Testing method, device and electronic equipment for integrated navigation and positioning system

Abstract

The present invention provides a testing method, device and electronic equipment for a combined navigation and positioning system, which relates to the technical field of navigation and positioning. The method comprises: firstly testing the combined navigation and positioning system based on a pre-configured test plan to generate navigation and positioning data; wherein the navigation and positioning data includes: GPS positioning data and navigation data; then calculating the error of the navigation and positioning data, and performing accuracy statistics based on the calculated result of the error to generate a test result of the navigation and positioning data, thereby solving the technical problem of the difficulty in evaluating the combined navigation and positioning system and achieving the technical effect of accurately evaluating the combined navigation and positioning system.

Description

Technical Field

[0001] The present invention relates to the field of navigation and positioning technology, and in particular to a testing method, device and electronic equipment for a combined navigation and positioning system. Background Art

[0002] With the increasing maturity of GPS navigation and wireless positioning technologies, integrated navigation and positioning technologies are often implemented using various solutions to provide more accurate navigation and positioning. This involves combining two or more navigation devices into an integrated navigation and positioning system. Currently, the combination of autonomous inertial navigation and positioning technology with real-time kinematic (RTK) positioning technology is a high-precision, combined continuous navigation and positioning technology that is being actively researched and developed by automobile manufacturers. As a key component of intelligent assisted driving systems, the scientific, standardized, and effective evaluation of integrated navigation systems has become an urgent need. Summary of the Invention

[0003] The purpose of the present invention is to provide a test method, device and electronic equipment for an integrated navigation and positioning system, so as to alleviate the technical problem in the prior art that the evaluation of the integrated navigation and positioning system is difficult.

[0004] In order to achieve the above objectives, the technical solutions adopted in the embodiments of the present invention are as follows:

[0005] In the first aspect, an embodiment of the present invention provides a testing method for a combined navigation and positioning system, which is applied to a testing device for the combined navigation and positioning system. The method includes: testing the combined navigation and positioning system based on a pre-configured test plan to generate navigation and positioning data; the navigation and positioning data includes: GPS positioning data and navigation data; calculating the error of the navigation and positioning data, and performing accuracy statistics based on the calculation result of the error to generate a test result of the navigation and positioning data.

[0006] In some possible implementations, the test plan includes: a test type and a test scenario; the test type includes a driving state and a stationary state; the test scenario includes: any one or more of open, semi-blocked, and fully blocked.

[0007] In some possible implementations, after testing the combined navigation and positioning system based on a preconfigured test plan and generating navigation and positioning data, the above method also includes: extracting GGA statements from the above GPS positioning data to generate positioning parameter information; the above positioning parameter information includes: UTC time information, longitude and latitude information, elevation information, and information on the number of satellites currently in use; extracting INSPVAXA statements from the above navigation data to generate navigation parameter information; the above navigation parameter information includes: navigation position information, speed information and attitude information.

[0008] In some possible implementations, calculating the error of the navigation positioning data includes: determining the position error based on the longitude and latitude information and the elevation information; determining the attitude error based on the attitude information; and determining the speed error based on the speed information.

[0009] In some possible implementations, accuracy statistics are performed based on the calculation results of the above errors, including: determining the expected values ​​of longitude and latitude based on the above longitude and latitude information; determining the standard deviation and root mean square error of the above position error based on the above position error; and determining the circular probability error based on the expected values ​​or error expected values ​​of the above longitude and latitude.

[0010] In some possible implementations, the method further includes: generating a test report for the integrated navigation and positioning system based on the test plan, the navigation and positioning data, and the test results.

[0011] In some possible implementations, the above-mentioned testing equipment includes: a true value machine, a testing machine, a GPS antenna, a power splitter, a communication unit, and an electronic computer.

[0012] In the second aspect, an embodiment of the present invention provides a testing device for a combined navigation and positioning system, including: a navigation data generation module, used to test the combined navigation and positioning system based on a preconfigured test plan to generate navigation and positioning data; the above-mentioned navigation and positioning data includes: GPS positioning data and navigation data; a test result generation module, used to calculate the error of the above-mentioned navigation and positioning data, and perform accuracy statistics based on the calculation result of the above-mentioned error to generate a test result of the above-mentioned navigation and positioning data.

[0013] In a third aspect, an embodiment of the present invention provides an electronic device comprising a memory and a processor, wherein the memory stores a computer program that can be run on the processor, and when the processor executes the computer program, the steps of the method described in any one of the first aspects are implemented.

[0014] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores machine-executable instructions. When the computer-executable instructions are called and executed by a processor, the computer-executable instructions prompt the processor to execute any method described in the first aspect above.

[0015] The present invention provides a testing method, device and electronic equipment for a combined navigation and positioning system, which are applied to the testing equipment of the combined navigation and positioning system. The method comprises: firstly, based on a pre-configured test plan, testing the combined navigation and positioning system to generate navigation and positioning data; wherein the navigation and positioning data comprises: GPS positioning data and navigation data; then calculating the error of the navigation and positioning data, and performing accuracy statistics based on the calculated result of the error to generate the test result of the navigation and positioning data, thereby solving the technical problem of the difficulty in evaluating the combined navigation and positioning system and achieving the technical effect of accurately evaluating the combined navigation and positioning system. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the specific embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0017] Figure 1 A flowchart of a method for testing an integrated navigation and positioning system provided by an embodiment of the present invention;

[0018] Figure 2 A structural diagram of a test hardware environment provided by an embodiment of the present invention;

[0019] Figure 3 A schematic diagram of an environment for testing multiple test machines provided by an embodiment of the present invention;

[0020] Figure 4 A schematic diagram of a test implementation process provided by an embodiment of the present invention;

[0021] Figure 5 A lever arm value configuration diagram provided by an embodiment of the present invention;

[0022] Figure 6 A schematic diagram of a data analysis process provided by an embodiment of the present invention;

[0023] Figure 7 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0024] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings herein can be arranged and designed in various different configurations.

[0025] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention as claimed, but rather merely represents selected embodiments of the present invention. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without creative effort shall fall within the scope of protection of the present invention.

[0026] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings.

[0027] With the increasing maturity of GPS navigation and wireless positioning technologies, in order to provide more accurate navigation and positioning, various solutions are often used to implement integrated navigation and positioning technologies, that is, combining two or more navigation devices into an integrated navigation and positioning system. Commonly used vehicle-mounted integrated navigation and positioning systems combine the Global Navigation Satellite System (GNSS) (RTK) and the Inertial Navigation System (INS). Some also choose to combine the Global Navigation Satellite System (GNSS) (RTK), the Inertial Navigation System (INS), and the vehicle odometer. Currently, the combination of autonomous inertial navigation and positioning technology with real-time dynamic differential positioning technology (RTK) is a high-precision combined continuous navigation and positioning technology that automobile manufacturers are competing to research and develop. As a key part of intelligent assisted driving systems, how to scientifically, standardizedly, and effectively evaluate an integrated navigation system has become an urgent need.

[0028] Based on this, embodiments of the present invention provide a method, device, and electronic device for testing an integrated navigation and positioning system to alleviate the technical problem of the existing technology that it is difficult to evaluate the integrated navigation and positioning system.

[0029] To facilitate understanding of this embodiment, a test method for a combined navigation and positioning system disclosed in an embodiment of the present invention is first described in detail. Figure 1The flowchart of a test method of an integrated navigation and positioning system is shown. The method is mainly applied to a test device of an integrated navigation and positioning system, and mainly includes the following steps S110 to S120:

[0030] S110: Testing the integrated navigation and positioning system based on a pre-configured test plan to generate navigation and positioning data;

[0031] The navigation and positioning data includes: GPS positioning data and navigation data.

[0032] The test equipment may be: a true value machine, a test machine, a GPS antenna, a power splitter, a communication unit and an electronic computer.

[0033] In one embodiment, the test plan includes: a test type and a test scene; the test type includes a driving state and a stationary state; the test scene includes: any one or more of open, semi-blocked, and fully blocked.

[0034] S120: Calculate the error of the navigation positioning data, and perform accuracy statistics based on the calculated result of the error to generate a test result of the navigation positioning data.

[0035] In one embodiment, the error of the navigation positioning data may include: position error, attitude error and speed error.

[0036] As a specific example, calculating the error of navigation positioning data may include:

[0037] (1) Determine the position error based on the longitude, latitude and elevation information;

[0038] (2) Determine the attitude error based on the attitude information;

[0039] (3) Determine the speed error based on the speed information.

[0040] Furthermore, in the above step S120, accuracy statistics are performed based on the error calculation result, including:

[0041] (1) Based on the longitude and latitude information, determine the expected value of longitude and latitude;

[0042] (2) Based on the position error, determine the standard deviation and root mean square error of the position error;

[0043] (3) Determine the circular error probability based on the expected value or error expected value of longitude and latitude.

[0044] In one embodiment, after the integrated navigation and positioning system is tested based on a pre-configured test plan and navigation and positioning data is generated in step S110, the method may further include:

[0045] S1: Extract GGA statements from GPS positioning data to generate positioning parameter information; positioning parameter information includes: UTC time information, longitude and latitude information, elevation information, and the number of satellites currently in use;

[0046] S2: Extract the INSPVAXA statement from the navigation data and generate navigation parameter information; the navigation parameter information includes: navigation position information, speed information and attitude information.

[0047] In an embodiment of the present invention, the method may further include: generating a test report of the integrated navigation and positioning system according to the test plan, the navigation and positioning data, and the test results.

[0048] The present invention provides a testing method for an integrated navigation and positioning system, which is applied to testing equipment for the integrated navigation and positioning system. The method comprises: firstly, based on a pre-configured test plan, testing the integrated navigation and positioning system to generate navigation and positioning data; wherein the navigation and positioning data comprises: GPS positioning data and navigation data; then, calculating the error of the navigation and positioning data, and performing accuracy statistics based on the calculated result of the error to generate a test result of the navigation and positioning data, thereby solving the technical problem of difficulty in evaluating the integrated navigation and positioning system and achieving the technical effect of accurately evaluating the integrated navigation and positioning system.

[0049] The integrated navigation and positioning system test is a test activity in which a vehicle is equipped with an integrated navigation controller to evaluate the test equipment's RTK-Fix rate, RTK recovery time, level, elevation, heading angle, trajectory stability, data continuity and other indicators in different environments.

[0050] Based on this, the present invention provides a specific embodiment of a testing method for an integrated navigation and positioning system. The entire testing process is divided into three parts: test implementation (S3), data analysis (S4), and report generation (S5). Test implementation includes writing a test plan, setting up the equipment environment, collecting data, and outputting test data. Data analysis mainly processes and analyzes the test data and outputs a data processing result document. Report generation mainly analyzes and summarizes the data processing document, forms a conclusion, and outputs a test report.

[0051] S3-1 Test Plan: Test implementation needs to be carried out according to a certain plan. The schedule is determined according to the project time. The detailed plan needs to include: test equipment, test date, test items, etc.

[0052] S3-2 Hardware Environment Construction: The test environment consists of a real value machine, a test machine, a GPS antenna, a power distributor, a wireless Internet access device, and a laptop computer. See the test hardware environment structure diagram for details. Figure 2 As shown. For the test environment of multiple test machines, see Figure 3, consisting of 2 sets of test machines and 1 set of true value equipment. The 3 sets of equipment are connected to the GPS antenna through a power divider (the secondary antenna of the true value equipment is additionally connected to a GPS antenna).

[0053] S3-3 Test software preparation: Test software preparation is mainly divided into the following parts:

[0054] (1) USB driver;

[0055] (2) Universal USB serial port debugging tool;

[0056] (3) Novatel (true value) related tools, including data acquisition tools, data format conversion software, post-processing software, etc.;

[0057] (4) Test equipment matching software, including data acquisition tools, software version upgrade software, etc.;

[0058] (5)Data analysis tools.

[0059] S3-31: USB driver installation;

[0060] After the serial port driver is installed, connect the serial cable to the computer via the USB port and check the port in the device manager. If the corresponding port number appears, it means the installation is successful.

[0061] S3-32: Universal USB serial port debugging tool;

[0062] 1) SSCOM5.12, can be used for serial port debugging and configuration parameters. SSCOM5.12 is very convenient for connecting to the serial port, sending commands and recording logs. The disadvantage is that it may miss recorded data at high baud rates;

[0063] 2) secureCRT can be used to record serial port data. The advantage is that the recorded data is stable, but the disadvantage is that debugging is inconvenient.

[0064] S3-33: Novatel (True Value) related tools;

[0065] 1) NovAtel Convert 2.6.6, used to convert the binary raw data of NovAtel true value devices into ASCII text format, and can also directly convert the raw data into kml files (Google Earth trajectory files).

[0066] 2) SetupIE_8_90_2428_x64, NovAtel data post-processing tool, which can make the positioning results given by the ground truth device more accurate and reliable.

[0067] S3-34: The test equipment matching software depends on the device under test and generally includes software upgrade, serial port debugging and data logging functions.

[0068] For example, QGNSS can be used for Hexin product evaluation. After accessing the real-time collected serial port data, the satellite signal level, positioning results, satellite search status, and map matching results can be displayed in real time through a visual window.

[0069] S3-35: Data analysis tool, mainly includes two functions: data processing and data calculation and analysis functions.

[0070] 1) GPS Tool, used for data calculation, including two-point distance / angle calculation, angle conversion, time conversion, Gaussian projection forward / inverse calculation, XYZ / BLH conversion, etc.

[0071] 2) Comtest, used for data calculation and analysis, including positioning status analysis and positioning accuracy analysis.

[0072] 3) Uprecise, used to convert log files containing GGA statements into kmz files.

[0073] 4) UltraEdit, a powerful text editor for data extraction.

[0074] 5) Other self-written scripts or Excel calculation template documents.

[0075] S3-4 test implementation: The test is mainly divided into walking test and stationary test, and the test scenes are mainly divided into open (highways, expressways, etc.), semi-obstructed (city roads, boulevards, under elevated roads), and fully obstructed (tunnels, simulated tunnels, underground parking lots).

[0076] Before testing, equipment needs to be installed, parameters configured, and trial tests performed. Each project test must be carried out according to the test steps in the test plan.

[0077] S3-41: Test Implementation Process (See Figure 4 );

[0078] S3-42: parameter configuration;

[0079] After the equipment is set up, both the test machine and the real value machine need to configure parameters, mainly including RTK account, arm value, and data output settings.

[0080] 1) Common RTK services include Qianxun and Liufen. Account configuration includes server address, username, password, mount point, and port number. The port number determines the coordinate system used. Generally, 8002 (WGS84 coordinate system) is selected.

[0081] 2) With the center point of the GPS antenna as the origin, establish an XYZ space coordinate system. The arm value is the offset value (offset) when the test equipment is translated to the center of the antenna. (See the arm value configuration diagram for details.) Figure 5 ).

[0082] 3) Data output settings include configuring which statements the test equipment outputs, the output frequency, etc. The specific configuration depends on the test requirements. Generally, the output statements will include GGA statements and inspvaxa statements, and the output frequency is 100HZ.

[0083] S35 test report: including daily report and progress report.

[0084] Daily reporting involves writing a daily report after the tester completes the day's walk. This report documents the test items, test locations and routes, number of tests, test results, and a test track map. Any issues that arise are also documented and addressed. Daily reports are sent via email. Progress reports are written weekly, similar to weekly reports, primarily documenting the implementation of the walks that week, describing any issues encountered and how they were addressed. Progress reports also include a work plan for the following week.

[0085] S4-1 Data analysis process (see Figure 6 ).

[0086] S4-2 Data extraction: including the extraction of GPS data and INSPVAXA statements.

[0087] S4-21: The log generated by GPS positioning records NMEA data. NMEA data is a standard RTCM protocol used by GPS navigation devices and includes many statements. Data parsing requires extracting GGA statements and using information such as UTC time, longitude / latitude, elevation, and the number of currently active satellites.

[0088] S4-22: The INSPVAXA statement outputs the combined navigation position, velocity, and attitude information. The data in this statement is extracted for subsequent calculations of positioning accuracy, attitude accuracy, and velocity accuracy.

[0089] S4-3 data processing: including data segmentation, format conversion, KML file generation, position error calculation, attitude error calculation, and speed error calculation;

[0090] S4-31: Data segmentation.

[0091] Both gga and inspvaxa statements are separated by commas. You can write a script or use the text editor UltraEdit to split a single statement into multiple fields. Then, create an Excel document with the field names of the gga or inspvaxa statements as headers, store the split data in a table, and save it as a CSV file. This allows you to split the data of a single statement into fields such as timestamp, positioning mode, latitude, longitude, ellipsoid height, number of satellites used, pitch angle, heading angle, roll angle, northing speed, easting speed, and celestial speed. Each line represents the contents of the gga or inspvaxa statement for one frame of time.

[0092] S4-32: Format conversion.

[0093] 1) Time Conversion: The GGA statement uses UTC time in hours, minutes, and seconds format. The INSPVAXA statement uses seconds-of-week format (counting from 00:00 AM on Sunday of the current week to the current time). As of 2021, there is an 18-second difference between the two times, allowing for conversion. Let's consider UTC time as hour, minute, and second, and the data collection date as day of the week. The formula for converting UTC to seconds-of-week time is: d*86400+a*3600+b*60+c+18.

[0094] 2) Latitude and Longitude Conversion: The latitude and longitude data in the GGA statement is in dddmm.mmmm (degrees, minutes, and minutes) format and needs to be converted to ddd.ddddd (degrees, degrees, and minutes) format. The conversion formula is: ddd + mm.mmmm / 60. Using Excel, let the dddmm.mmmm format data be A. The conversion formula is: =(INT(A / 100)) + ((A / 100) - INT(A / 100)) * 100 / 60.

[0095] S4-33: Generate KML file

[0096] 1) Method 1:

[0097] Use the UPrecise tool to import a log file containing GGA statements to generate a kmz file. After decompressing the kmz file, you can get a kml file. The disadvantage is that it cannot recognize the inspvaxa statement to generate kml.

[0098] Method 2: Create an Excel spreadsheet, sort the longitude and latitude data in WGS84 degrees, minutes, and seconds format by time, save it as a CSV file, import the CSV file into Google Earth to generate the track, modify the icon properties, and save it as a KML file. You can open the KML file in Google Earth to view the track during map analysis.

[0099] S4-34: Position error calculation.

[0100] 1) Position error calculation method:

[0101] Convert the extracted longitude and latitude information into WGS84 degree, minute, and second format, and sort the converted longitude and latitude coordinates by time. Perform a Gaussian projection on the coordinates, with the central meridian as the X-axis and the equator as the Y-axis. The X-axis is positive toward the north and negative toward the south, and the Y-axis is positive toward the east and negative toward the west.

[0102] With the coordinate point of the true value machine as O1 and the coordinate point of the test machine as O2, the plane error between the test machine and the true value machine can be calculated: ΔS = sqrt((X2-X1) 2 +(Y2-Y1) 2 ). Similarly, the X-direction error is: ΔX = X2-X1, the Y-direction error is: ΔY = Y2-Y1, let the elevation value of the test machine be H2, the elevation value of the true value machine be H1, and the elevation error is: ΔY = H2-H1.

[0103] 2) Plane error calculation method 2:

[0104] Divide the longitude / latitude by π and convert to radians. The latitude of the test machine is converted to radians as Lat1, and the latitude of the true value machine is converted to radians as Lat2. The difference in latitude and longitude between the test machine and the true value machine is a, and the difference in longitude and latitude between the test machine and the true value machine is b. The radius of the earth is 6378.137 km. The plane error calculation formula is as follows (in the formula, the result unit of S is km):

[0105]

[0106] S4-35: Attitude error calculation.

[0107] Subtract the pitch angle, roll angle, and heading angle of the experimental aircraft in the INSPVAXA statement of the experimental aircraft from the pitch angle, roll angle, and heading angle of the true value aircraft at the same time, and the errors of the three attitude angles of pitch angle, roll angle, and heading angle can be obtained.

[0108] S4-36: Speed ​​error calculation.

[0109] By subtracting the northbound velocity, eastbound velocity, and celestial velocity of the experimental aircraft in the INSPVAXA statement from the northbound velocity, eastbound velocity, and celestial velocity of the true value aircraft at the same time, the errors of the three velocity values ​​can be obtained.

[0110] The north velocity error is Δ1, the east velocity error is Δ2, and the ground velocity error is: Δ=sqrt[(Δ1) 2 +(Δ2) 2 ].

[0111] S4-4Result statistics.

[0112] S4-41: Epoch Statistics;

[0113] The tester data is classified according to the positioning status in the GGA statement. The positioning status is divided into the following seven categories: 0 = Not Available (FIX NOT valid), 1 = Single Point Positioning (GPS FIX), 2 = Differential Positioning (DGPS), 3 = Invalid PPS, 4 = Real-Time Differential Positioning (RTK FIX), 5 = RTK FLOAT, 6 = Estimating. The percentage of each positioning status in the total data is counted and recorded. S4-42: Accuracy Statistics; Table 1 below shows a probability relationship between various statistical quantities:

[0114] The coordinates after Gauss projection are recorded as XYZ; or the value after longitude is converted to radians is X, the value after latitude is converted to radians is Y, and the elevation is Z.

[0115] 1) During static testing, static data of n points are collected. Statistically, the true coordinates are the expected values ​​of the n positioning points. Generally, the expected value is the arithmetic mean. Assuming that the longitude coordinates of the n points are x1, x2, x3, ..., xn, and the latitude coordinates are y1, y2, y3, ..., yn, the expected longitude and latitude formulas are:

[0116] 2) During dynamic testing, dynamic data of n points are collected. The position error between the test machine and the true value machine obeys statistical probability. Assuming that the x-direction errors of the n points are x1, x2, x3, ..., xn, and the y-direction errors are y1, y2, y3, ..., yn, respectively, the expected formulas for the x-direction and y-direction errors are: The plane position error is:

[0117] 3) The standard deviation of X, σx, is: or

[0118] 4) The standard deviation of Y, σy, is: or

[0119] 5) The root mean square error of the plane distance error is:

[0120] 6) The root mean square error of twice the distance of the plane distance error is:

[0121] 7) The meaning of Circular Error Probable (CEP): With the mean point (coordinate expected value for static test and error expected value for dynamic test) as the center and CEP as the radius, a circle is drawn. The probability that a point falls within the circle is 50%. The calculation formula is: CEP = 0.589 (σ x +σ y );

[0122] 8) CEP95 (also known as R95) means: With the mean point as the center and CEP95 as the radius, a circle is drawn with a probability of 95% that the point falls within the circle. The calculation formula is: CEP95 = 1.2272 (σ x +σ y );

[0123] 9) Meaning of CEP99: Draw a circle with the mean point as the center and CEP99 as the radius. The probability of a point falling within the circle is 99%. The calculation formula is: CEP99 = 1.5222 (σ x +σ y );

[0124] S5 report preparation: test objectives, and test summary;

[0125] S5-1: Test target;

[0126] The test objectives refer to the indicators to be achieved in this test, which are mainly divided into integrated navigation fusion positioning indicators (RTK+INS+ODO) and GNSS technical indicators (GNSS only, without INS and ODO). As a specific example, the following Tables 2 and 3 show the technical requirements of an integrated navigation and positioning system and the technical requirements of an integrated navigation GNSS, respectively:

[0127] Table 2-Technical requirements for integrated navigation and positioning systems

[0128]

[0129] Table 3- Integrated Navigation GNSS Technical Requirements

[0130]

[0131]

[0132] S5-2: Test analysis.

[0133] The test analysis is to evaluate and analyze the RTK-Fix rate, RTK recovery time, level, elevation, heading angle, trajectory stability, data continuity and other indicators of the test equipment in each test scenario, and output epoch statistics, accuracy statistics, kml trajectory screenshots, position error line graphs and attitude error line graphs.

[0134] S5-3: Test summary. The test summary mainly draws conclusions based on the analysis of each test item according to the test objectives, and points out deficiencies and improvements.

[0135] A test summary generally includes the following aspects: performance indicators, static tests, dynamic tests, and special tests. As a specific example, a test summary includes the following:

[0136] 1) Performance indicators:

[0137] 1. The cold start time is 90 seconds and the hot start time is 25 seconds, which does not meet the index requirements;

[0138] 2. Sensitivity test conditions are not met and sensitivity-related indicators are unknown;

[0139] 3. Single-point positioning accuracy is 3m, speed measurement accuracy is 0.03m / s, and the maximum position update frequency is 200Hz;

[0140] 4.GNSS signal: Does not support GPSL5 band and GALLEO E2 / E5a band.

[0141] 2) Static test:

[0142] 1. The horizontal positioning accuracy CEP95 is 1.89cm, which meets the requirements;

[0143] 2. The x-axis positioning accuracy CEP95 is 1.47cm, which meets the requirements;

[0144] 3. The Y-axis positioning accuracy cep95 is 1.13cm, which meets the requirements;

[0145] 4. The elevation positioning accuracy cep95 is 3.30cm, which meets the requirements.

[0146] 3) Dynamic testing:

[0147] 1. After switching to single-antenna mode, the IMU takes at least 15 minutes to reach a stable output state each time the device is powered on. This is recommended for improvement.

[0148] 2. The posture angle is not set to be consistent with the vehicle body coordinate system, resulting in installation deviation;

[0149] 3. The standard deviation (std) of the roll and pitch angles in each scenario is greater than 1° and lower than the standard of 0.1°;

[0150] 4. The standard deviation (std) of the heading angle in RTK mode is 0.09°. In the combined RTK and free-RTK environment, the standard deviation (std) of the heading angle is between 0.2° and 0.3°, which does not meet the 0.1° requirement.

[0151] 4) Special test:

[0152] 1. Within 60 seconds after GPS lock is lost, the horizontal position deviation does not meet the 2drms standard of less than 0.25%;

[0153] 2. Within 60 seconds after GPS lock is lost, the heading angle error does not reach the minimum 0.15° standard;

[0154] 3. The STD values ​​of the pitch and roll angles are greater than 0.4°, with large fluctuations.

[0155] The present invention provides a testing method for a combined navigation and positioning system, the method comprising: firstly, based on a pre-configured test plan, testing the combined navigation and positioning system to generate navigation and positioning data; wherein the navigation and positioning data comprises: GPS positioning data and navigation data; then, calculating the error of the navigation and positioning data, and performing accuracy statistics based on the calculated result of the error to generate a test result of the navigation and positioning data, thereby solving the technical problem of difficulty in evaluating the combined navigation and positioning system and achieving the technical effect of accurately evaluating the combined navigation and positioning system.

[0156] In addition, an embodiment of the present invention further provides a testing device for an integrated navigation and positioning system, comprising:

[0157] The navigation data generation module is used to test the integrated navigation and positioning system based on a pre-configured test plan and generate navigation and positioning data; the navigation and positioning data includes: GPS positioning data and navigation data;

[0158] The test result generation module is used to calculate the error of the navigation positioning data, and perform accuracy statistics based on the error calculation results to generate the test results of the navigation positioning data.

[0159] The test device for the combined navigation and positioning system provided in the embodiment of the present application can be specific hardware on the device or software or firmware installed on the device, etc. The implementation principle and technical effects produced by the device provided in the embodiment of the present application are the same as those in the aforementioned method embodiment. For the sake of brief description, for parts not mentioned in the device embodiment, reference can be made to the corresponding contents in the aforementioned method embodiment. Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can all refer to the corresponding processes in the aforementioned method embodiment, and will not be repeated here. The test device for the combined navigation and positioning system provided in the embodiment of the present application has the same technical features as the test method for the combined navigation and positioning system provided in the aforementioned embodiment, so it can also solve the same technical problems and achieve the same technical effects.

[0160] An embodiment of the present application further provides an electronic device. Specifically, the electronic device includes a processor and a storage device; the storage device stores a computer program, and when the computer program is run by the processor, it executes the method described in any one of the above-mentioned embodiments.

[0161] Figure 7 A structural diagram of an electronic device provided in an embodiment of the present application, the electronic device 400 includes: a processor 40, a memory 41, a bus 42 and a communication interface 43, wherein the processor 40, the communication interface 43 and the memory 41 are connected via the bus 42; the processor 40 is used to execute an executable module stored in the memory 41, such as a computer program.

[0162] The memory 41 may include high-speed random access memory (RAM) and may also include non-volatile memory, such as at least one disk storage. The system network element communicates with at least one other network element via at least one communication interface 43 (which may be wired or wireless), and may utilize the Internet, a wide area network, a local area network, a metropolitan area network, or the like.

[0163] The bus 42 may be an ISA bus, a PCI bus, or an EISA bus. The bus may be divided into an address bus, a data bus, a control bus, and the like. For ease of representation, Figure 7 Only one bidirectional arrow is used in the diagram, but this does not mean that there is only one bus or one type of bus.

[0164] Among them, the memory 41 is used to store programs, and the processor 40 executes the program after receiving the execution instruction. The method executed by the device for flow process definition disclosed in any embodiment of the above-mentioned embodiment of the present invention can be applied to the processor 40 or implemented by the processor 40.

[0165] Processor 40 may be an integrated circuit chip with signal processing capabilities. During implementation, each step of the above method may be completed by hardware integrated logic circuits or software instructions in processor 40. The above processor 40 may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it may also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It may implement or execute the various methods, steps, and logic block diagrams disclosed in the embodiments of the present invention. The general-purpose processor may be a microprocessor or any conventional processor. The steps of the method disclosed in conjunction with the embodiments of the present invention may be directly implemented and executed by a hardware decoding processor, or by a combination of hardware and software modules in the decoding processor. The software module may be located in a storage medium well-known in the art, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, or the like. The storage medium is located in the memory 41 , and the processor 40 reads the information in the memory 41 and completes the steps of the above method in combination with its hardware.

[0166] Corresponding to the above method, an embodiment of the present application also provides a computer-readable storage medium, which stores machine-executable instructions. When the computer-executable instructions are called and executed by the processor, the computer-executable instructions prompt the processor to execute the steps of the above method.

[0167] In the embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interface, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0168] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0169] In addition, each functional unit in the embodiments provided in the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0170] If the functions are implemented in the form of software functional units 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 the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, electronic device, or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0171] It should be noted that similar numbers and letters represent similar items in the accompanying drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0172] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A test method for an integrated navigation and positioning system, characterized in that: A test device for an integrated navigation and positioning system, the method comprising: Based on a pre-configured test plan, the integrated navigation and positioning system is tested to generate navigation and positioning data; the navigation and positioning data includes: GPS positioning data and navigation data; Extracting a GGA statement from the GPS positioning data to generate positioning parameter information; extracting an INSPVAXA statement from the navigation data to generate navigation parameter information; the positioning parameter information includes: UTC time information, longitude and latitude information, elevation information, and information on the number of satellites currently in use; the navigation parameter information includes: navigation position information, speed information, and attitude information; wherein the UTC time information is used for format conversion to synchronize the timestamps of the GGA statement with the INSPVAXA statement; the longitude and latitude information is used for format conversion to unify the formats of the longitude and latitude data of the GGA statement and the INSPVAXA statement; Calculating an error of the synchronized navigation and positioning data using the generated positioning parameter information and the navigation parameter information, the error including position error, attitude error, and speed error; Accuracy statistics are performed based on the calculated results of the errors to generate test results of the navigation and positioning data.

2. The method according to claim 1, characterized in that The test plan includes: test type and test scene; the test type includes driving state and stationary state; the test scene includes: any one or more of open, semi-blocked, and fully blocked.

3. The method according to claim 1, characterized in that Calculating the error of the navigation positioning data includes: Determining a position error based on the longitude and latitude information and the elevation information; determining a posture error based on the posture information; A speed error is determined based on the speed information.

4. The method according to claim 3, characterized in that Accuracy statistics are performed based on the calculated results of the error, including: Determining expected values ​​of longitude and latitude based on the longitude and latitude information; determining a standard deviation and a root mean square error of the position error based on the position error; The circular error probability is determined according to the expected value or error expected value of the longitude and latitude.

5. The method according to claim 1, wherein Also includes: A test report of the integrated navigation and positioning system is generated according to the test plan, the navigation and positioning data and the test results.

6. The method according to claim 1, characterized in that The testing equipment includes: a true value machine, a testing machine, a GPS antenna, a power divider, a communication unit and an electronic computer.

7. A test device for an integrated navigation and positioning system, characterized in that: include: A navigation data generation module is used to test the integrated navigation and positioning system based on a pre-configured test plan and generate navigation and positioning data; The navigation and positioning data includes: GPS positioning data and navigation data; The navigation data generation module is further configured to: extract GGA statements from the GPS positioning data to generate positioning parameter information; extract INSPVAXA statements from the navigation data to generate navigation parameter information; the positioning parameter information includes: UTC time information, longitude and latitude information, elevation information, and information on the number of satellites currently in use; the navigation parameter information includes: navigation position information, speed information, and attitude information; wherein the UTC time information is used for format conversion to synchronize the timestamps of the GGA statement with the INSPVAXA statement; the longitude and latitude information is used for format conversion to unify the formats of the longitude and latitude data of the GGA statement and the INSPVAXA statement; A test result generation module is used to calculate the error of the synchronized navigation positioning data using the generated positioning parameter information and the navigation parameter information, wherein the error includes position error, attitude error and speed error; perform accuracy statistics based on the calculation results of the error to generate a test result of the navigation positioning data.

8. An electronic device comprising a memory and a processor, wherein the memory stores a computer program that can be run on the processor, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium, characterized in that The computer-readable storage medium stores machine-executable instructions. When the computer-executable instructions are called and executed by a processor, the computer-executable instructions prompt the processor to execute the method according to any one of claims 1 to 6.

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