[0022] Both the inertial navigation system and the global satellite navigation system are connected to the test industrial control computer. Both the inertial navigation system and the main control board are located at the center of the rear wheel axle of the vehicle, and the test industrial control computer is located in the trunk of the vehicle.

[0023] In some embodiments, the integrated navigation algorithm is constructed based on the Kalman filter algorithm or the extended Kalman filter algorithm.

[0024] Secondly, embodiments of this application also provide a combined navigation verification device, the device comprising:

[0025] The measured data module performs actual road tests on the vehicle to obtain measured data of the vehicle, adds timestamps to the measured data, records and stores the data;

[0026] The reference pose module obtains the reference pose of the vehicle for the actual road test through a high-precision integrated inertial navigation system.

[0027] The actual pose module calculates the actual pose of the vehicle using a combined navigation algorithm based on the actual data replayed in the order of the timestamps.

[0028] The judgment module compares the measured pose with the reference pose and determines whether the comparison result is within a preset threshold range.

[0029] If the comparison result is within the threshold range, the module determines that the integrated navigation algorithm is qualified.

[0030] Thirdly, embodiments of this application also provide a terminal device, including a memory and a processor, wherein the memory stores a computer program, and the computer program executes any of the above-described combined navigation verification methods when it is run on the processor.

[0031] Fourthly, embodiments of this application also provide a readable storage medium storing a computer program that executes any of the above-described combined navigation verification methods when run on a processor.

[0032] The embodiments of this application have the following beneficial effects:

[0033] The integrated navigation verification method of this application obtains the vehicle's measured data and reference data by conducting an actual road test. The measured data and reference data are timestamped and recorded and stored. A high-precision integrated inertial navigation system is used to obtain the reference pose of the vehicle during the actual road test. Based on the measured data played back in time-stamp order, the integrated navigation algorithm calculates the vehicle's measured pose. The measured pose and reference pose are compared to determine whether the comparison result is within a preset threshold range, thereby determining whether the integrated navigation algorithm is qualified. The original data can be played back an unlimited number of times during subsequent algorithm iterations, thus avoiding the physical limitations of existing technologies and solving the problems of low testing efficiency and high testing costs. Attached Figure Description

[0034] To more clearly illustrate the technical solution of the present invention, the accompanying drawings used in the embodiments will be briefly described below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope of protection of the present invention. In the various drawings, similar components are numbered similarly.

[0035] Figure 1 A flowchart illustrating the combined navigation verification method of Embodiment 1 of the present invention is shown;

[0036] Figure 2 This diagram illustrates the process of obtaining measured data using the integrated navigation verification method of Embodiment 1 of the present invention.

[0037] Figure 3 A schematic diagram of the vehicle testing device for the combined navigation verification method of Embodiment 1 of the present invention is shown;

[0038] Figure 4 This is a schematic diagram of the combined navigation verification device according to Embodiment 2 of the present invention.

[0039] Explanation of key component symbols:

[0040] 10-Combined navigation verification device; 11-Measured data module; 12-Reference pose module; 13-Measured pose module; 14-Judgment module; 15-Determination module. Detailed Implementation

[0041] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0042] The components of the embodiments of the invention described and illustrated herein can typically be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0043] In the following, the terms “comprising,” “having,” and their cognates, which may be used in various embodiments of the invention, are intended only to indicate a particular feature, number, step, operation, element, component, or combination thereof, and should not be construed as excluding, firstly, the presence of one or more other features, numbers, steps, operations, elements, components, or combinations thereof, or adding the possibility of one or more features, numbers, steps, operations, elements, components, or combinations thereof.

[0044] Furthermore, the terms "first," "second," and "third" are used only to distinguish descriptions and should not be interpreted as indicating or implying relative importance.

[0045] Unless otherwise specified, all terms used herein (including technical and scientific terms) shall have the same meaning as commonly understood by one of ordinary skill in the art to which the various embodiments of the invention pertain. Terms (such as those defined in commonly used dictionaries) shall be interpreted as having the same meaning as in their contextual meaning in the relevant technical field and shall not be interpreted as having an idealized or overly formal meaning, unless clearly defined in the various embodiments of the invention.

[0046] Existing integrated navigation testing methods can be categorized into three types: physical testing, software simulation testing, and semi-physical simulation testing. Physical testing incorporates component errors and uses test data with inherent limitations, providing the most accurate reflection of the integrated navigation system's precision. However, due to physical constraints, it suffers from low efficiency and high cost. Software simulation testing generates data through software simulation and outputs it to the integrated navigation algorithm for development and verification. This method is not limited by physical conditions and has low cost, but the simulated scenarios are not realistic and cannot reflect the actual errors of the components. Semi-physical simulation testing falls between software simulation and physical testing, combining the advantages of both methods. However, due to the system's complexity, it introduces control errors and signal time synchronization issues.

[0047] Example 1

[0048] like Figure 1 As shown, a method for verifying integrated navigation includes the following steps:

[0049] Step S100: Conduct actual road tests on the vehicle to obtain actual test data of the vehicle, add timestamps to the actual test data, record and store it.

[0050] In this embodiment, to test the integrated navigation and positioning algorithm, a repeatable real-vehicle physical testing method is provided. First, the vehicle undergoes an actual road test, and the measured data during the vehicle's operation is recorded. Then, the acquired measured data is parsed, and corresponding timestamp information is added to the data. The measured data is then stored in the order of the timestamps. The timestamp represents the time information when the industrial control computer receives the measured data during the actual road test. The measured data includes inertial navigation data, satellite navigation data, and vehicle body data.

[0051] In one implementation, such as Figure 2 As shown, step S100 above includes the following sub-steps:

[0052] Sub-step S110: Collect the inertial navigation data through the vehicle's inertial navigation system. The inertial navigation data includes three-axis acceleration and three-axis angular velocity.

[0053] It is understandable that during on-road testing of a real vehicle, the inertial navigation system installed on the vehicle can be utilized. This inertial navigation system relies on raw data from the inertial measurement unit (IMU) to provide the vehicle's three-axis attitude angles and acceleration data, i.e., providing inertial navigation data. This data is transient data of the vehicle's motion, including three-axis acceleration, three-axis angular velocity, and current ambient temperature, etc. This data is generated at a relatively high frequency, approximately 100–200 Hz. The inertial navigation system is unaffected by the environment and can provide relatively accurate transient motion information of the vehicle; however, its errors accumulate over time, resulting in further inaccuracies.

[0054] Sub-step S120: Collect the satellite navigation data through the vehicle's global satellite navigation system. The satellite navigation data includes longitude, latitude, and altitude.

[0055] It's understandable that installing a Global Navigation Satellite System (GNSS) on a vehicle provides it with satellite navigation data, i.e., the vehicle's global position information, including longitude, latitude, UTC time, and altitude. This system generates data at a relatively low frequency, approximately 1–10 Hz. GNSS is susceptible to environmental influences; for example, the absence of GNSS signals in tunnels and the multipath effect on tree-lined roads can both lead to inaccurate vehicle position information.

[0056] Sub-step S130: Obtain the vehicle body data through the vehicle's CAN bus analyzer. The vehicle body data includes the overall vehicle speed, four-wheel speed, and steering wheel angle.

[0057] It is understandable that the vehicle's CAN bus analyzer can obtain real-time motion information of each node on the vehicle's CAN bus, that is, obtain the vehicle's body data. This data is the vehicle's transient data, including the vehicle's overall speed, four-wheel speed, steering wheel angle, and gear information, etc. The frequency of the data generation is approximately 20 to 50 Hz.

[0058] Sub-step S140: Record and store the inertial navigation data, satellite navigation data, and vehicle body data by adding timestamps through the test industrial control computer.

[0059] It is understandable that, such as Figure 3The diagram shows the structure of a vehicle testing device. During actual road testing, the device records the vehicle's inertial navigation data, satellite navigation data, and vehicle body data. This data is then transmitted via circuitry to the vehicle's testing industrial control computer for parsing, timestamping, and storage. The testing industrial control computer is equipped with a ROS (Robot Operating System) program to receive and parse the test data, add timestamping information, and then uses the ROS Bag record command from the ROS bag tool within the ROS program to store the timestamped test data on the computer's hard drive, categorizing it by topic. It should be noted that the execution order of sub-steps S110 to S130 is not critical and can be performed simultaneously.

[0060] The aforementioned ROS system is a highly flexible software architecture for developing intelligent driving algorithms. It includes a large number of utility software, library code, and agreed-upon protocols. Among them, the ROS Bag tool is a set of tools for recording and replaying ROS message data, enabling data reuse and facilitating subsequent debugging and testing. Essentially, a ROS Bag is a ROS node. During recording, the ROS Bag acts as a subscribing node, subscribing to topic messages and writing the subscribed data to a disk file; during playback, the ROS Bag acts as a publishing node, reading from the disk file. The `ROSBag record` command is used to receive subscribed topics, timestamp them, and save them to the system-specified storage device.

[0061] In this embodiment, the ROS Bag tool subscribes to topics such as the Global Navigation Satellite System, Inertial Navigation System, and CAN bus analyzer. During on-road vehicle testing, ROSBag record is used to receive data from the subscribed topics, timestamp it, and save it to the disk of the test industrial control computer system. The ROSBag play command is used to replay previously recorded data in timestamp order. By using ROSBag play to replay the recorded test data for verification of the integrated navigation and positioning algorithm, the actual on-road test data can be replayed indefinitely. This solves the physical limitations of existing physical testing methods and addresses the problems of low testing efficiency and high testing costs.

[0062] The aforementioned global satellite navigation system includes a main control board and a satellite antenna. The satellite antenna is mounted on the vehicle's roof. The main control board of the global satellite navigation system and the aforementioned inertial navigation system are mounted at the center of the vehicle's rear wheel axle. The Y-axis of the inertial navigation system is aligned with the front of the vehicle, and the xyz offset and attitude angle offset between the antenna and the inertial measurement unit are recorded. The aforementioned test industrial control computer is installed in the vehicle's trunk and is connected to the global satellite navigation system and the inertial navigation system via electrical connections. A CAN bus analyzer (also known as a USB CAN box) is connected to the test industrial control computer.

[0063] Step S200: Obtain the reference pose of the vehicle for the actual road test through a high-precision integrated inertial navigation system.

[0064] In this embodiment, a high-precision integrated inertial navigation system can be installed on the vehicle. During actual road testing, the reference pose of the vehicle is acquired through the high-precision integrated inertial navigation system as a reference standard for the measured pose. The high-precision integrated inertial navigation system can include real-time and offline types. Furthermore, the high-precision integrated inertial navigation system can be installed at the center of the vehicle's rear axle. As an example, the high-precision integrated inertial navigation system can be a NovAtel 100c device, which has a positioning accuracy down to the decimeter level. Therefore, the high-precision positioning data acquired by this device can be used as a reference value for calculating the measured pose of the vehicle using the integrated navigation algorithm.

[0065] When the high-precision integrated inertial navigation system is of the real-time type, the reference pose of the vehicle is acquired once at a preset interval during the actual road test of the vehicle.

[0066] It is understandable that when the high-precision integrated inertial navigation system is of the online real-time type, during the actual road test of the vehicle, at a preset first interval, it will acquire and output the vehicle's reference pose once, that is, output the vehicle's position and attitude. The first interval is the same as the difference between the two timestamps added to the measured data. The position includes the vehicle's longitude, latitude, and altitude, and the attitude includes the vehicle's heading angle, pitch angle, and roll angle. For example, when the preset first interval is 10 milliseconds, during the actual road test, the high-precision integrated inertial navigation system will output and store the vehicle's reference pose online in real-time every 10 milliseconds.

[0067] When the high-precision integrated inertial navigation system is offline, the reference pose of the vehicle is uniformly acquired at preset intervals after the vehicle's actual road test is completed.

[0068] It is understandable that when the high-precision integrated inertial navigation system is offline, the staff pre-sets the required interval time for each reference pose as a second interval time based on the actual situation. This second interval time is the same as the difference between the two timestamps added to the measured data. After the vehicle completes the actual road test, all reference poses recorded during the actual road test will be uniformly output using a dedicated tool, with each reference pose separated by the preset second interval time. For example, when the second interval time is 10 milliseconds, the vehicle's pose will be uniformly output every 10 milliseconds after the vehicle road test ends. The offline positioning data of the high-precision integrated inertial navigation system has higher accuracy, while the online real-time pose data has relatively lower accuracy, such as the NovAtel 100C device.

[0069] Step S300: Calculate the measured pose of the vehicle using a combined navigation algorithm based on the measured data played back in the order of the timestamps.

[0070] The stored recording files are replayed according to the timestamps used for storage, i.e., the stored measured data is replayed in time-stamp order. After receiving the measured data, the integrated navigation algorithm program can calculate the vehicle's measured pose at various time points using a preset integrated navigation algorithm. This pose, obtained through integrated navigation, includes the measured longitude, latitude, altitude, heading angle, pitch angle, and roll angle. There are various ways to improve the Kalman filter or extended Kalman filter algorithm, and the integrated navigation algorithm can be obtained by modifying the Kalman filter or extended Kalman filter algorithm based on sensor characteristics.

[0071] Step S400: Compare the measured pose and the reference pose to determine whether the comparison result is within a preset threshold range. If the comparison result is within the threshold range, proceed to step S500. Optionally, if the comparison result is not within the threshold range, proceed to step S600.

[0072] Step S500: Determine that the integrated navigation algorithm is qualified.

[0073] Step S600: Adjust the integrated navigation algorithm and re-execute step S300.

[0074] After calculating the vehicle's measured pose, the measured pose corresponding to each timestamp is compared with the reference pose. The difference between the comparison results is determined to be within a pre-set threshold range, thereby verifying the performance and effectiveness of the integrated navigation algorithm. If the difference between the comparison results is within the threshold range, the integrated navigation algorithm is considered qualified. If the comparison results are not within the threshold range, the integrated navigation algorithm is considered unqualified. In this case, the program architecture or parameters of the integrated navigation algorithm need to be modified to obtain an adjusted integrated navigation algorithm. Then, the measured pose of the vehicle is recalculated using the integrated navigation algorithm based on the measured data played back in timestamp order. The integrated navigation algorithm at this time should be the adjusted integrated navigation algorithm.

[0075] This embodiment records and stores the vehicle's measured data and reference pose during a single on-road test. When verifying the integrated navigation algorithm, the recorded measured data can be replayed an unlimited number of times, and the vehicle's measured pose can be calculated using the integrated navigation algorithm. Since the measured data is replayed in timestamp order, the original data can be replayed an unlimited number of times during subsequent algorithm iterations, thereby avoiding the physical limitations of existing technologies, solving the problems of low testing efficiency and high testing costs, and facilitating multiple verifications of the integrated navigation algorithm.

[0076] Example 2

[0077] like Figure 4 As shown in the embodiment of this application, a combined navigation verification device 10 is provided. The combined navigation verification device 10 includes:

[0078] The measured data module 11 performs actual road tests on the vehicle to obtain measured data of the vehicle, adds a timestamp to the measured data, records and stores it;

[0079] The reference pose module 12 obtains the reference pose of the vehicle through actual on-road testing using a high-precision integrated inertial navigation system.

[0080] The actual pose measurement module 13 calculates the actual pose of the vehicle using a combined navigation algorithm based on the actual data replayed in the order of the timestamps.

[0081] The judgment module 14 compares the measured pose with the reference pose and determines whether the comparison result is within a preset threshold range.

[0082] If the comparison result is within the threshold range, the module 15 determines that the integrated navigation algorithm is qualified.

[0083] In this embodiment, the integrated navigation verification device 10, through the coordinated use of the measured data module 11, the reference pose module 12, the measured pose module 13, the judgment module 14, and the determination module 15, is used to execute the integrated navigation verification method described in the above embodiment. The implementation schemes and beneficial effects involved in the above embodiments are also applicable in this embodiment, and will not be repeated here.

[0084] In addition, the present invention provides a computer device including a memory and a processor. The memory can be used to store computer programs, and the processor executes the computer programs to enable the computer device to perform the functions of the methods described above or the various modules in the combined navigation verification device described above.

[0085] This embodiment also provides a computer storage medium for storing computer programs used in the aforementioned computer device.

[0086] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can also be implemented in other ways. The apparatus embodiments described above are merely illustrative; for example, the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that, as an alternative implementation, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and combinations of blocks in the block diagram and / or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0087] In addition, the functional modules or units in the various embodiments of the present invention can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0088] If the aforementioned functions are implemented as software functional modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a smartphone, personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0089] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for verifying integrated navigation, characterized in that, include: The vehicle is subjected to actual road tests to obtain test data, and the test data is recorded and stored with a timestamp added. The measured data includes inertial navigation data, satellite navigation data, and vehicle body data. The step of adding timestamps to the measured data for recording and storage includes: adding timestamps to the inertial navigation data, satellite navigation data, and vehicle body data for recording and storage via a test industrial control computer. The reference pose of the vehicle for the actual road test is obtained by a high-precision integrated inertial navigation system. The measured pose of the vehicle is calculated using a combined navigation algorithm based on the measured data replayed in the order of the timestamps. The measured pose and the reference pose are compared to determine whether the comparison result is within a preset threshold range. If the comparison result is within the threshold range, then the integrated navigation algorithm is deemed qualified. The high-precision integrated inertial navigation system includes real-time and offline types. The step of acquiring the reference pose of the vehicle for the actual road test using the high-precision integrated inertial navigation system includes: If the high-precision integrated inertial navigation system is of the real-time type, then during the actual road test of the vehicle, the reference pose of the vehicle is acquired once at a preset interval. If the high-precision integrated inertial navigation system is an offline type, then after the vehicle has undergone actual road testing, the reference pose of the vehicle is uniformly acquired at preset intervals. The satellite navigation data is collected through the vehicle's global satellite navigation system; the global satellite navigation system includes a main control board and satellite antennas; Both the inertial navigation system and the global satellite navigation system are connected to the test industrial control computer. Both the inertial navigation system and the main control board are located at the center of the rear wheel axle of the vehicle, and the test industrial control computer is located in the trunk of the vehicle.

2. The integrated navigation verification method according to claim 1, characterized in that, Also includes: If the comparison result is not within the threshold range, the integrated navigation algorithm is adjusted, and the step of calculating the vehicle's measured pose using the integrated navigation algorithm based on the measured data played back in the order of the timestamps is returned.

3. The integrated navigation verification method according to claim 1, characterized in that, The measured data was recorded and played back using ROS Bag.

4. The integrated navigation verification method according to claim 1, characterized in that, The process of conducting actual road tests on the vehicle to obtain test data includes: The inertial navigation system of the vehicle collects the inertial navigation data, which includes three-axis acceleration and three-axis angular velocity. The satellite navigation data includes longitude, latitude, and altitude; The vehicle body data is obtained through the vehicle's CAN bus analyzer, and the vehicle body data includes the overall vehicle speed, four-wheel speed, and steering wheel angle.

5. The integrated navigation verification method according to claim 1, characterized in that, The integrated navigation algorithm is constructed based on the Kalman filter algorithm or the extended Kalman filter algorithm.

6. A combined navigation verification device, characterized in that, The device includes: The measured data module performs actual road tests on the vehicle to obtain measured data, records and stores the measured data with timestamps; the measured data includes inertial navigation data, satellite navigation data and vehicle body data, and the process of recording and storing the measured data with timestamps includes: recording and storing the inertial navigation data, satellite navigation data and vehicle body data with timestamps via a test industrial control computer; A reference pose module acquires the reference pose of the vehicle during the actual road test through a high-precision integrated inertial navigation system. The high-precision integrated inertial navigation system includes real-time and offline types. Specifically, the reference pose module is used as follows: if the high-precision integrated inertial navigation system is real-time, it acquires the vehicle's reference pose at preset intervals during the actual road test; if the high-precision integrated inertial navigation system is offline, it acquires the vehicle's reference pose at uniform preset intervals after the actual road test is completed. The module also collects satellite navigation data through the vehicle's global satellite navigation system. The global satellite navigation system includes a main control board and a satellite antenna. Both the inertial navigation system and the global satellite navigation system are connected to a test industrial control computer. Both the inertial navigation system and the main control board are located at the center of the rear wheel axle of the vehicle, and the test industrial control computer is located in the vehicle's trunk. The actual pose module calculates the actual pose of the vehicle using a combined navigation algorithm based on the actual data replayed in the order of the timestamps. The judgment module compares the measured pose with the reference pose and determines whether the comparison result is within a preset threshold range. If the comparison result is within the threshold range, the module determines that the integrated navigation algorithm is qualified.

7. A terminal device, characterized in that, It includes a memory and a processor, the memory storing a computer program that, when executed on the processor, performs the combined navigation verification method according to any one of claims 1 to 5.

8. A readable storage medium, characterized in that, It stores a computer program that, when run on a processor, executes the combined navigation verification method according to any one of claims 1 to 5.

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