A receiver calibration method and terminal based on GNSS signal simulator

Abstract

The present invention discloses a receiver calibration method and terminal based on a GNSS signal simulator. The method obtains a dynamic simulation scenario of the simulator; performs limit value testing on the speed and acceleration of the receiver in the dynamic simulation scenario; obtains corresponding simulation values ​​based on the limit value test results and performs simulation, thereby obtaining simulation data of the receiver based on the limit values, avoiding the incompleteness of manual settings; and performs data processing on the positioning results of the receiver after simulation to obtain the dynamic range of the receiver calibration results. Therefore, automatically generating simulation values ​​can improve the efficiency and accuracy of receiver data calibration in dynamic scenarios.

Description

Technical Field

[0001] The present invention relates to the technical field of signal calibration testing, and in particular to a receiver calibration method and terminal based on a GNSS signal simulator. Background Art

[0002] With the application and development of the Global Navigation Satellite System (GNSS), its theories and technologies have become increasingly perfect. It has now been widely used in military and civilian service fields such as geodesy, offshore fisheries, aerospace, and weapon systems.

[0003] Currently, receiver calibration in dynamic scenarios of GNSS signal simulators requires configuration of receiver parameters for different scenarios under dynamic scenarios. Therefore, the efficiency and accuracy of receiver data calibration in dynamic scenarios are currently low. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a receiver calibration method and terminal based on a GNSS signal simulator, which can improve the efficiency and accuracy of receiver data calibration in dynamic scenarios.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0006] A receiver calibration method based on a GNSS signal simulator comprises the following steps:

[0007] Get the dynamic simulation scene of the simulator;

[0008] Performing limit value testing on the speed, acceleration and altitude of the receiver in the dynamic simulation scenario;

[0009] According to the test results of the limit values, a simulated speed value, a simulated acceleration value and a simulated height value are obtained and simulated to obtain a positioning result of the receiver. The positioning result is data processed to obtain a dynamic range of the receiver calibration result.

[0010] In order to solve the above technical problems, another technical solution adopted by the present invention is:

[0011] A receiver calibration terminal based on a GNSS signal simulator 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 following steps are implemented:

[0012] Get the dynamic simulation scene of the simulator;

[0013] Performing limit value testing on the speed, acceleration and altitude of the receiver in the dynamic simulation scenario;

[0014] According to the test results of the limit values, a simulated speed value, a simulated acceleration value and a simulated height value are obtained and simulated to obtain a positioning result of the receiver. The positioning result is data processed to obtain a dynamic range of the receiver calibration result.

[0015] The beneficial effects of the present invention include: obtaining a dynamic simulation scenario of a simulator; performing limit value testing on the speed and acceleration of the receiver in the dynamic simulation scenario; obtaining corresponding simulation values ​​based on the limit value test results and performing simulation; thereby, the simulation data of the receiver can be obtained based on the limit values, avoiding the incompleteness of manual settings; and performing data processing on the positioning results of the receiver after simulation to obtain the dynamic range of the receiver calibration results. Thus, automatically generating simulation values ​​can improve the efficiency and accuracy of receiver data calibration in dynamic scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a flowchart of a receiver calibration method based on a GNSS signal simulator according to an embodiment of the present invention;

[0017] Figure 2 Schematic diagram of a receiver calibration terminal based on a GNSS signal simulator according to an embodiment of the present invention;

[0018] Figure 3 Schematic diagram of a module of a receiver calibration method based on a GNSS signal simulator according to an embodiment of the present invention;

[0019] Description of labels:

[0020] 1. A receiver calibration method based on a GNSS signal simulator; 2. A memory; 3. A processor. DETAILED DESCRIPTION

[0021] To illustrate the technical content, achieved objectives and effects of the present invention in detail, the following description is given in conjunction with the embodiments and accompanying drawings.

[0022] Please refer to Figure 1 and Figure 3 , an embodiment of the present invention provides a receiver calibration method based on a GNSS signal simulator, comprising the steps of:

[0023] Get the dynamic simulation scene of the simulator;

[0024] Performing limit value testing on the speed, acceleration and altitude of the receiver in the dynamic simulation scenario;

[0025] According to the test results of the limit values, a simulated speed value, a simulated acceleration value and a simulated height value are obtained and simulated to obtain a positioning result of the receiver. The positioning result is data processed to obtain a dynamic range of the receiver calibration result.

[0026] As can be seen from the above description, the beneficial effects of the present invention are: obtaining a dynamic simulation scenario of the simulator; performing limit value testing on the speed and acceleration of the receiver in the dynamic simulation scenario, obtaining corresponding simulation values ​​based on the limit value test results and performing simulation, so that the simulation data of the receiver can be obtained based on the limit values, avoiding the incompleteness of manual settings; based on the positioning results of the receiver after simulation, data processing is performed on the positioning results to obtain the dynamic range of the receiver calibration results. Therefore, by automatically generating simulation values, the efficiency and accuracy of receiver data calibration in dynamic scenarios can be improved.

[0027] Furthermore, the limit value testing of the speed, acceleration and altitude of the receiver in the dynamic simulation scenario includes:

[0028] When performing a speed limit test of the receiver, the receiver in the dynamic simulation scene is accelerated at a preset acceleration until the receiver loses lock, thereby obtaining the speed limit value of the receiver;

[0029] When performing an acceleration limit test of a receiver, the receiver is accelerated to the speed limit using an increasing acceleration, and then decelerated at a preset acceleration to obtain the acceleration limit of the receiver;

[0030] When performing a height limit test of a receiver, the receiver is climbed to a preset height until the receiver fails to work, and the height limit of the receiver is obtained.

[0031] From the above description, it can be seen that the receiver is tested for the limit values ​​of speed, acceleration and altitude, and the limit values ​​are obtained to facilitate subsequent simulation.

[0032] Furthermore, a simulation speed value is obtained based on the test result of the limit value and simulation is performed to obtain a positioning result of the receiver. The positioning result is data processed to obtain a dynamic range of the receiver calibration result including:

[0033] Setting an initial speed value, and averaging a preset number of data between the initial speed value and the speed limit value as a simulation speed value;

[0034] Determining a fixed acceleration value and a fixed height value required for simulation according to the simulation speed value;

[0035] Simulation is performed based on the simulated speed value, the fixed acceleration value and the fixed height value to obtain a first positioning result of the corresponding receiver, and it is determined whether there is a discontinuity in the first positioning result. If so, all simulated speed values ​​before the discontinuity point are used as the speed dynamic range of the receiver calibration result.

[0036] From the above description, it can be seen that the average of a preset number of data between the initial speed value and the speed limit value is obtained as the simulated speed value, and the fixed acceleration value and fixed height value within the speed range at which the receiver can normally receive data are determined based on the simulated speed value, thereby ensuring that the simulated speed value can be simulated normally and improving the reliability of receiver data calibration in dynamic scenarios.

[0037] Furthermore, a simulated acceleration value is obtained based on the test result of the limit value and a simulation is performed to obtain a positioning result of the receiver. The positioning result is data processed to obtain a dynamic range of the receiver calibration result including:

[0038] Setting an initial acceleration value, and averaging a preset number of data between the initial acceleration value and the acceleration limit value as a simulation acceleration value;

[0039] Determining a fixed speed value and a fixed height value required for simulation according to the simulated acceleration value;

[0040] Simulation is performed based on the simulated acceleration value, the fixed speed value and the fixed height value to obtain a second positioning result of the corresponding receiver, and it is determined whether there is a discontinuity in the second positioning result. If so, all simulated acceleration values ​​before the discontinuity point are used as the acceleration dynamic range of the receiver calibration result.

[0041] From the above description, it can be seen that the average of a preset number of data between the initial acceleration value and the acceleration limit value is obtained as the simulated acceleration value, and the fixed speed value and fixed height value within the acceleration range at which the receiver can normally receive data are determined based on the simulated acceleration value, thereby ensuring that the simulated acceleration value can be simulated normally and improving the reliability of receiver data calibration in dynamic scenarios.

[0042] Furthermore, a simulated height value is obtained based on the test result of the limit value and a simulation is performed to obtain a positioning result of the receiver, and data processing is performed on the positioning result to obtain a dynamic range of the receiver calibration result including:

[0043] Setting an initial height value, and averaging a preset number of data between the initial height value and the height limit value as a simulation height value;

[0044] Determining a fixed acceleration value and a fixed speed value required for simulation according to the simulation height value;

[0045] Simulation is performed based on the simulated height value, the fixed acceleration value and the fixed speed value to obtain a third positioning result of the corresponding receiver, and it is determined whether there is a discontinuity in the third positioning result. If so, all simulated height values ​​before the discontinuity point are used as the height dynamic range of the receiver calibration result.

[0046] From the above description, it can be seen that the average of a preset number of data between the initial altitude value and the altitude limit value is obtained as the simulated altitude value, and the fixed acceleration value and fixed speed value within the speed range at which the receiver can normally receive data are determined based on the simulated altitude value, thereby ensuring that the simulated altitude value can be simulated normally and improving the reliability of receiver data calibration in dynamic scenarios.

[0047] Please refer to Figure 2 Another embodiment of the present invention provides a receiver calibration terminal based on a GNSS signal simulator, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the following steps are implemented:

[0048] Get the dynamic simulation scene of the simulator;

[0049] Performing limit value testing on the speed, acceleration and altitude of the receiver in the dynamic simulation scenario;

[0050] According to the test results of the limit values, a simulated speed value, a simulated acceleration value and a simulated height value are obtained and simulated to obtain a positioning result of the receiver. The positioning result is data processed to obtain a dynamic range of the receiver calibration result.

[0051] As can be seen from the above description, a dynamic simulation scenario is obtained from the simulator; the speed and acceleration of the receiver in the dynamic simulation scenario are tested to their extreme values. Based on the extreme value test results, corresponding simulation values ​​are obtained and simulated. This allows the receiver's simulation data to be obtained based on the extreme values, avoiding the incompleteness of manual settings. Based on the positioning results of the receiver after simulation, data processing is performed on the positioning results to obtain the dynamic range of the receiver calibration results. This shows that automatically generating simulation values ​​can improve the efficiency and accuracy of receiver data calibration in dynamic scenarios.

[0052] Furthermore, the limit value testing of the speed, acceleration and altitude of the receiver in the dynamic simulation scenario includes:

[0053] When performing a speed limit test of the receiver, the receiver in the dynamic simulation scene is accelerated at a preset acceleration until the receiver loses lock, thereby obtaining the speed limit value of the receiver;

[0054] When performing an acceleration limit test of a receiver, the receiver is accelerated to the speed limit using an increasing acceleration, and then decelerated at a preset acceleration to obtain the acceleration limit of the receiver;

[0055] When performing a height limit test of a receiver, the receiver is climbed to a preset height until the receiver fails to work, and the height limit of the receiver is obtained.

[0056] From the above description, it can be seen that the receiver is tested for the limit values ​​of speed, acceleration and altitude, and the limit values ​​are obtained to facilitate subsequent simulation.

[0057] Furthermore, a simulation speed value is obtained based on the test result of the limit value and simulation is performed to obtain a positioning result of the receiver. The positioning result is data processed to obtain a dynamic range of the receiver calibration result including:

[0058] Setting an initial speed value, and averaging a preset number of data between the initial speed value and the speed limit value as a simulation speed value;

[0059] Determining a fixed acceleration value and a fixed height value required for simulation according to the simulation speed value;

[0060] Simulation is performed based on the simulated speed value, the fixed acceleration value and the fixed height value to obtain a first positioning result of the corresponding receiver, and it is determined whether there is a discontinuity in the first positioning result. If so, all simulated speed values ​​before the discontinuity point are used as the speed dynamic range of the receiver calibration result.

[0061] From the above description, it can be seen that the average of a preset number of data between the initial speed value and the speed limit value is obtained as the simulated speed value, and the fixed acceleration value and fixed height value within the speed range at which the receiver can normally receive data are determined based on the simulated speed value, thereby ensuring that the simulated speed value can be simulated normally and improving the reliability of receiver data calibration in dynamic scenarios.

[0062] Furthermore, a simulated acceleration value is obtained based on the test result of the limit value and a simulation is performed to obtain a positioning result of the receiver. The positioning result is data processed to obtain a dynamic range of the receiver calibration result including:

[0063] Setting an initial acceleration value, and averaging a preset number of data between the initial acceleration value and the acceleration limit value as a simulation acceleration value;

[0064] Determining a fixed speed value and a fixed height value required for simulation according to the simulated acceleration value;

[0065] Simulation is performed based on the simulated acceleration value, the fixed speed value and the fixed height value to obtain a second positioning result of the corresponding receiver, and it is determined whether there is a discontinuity in the second positioning result. If so, all simulated acceleration values ​​before the discontinuity point are used as the acceleration dynamic range of the receiver calibration result.

[0066] From the above description, it can be seen that the average of a preset number of data between the initial acceleration value and the acceleration limit value is obtained as the simulated acceleration value, and the fixed speed value and fixed height value within the acceleration range at which the receiver can normally receive data are determined based on the simulated acceleration value, thereby ensuring that the simulated acceleration value can be simulated normally and improving the reliability of receiver data calibration in dynamic scenarios.

[0067] Furthermore, a simulated height value is obtained based on the test result of the limit value and a simulation is performed to obtain a positioning result of the receiver, and data processing is performed on the positioning result to obtain a dynamic range of the receiver calibration result including:

[0068] Setting an initial height value, and averaging a preset number of data between the initial height value and the height limit value as a simulation height value;

[0069] Determining a fixed acceleration value and a fixed speed value required for simulation according to the simulation height value;

[0070] Simulation is performed based on the simulated height value, the fixed acceleration value and the fixed speed value to obtain a third positioning result of the corresponding receiver, and it is determined whether there is a discontinuity in the third positioning result. If so, all simulated height values ​​before the discontinuity point are used as the height dynamic range of the receiver calibration result.

[0071] From the above description, it can be seen that the average of a preset number of data between the initial altitude value and the altitude limit value is obtained as the simulated altitude value, and the fixed acceleration value and fixed speed value within the speed range at which the receiver can normally receive data are determined based on the simulated altitude value, thereby ensuring that the simulated altitude value can be simulated normally and improving the reliability of receiver data calibration in dynamic scenarios.

[0072] The above-mentioned receiver calibration method and terminal based on the GNSS signal simulator of the present invention are suitable for calibrating the receiver through simulation of the GNSS signal simulator in dynamic scenarios. The following is an explanation of the specific implementation methods:

[0073] Example 1

[0074] Please refer to Figure 1 and Figure 3 , a receiver calibration method based on a GNSS signal simulator, comprising the steps of:

[0075] S1. Obtain the dynamic simulation scene of the simulator.

[0076] In this embodiment, the dynamic simulation scenario of the simulator is specifically as follows: there are no less than 6 visible satellites, the satellites are evenly distributed above the zenith, and the signal power is 120 dBm or the level indicator of the manufacturer's interface.

[0077] S2. Performing a limit value test on the speed, acceleration, and altitude of the receiver in the dynamic simulation scenario.

[0078] S21 . When performing a speed limit test of the receiver, the receiver in the dynamic simulation scenario is accelerated at a preset acceleration until the receiver loses lock, thereby obtaining the speed limit of the receiver.

[0079] Specifically, in this embodiment, the preset acceleration is 0.5g, the initial acceleration is accelerated by 0.5g, and the speed when the receiver loses lock is the speed limit value of the receiver.

[0080] S22 . When performing an acceleration limit test on the receiver, the receiver is accelerated to the speed limit using an increasing acceleration, and then decelerated using a preset acceleration to obtain the acceleration limit of the receiver.

[0081] Specifically, in this embodiment, the initial acceleration is increased, and the initial speed is accelerated by the increasing acceleration. When the speed is accelerated to the maximum speed of the receiver, the acceleration limit value of the receiver is obtained, and the speed is decelerated with an acceleration of 1g.

[0082] S23. When performing a height limit test of the receiver, the receiver is climbed to a preset height until the receiver fails to work, thereby obtaining the height limit of the receiver.

[0083] Specifically, in this embodiment, the receiver is simulated to climb to an altitude of 20 km or a specified value to determine whether the receiver can work normally at this altitude. When the receiver cannot work normally, the altitude limit value of the receiver is obtained.

[0084] S3. According to the test results of the limit values, a simulated speed value, a simulated acceleration value, and a simulated height value are obtained and simulated to obtain a positioning result of the receiver. Data processing is performed on the positioning result to obtain a dynamic range of the receiver calibration result.

[0085] S31. Simulate and calibrate the speed value of the receiver.

[0086] Specifically, an initial speed value is set, and a preset number of data between the initial speed value and the speed limit value are averaged and taken as the simulation speed value;

[0087] Determining a fixed acceleration value and a fixed height value required for simulation according to the simulation speed value;

[0088] Simulation is performed based on the simulated speed value, the fixed acceleration value and the fixed height value to obtain a first positioning result of the corresponding receiver, and it is determined whether there is a discontinuity in the first positioning result. If so, all simulated speed values ​​before the discontinuity point are used as the speed dynamic range of the receiver calibration result.

[0089] In this embodiment, an initial velocity value is first set for the simulated receiver. An average of 10 data points between the initial velocity value and the velocity limit is obtained as the simulated velocity value. Based on the speed range of the 10 simulated velocity values, a set of fixed acceleration and altitude values ​​available within the range is determined. Simulation is then performed based on the simulated velocity, fixed acceleration, and altitude values. During the simulation, the receiver obtains a first positioning result in real time. If there is a discontinuity in the first positioning result, all simulated velocity values ​​prior to the discontinuity are used as the velocity dynamic range of the receiver calibration result.

[0090] S32. Simulate and calibrate the acceleration value of the receiver.

[0091] Specifically, an initial acceleration value is set, and a preset number of data between the initial acceleration value and the acceleration limit value are averaged and obtained as the simulation acceleration value;

[0092] Determining a fixed speed value and a fixed height value required for simulation according to the simulated acceleration value;

[0093] Simulation is performed based on the simulated acceleration value, the fixed speed value and the fixed height value to obtain a second positioning result of the corresponding receiver, and it is determined whether there is a discontinuity in the second positioning result. If so, all simulated acceleration values ​​before the discontinuity point are used as the acceleration dynamic range of the receiver calibration result.

[0094] In this embodiment, an initial acceleration value is first set for the simulated receiver. An average of 10 data points between the initial acceleration value and the acceleration limit is obtained as the simulated acceleration value. Based on the speed range of the 10 simulated acceleration values, a set of fixed speed and altitude values ​​available within that range is determined. Simulation is then performed based on the simulated acceleration value, the fixed speed value, and the fixed altitude value. During the simulation, a second positioning result for the receiver is obtained in real time. If there is a discontinuity in the second positioning result, all simulated acceleration values ​​prior to the discontinuity are used as the acceleration dynamic range of the receiver calibration result.

[0095] S33. Simulate and calibrate the height value of the receiver.

[0096] Specifically, an initial height value is set, and a preset number of data between the initial height value and the height limit value are averaged and taken as the simulation height value;

[0097] Determining a fixed acceleration value and a fixed speed value required for simulation according to the simulation height value;

[0098] Simulation is performed based on the simulated height value, the fixed acceleration value and the fixed speed value to obtain a third positioning result of the corresponding receiver, and it is determined whether there is a discontinuity in the third positioning result. If so, all simulated height values ​​before the discontinuity point are used as the height dynamic range of the receiver calibration result.

[0099] In this embodiment, an initial altitude value is first set for the simulated receiver. An average of 10 data points between the initial altitude value and the altitude limit is obtained as the simulated altitude value. Based on the speed range of the 10 simulated altitude values, a set of fixed acceleration and speed values ​​available within that range is determined. Simulation is then performed based on the simulated altitude, fixed acceleration, and fixed speed values. During the simulation, the receiver's third positioning result is obtained in real time. If there is a discontinuity in the third positioning result, all simulated altitude values ​​prior to the discontinuity are used as the altitude dynamic range of the receiver calibration result.

[0100] In this embodiment, the speed, acceleration, and altitude values ​​are calibrated separately. In another embodiment, the speed, acceleration, and altitude values ​​can be calibrated in combination. Specifically:

[0101] The average of 10 data between the initial speed value and the speed limit value is obtained as the simulation speed value.

[0102] Based on the range of simulated velocity values, an acceleration range within which the receiver can operate normally and a fixed altitude value are determined within the range, 10 data points are averaged within the acceleration range as simulated acceleration values, a combined simulation is performed using the simulated velocity values ​​and the simulated acceleration values, and positioning results of the receiver are obtained in real time during the simulation. The positioning results are processed to obtain a first velocity range of the simulated velocity value at each simulated acceleration value, and the intersection of all first velocity ranges is taken to obtain a second velocity range;

[0103] Based on the range of the simulated speed value, determining an altitude range within which the receiver can operate normally and a fixed acceleration value within the range, obtaining an average of 10 data points within the altitude range as a simulated altitude value, performing a combined simulation using the simulated speed value and the simulated altitude value, and obtaining a positioning result of the receiver in real time during the simulation, processing the positioning result to obtain a third speed range for the simulated speed value at each simulated altitude value, and taking the intersection of all the third speed ranges to obtain a fourth speed range;

[0104] The intersection of all the second speed ranges and the fourth speed range is taken to obtain the speed dynamic range.

[0105] Based on the above method, the acceleration dynamic range and height dynamic range can be obtained in the same way, thereby further improving the accuracy of receiver data calibration.

[0106] Example 2

[0107] Please refer to Figure 2 A receiver calibration terminal 1 based on a GNSS signal simulator includes a memory 2, a processor 3, and a computer program stored in the memory 2 and executable on the processor 3. When the processor 3 executes the computer program, each step of a receiver calibration method based on a GNSS signal simulator in embodiment 1 is implemented.

[0108] In summary, the present invention provides a receiver calibration method and terminal based on a GNSS signal simulator, which obtains a dynamic simulation scene of the simulator; performs a limit value test on the speed and acceleration of the receiver in the dynamic simulation scene, obtains corresponding simulation values ​​based on the limit value test results and performs simulation, so that the simulation data of the receiver can be obtained according to the limit value, avoiding the incompleteness of manual setting; based on the positioning result of the receiver after simulation, the positioning result is data processed to obtain the dynamic range of the receiver calibration result. Wherein, when performing the simulation, each data is simulated separately, specifically by averaging a preset number of data between the initial value and the limit value as the simulation value, and determines other parameter values ​​within the range that the receiver can normally receive data based on the simulation value, ensuring that the simulated speed value can be simulated normally, and improving the reliability of the receiver data calibration in dynamic scenes. It can be seen that the efficiency and accuracy of the receiver data calibration in dynamic scenes can be improved by automatically generating simulation values.

[0109] The above descriptions are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent transformations made using the contents of the present invention's description and drawings, or directly or indirectly applied in related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A receiver calibration method based on a GNSS signal simulator, characterized in that: Including steps: Get the dynamic simulation scene of the simulator; Performing limit value testing on the speed, acceleration and altitude of the receiver in the dynamic simulation scenario; According to the test results of the limit values, simulated speed values, simulated acceleration values, and simulated altitude values ​​are obtained and simulated to obtain the positioning results of the receiver. The positioning results are processed to obtain the dynamic range of the receiver calibration results: averaging a preset number of data between the initial speed value and the speed limit value as a simulation speed value; Based on the range of the simulated speed value, an acceleration range within which the receiver can operate normally and a fixed height value are determined, a preset number of data are averaged within the acceleration range as the simulated acceleration value, a combined simulation is performed using the simulated speed value and the simulated acceleration value, and a positioning result of the receiver is obtained in real time during the simulation, the positioning result is processed to obtain a first speed range of the simulated speed value at each simulated acceleration value, and an intersection of all the first speed ranges is taken to obtain a second speed range; Based on the range of the simulated speed value, determining an altitude range within which the receiver can operate normally and a fixed acceleration value within the range, obtaining an average of a preset number of data within the altitude range as a simulated altitude value, performing a combined simulation using the simulated speed value and the simulated altitude value, and obtaining a positioning result of the receiver in real time during the simulation, processing the positioning result to obtain a third speed range for the simulated speed value at each simulated altitude value, and obtaining a fourth speed range by taking the intersection of all the third speed ranges; The intersection of all the second speed ranges and the fourth speed range is taken to obtain the speed dynamic range.

2. A receiver calibration terminal based on a GNSS signal simulator, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the following steps are implemented: Get the dynamic simulation scene of the simulator; Performing limit value testing on the speed, acceleration and altitude of the receiver in the dynamic simulation scenario; According to the test results of the limit values, simulated speed values, simulated acceleration values, and simulated altitude values ​​are obtained and simulated to obtain the positioning results of the receiver. The positioning results are processed to obtain the dynamic range of the receiver calibration results: averaging a preset number of data between the initial speed value and the speed limit value as a simulation speed value; Based on the range of the simulated speed value, an acceleration range within which the receiver can operate normally and a fixed height value are determined, a preset number of data are averaged within the acceleration range as the simulated acceleration value, a combined simulation is performed using the simulated speed value and the simulated acceleration value, and a positioning result of the receiver is obtained in real time during the simulation, the positioning result is processed to obtain a first speed range of the simulated speed value at each simulated acceleration value, and an intersection of all the first speed ranges is taken to obtain a second speed range; Based on the range of the simulated speed value, determining an altitude range within which the receiver can operate normally and a fixed acceleration value within the range, obtaining an average of a preset number of data within the altitude range as a simulated altitude value, performing a combined simulation using the simulated speed value and the simulated altitude value, and obtaining a positioning result of the receiver in real time during the simulation, processing the positioning result to obtain a third speed range for the simulated speed value at each simulated altitude value, and obtaining a fourth speed range by taking the intersection of all the third speed ranges; The intersection of all the second speed ranges and the fourth speed range is taken to obtain the speed dynamic range.

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