Method, system, vehicle and storage medium for measuring positioning accuracy

Abstract

The application relates to a positioning accuracy measurement method, system, vehicle, storage medium and computer program product. The method comprises the following steps: receiving first positioning result data sent by a positioning and orientation device; the first positioning result data comprises positioning information of satellite navigation double antennas arranged on a mobile platform in different driving scenes; the mobile platform is provided with a combined positioning device and the positioning and orientation device connected with the satellite navigation double antennas; second positioning result data of the combined positioning device is determined; the positioning accuracy of the positioning and orientation device is measured according to the first positioning result data and the second positioning result data, and measurement results of the positioning and orientation device are obtained. The method can improve the accuracy measurement accuracy and reliability of the positioning and orientation device.

Description

TECHNICAL FIELD

[0001] The present application relates to the positioning technical field, and in particular to a positioning accuracy measurement method and system, a vehicle, a storage medium and a computer program product. BACKGROUND

[0002] With the development of automatic driving technology, the accuracy requirement of vehicle positioning is also higher and higher. RTK (Real-Time Kinematic) technology is a technology for improving the positioning measurement accuracy of GNSS (Global Navigation Satellite System), which is widely used in the positioning system of automatic driving vehicles because it can provide centimeter-level positioning accuracy. In order to ensure the driving safety of automatic driving vehicles, it is very important to ensure the positioning accuracy of the positioning and orientation device (such as GNSS board card) of the automatic driving vehicle.

[0003] At present, the accuracy of GNSS board card is measured according to the accuracy indicators of various positioning performances provided by manufacturers, which leads to inaccurate measurement of the positioning accuracy of GNSS board card. SUMMARY

[0004] Therefore, it is necessary to provide a positioning accuracy measurement method and system, a vehicle, a computer readable storage medium and a computer program product capable of improving the accuracy of the positioning and orientation device.

[0005] In a first aspect, the present application provides a positioning accuracy measurement method. The method comprises:

[0006] receiving first positioning result data sent by a positioning and orientation device; the first positioning result data comprises positioning information of a satellite navigation double antenna arranged on a mobile platform in different driving scenes, and the mobile platform is provided with a combined positioning device and a positioning and orientation device connected with the satellite navigation double antenna;

[0007] determining second positioning result data of the combined positioning device;

[0008] measuring the positioning accuracy of the positioning and orientation device according to the first positioning result data and the second positioning result data, and obtaining a measurement result of the positioning and orientation device.

[0009] In one embodiment, the first positioning result data sent by the positioning and orientation device is received, which comprises:

[0010] receiving first global positioning data sent by the positioning and orientation device;

[0011] acquire first position data of a preset position type and first heading data of a preset heading type from the first global positioning data, wherein the first positioning result data comprises the first position data and the first heading data;

[0012] The determination of the second positioning result data of the combined positioning device comprises:

[0013] receiving second global positioning data sent by the combined positioning device;

[0014] acquiring second position data and second heading data from the second global positioning data, wherein the second positioning result data comprises the second position data and the second heading data.

[0015] In one of the embodiments, the measurement of the positioning accuracy of the positioning and orientation device according to the first positioning result data and the second positioning result data to obtain the measurement result of the positioning and orientation device comprises:

[0016] acquiring a first position quantity of the first positioning result data of a target position type and a first heading quantity of a target heading type;

[0017] determining a position index for measuring the positioning and orientation device according to the first position quantity, the first position data and the second position data;

[0018] determining a heading index for measuring the positioning and orientation device according to the first heading quantity, the first heading data and the second heading data;

[0019] obtaining the measurement result of each of the positioning and orientation devices according to the position index and the heading index.

[0020] In one of the embodiments, the determination of the position index for measuring the positioning and orientation device according to the first position quantity, the first position data and the second position data comprises:

[0021] determining the total quantity of position types by determining the quantity of position types of the first position data;

[0022] determining the position fixation rate by determining the ratio of the first position quantity in the total quantity of position types;

[0023] determining a third position of the target position type from the first position data and a fourth position corresponding to the third position from the second position data;

[0024] determining the position quantity of the third position and the corresponding fourth position with a position error greater than a set position threshold.

[0025] determining a ratio of the number to a total number of the position types, to obtain a position error fixing rate.

[0026] In one embodiment, the determining the number of positions whose position errors between the third position and the corresponding fourth position are greater than a set position threshold value comprises:

[0027] performing a pose transformation on the fourth position according to the third position, the fourth position, a pose matrix of the combined positioning device, and a mounting position of the satellite navigation dual-antenna relative to the combined positioning device, to obtain a reference position of a satellite navigation main antenna in the satellite navigation dual-antenna;

[0028] determining the number of positions whose position errors between the third position and the reference position are greater than a set position threshold value.

[0029] In one embodiment, the determining the heading indicator for measuring the heading of the positioning and orienting device according to the number of headings, the first heading data, and the second heading data comprises:

[0030] determining a total number of heading types of the first heading data;

[0031] determining a ratio of the number of headings to the total number of heading types, to obtain a heading fixing rate;

[0032] determining a third heading of a target heading type from the first heading data and a fourth heading corresponding to the third heading from the second heading data;

[0033] determining the number of headings whose heading errors between the third heading and the corresponding fourth heading are greater than a set heading threshold value;

[0034] determining a ratio of the number of headings to the total number of heading types, to obtain a heading error fixing rate.

[0035] In one embodiment, the determining the number of headings whose heading errors between the third heading and the corresponding fourth heading are greater than a set heading threshold value comprises:

[0036] performing a pose transformation on the fourth heading according to the third heading, the fourth heading, and a mounting angle between the satellite navigation dual-antenna and the combined positioning device, to obtain a reference heading of the satellite navigation dual-antenna;

[0037] determining the number of headings whose heading errors between the third heading and the reference heading of the satellite navigation dual-antenna are greater than a set heading threshold value.

[0038] In one of the embodiments, the first positioning result data received from the positioning and orientation device comprises:

[0039] The first positioning result data received from the positioning and orientation device comprises:

[0040] The first positioning result data received from the positioning and orientation device comprises:

[0041] In the second aspect, the application further provides a vehicle. The vehicle comprises a memory and a processor. The memory stores a computer program. When the processor executes the computer program, the following steps are implemented:

[0042] The first positioning result data received from the positioning and orientation device comprises:

[0043] The first positioning result data received from the positioning and orientation device comprises:

[0044] In the third aspect, the application further provides a positioning accuracy measurement system. The positioning accuracy measurement system comprises a measurement device and a vehicle. The measurement device comprises a device body, a satellite navigation dual antenna arranged on the device body, at least two positioning and orientation modules connected with the satellite navigation dual antenna, and a combined positioning device and a positioning and orientation device connected with the satellite navigation dual antenna. The vehicle comprises a memory and a processor. The memory stores a computer program. When the processor executes the computer program, the following steps are implemented:

[0045] The first positioning result data received from the positioning and orientation device comprises:

[0046] The first positioning result data received from the positioning and orientation device comprises:

[0047] In a fourth aspect, the present application provides a computer readable storage medium. The computer readable storage medium has a computer program stored thereon, and the computer program, when executed by a processor, implements the following steps:

[0048] receiving first positioning result data sent by the positioning and orientation device; the first positioning result data comprises positioning information of a satellite navigation dual antenna arranged on a mobile platform in different driving scenarios, the mobile platform being provided with a combined positioning device and the positioning and orientation device connected with the satellite navigation dual antenna; determining second positioning result data of the combined positioning device;

[0049] measuring positioning accuracy of the positioning and orientation device according to the first positioning result data and the second positioning result data, to obtain a measurement result of the positioning and orientation device.

[0050] In a fifth aspect, the present application provides a computer program product. The computer program product comprises a computer program, and the computer program, when executed by a processor, implements the following steps:

[0051] receiving first positioning result data sent by the positioning and orientation device; the first positioning result data comprises positioning information of a satellite navigation dual antenna arranged on a mobile platform in different driving scenarios, the mobile platform being provided with a combined positioning device and the positioning and orientation device connected with the satellite navigation dual antenna; determining second positioning result data of the combined positioning device;

[0052] measuring positioning accuracy of the positioning and orientation device according to the first positioning result data and the second positioning result data, to obtain a measurement result of the positioning and orientation device.

[0053] The positioning accuracy measurement method, system, vehicle, storage medium and computer program product described above, by arranging a satellite navigation dual antenna on a mobile platform, and arranging a positioning and orientation device and a combined positioning device connected with the satellite navigation dual antenna, receiving first positioning result data of the satellite navigation dual antenna in different driving states, and determining second positioning result data of the combined positioning device arranged on the mobile platform, measuring positioning accuracy of the positioning and orientation device according to the second positioning result data of the combined positioning device and the first positioning result data of the satellite navigation dual antenna in different states. In combination with actual driving scenarios, the influence of signal quality in different motion states on the accuracy measurement of the positioning and orientation device is eliminated, and the accuracy and reliability of the positioning accuracy of the positioning and orientation device are improved. BRIEF DESCRIPTION OF DRAWINGS

[0054] Figure 1 An application environment diagram of the positioning accuracy measurement method in one embodiment;

[0055] Figure 2 Flowchart of a positioning accuracy measurement method in one embodiment;

[0056] Figure 3 Flowchart of a satellite navigation dual-antenna heading determination method in one embodiment;

[0057] Figure 4 Flowchart of a positioning accuracy measurement method in one embodiment according to satellite navigation dual-antenna positioning result data and inertial measurement device positioning result data;

[0058] Figure 5 Flowchart of a position index determination method in one embodiment;

[0059] Figure 6 Flowchart of a heading index determination method in one embodiment;

[0060] Figure 7 Flowchart of a positioning accuracy measurement method in another embodiment;

[0061] Figure 8 Flowchart of a measurement structure of a plurality of positioning orientation devices in one embodiment;

[0062] Figure 9 Block diagram of a positioning accuracy measurement system in one embodiment;

[0063] Figure 10 Internal structure diagram of a vehicle in one embodiment. DETAILED DESCRIPTION

[0064] In order to make the objects, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and should not be used to limit the present application.

[0065] The positioning accuracy measurement method provided by the embodiments of the present application can be applied to, for example, Figure 1The application environment shown. Among them, the positioning and orientation device 102, the combined positioning device 104 and the terminal 106 communicate through the network, and the positioning and orientation device 102 and the combined positioning device 104 are arranged on the mobile platform. The combined positioning device 104 includes a GNSS board card and an inertial measurement device, and the data storage system can store the data required to be processed by the terminal 106. The data storage system can be integrated on the terminal 106, or placed on the cloud or other network servers. The satellite navigation double antenna, the positioning and orientation device 102 and the combined positioning device 104 are arranged on the mobile platform, the mobile platform moves at a set speed, and the positioning and orientation device 102 receives the antenna signal sent by the satellite navigation double antenna. The antenna signal includes the positioning information captured by the satellite navigation double antenna in different driving scenes.

[0066] The positioning and orientation device processes the received positioning information to obtain first positioning result data. The combined positioning device 104 receives the antenna signal sent by the satellite navigation double antenna, obtains the data collected by the wheel odometer arranged on the mobile platform, and obtains the data collected by the inertial measurement unit in the combined positioning device. The combined positioning device 104 sends the antenna signal, the data collected by the wheel odometer and the data collected by the inertial measurement unit to the terminal 106, processes the antenna signal and the data sent by the wheel odometer through the terminal 106, and obtains second positioning result data of the combined positioning device 104. The terminal 106 measures the positioning accuracy of the positioning and orientation device according to the first positioning result data and the second positioning result data, and obtains the measurement result of the positioning and orientation device. Among them, the positioning and orientation device can be different types of positioning and orientation devices, and the combined positioning device can be different types of combined positioning devices. In one embodiment, the positioning and orientation device is a GNSS board card to be measured. The terminal 106 can be a vehicle, such as an automatic driving vehicle; the terminal 106 can also be a vehicle-mounted terminal equipped on the vehicle, and the vehicle-mounted terminal is equipped with an automatic driving computing platform. Among them, the vehicle-mounted terminal equipped on the vehicle is integrated in the vehicle in structure, and belongs to a part of the vehicle.

[0067] In one embodiment, as Figure 2 shown, a positioning accuracy measurement method is provided, which is applied to the terminal in Figure 1 for example, including the following steps:

[0068] Step 202, receiving first positioning result data sent by the positioning and orientation device.

[0069] The positioning and orientation device provides accurate positioning function for the autonomous vehicle. In order to ensure the safety of the autonomous vehicle, the positioning accuracy of the positioning and orientation device needs to be measured. The accuracy of the positioning and orientation device cannot meet the actual positioning requirements according to the accuracy indicators of various positioning performances provided by the manufacturers. In actual application, the autonomous vehicle drives in different environments, and the driving environment will affect the positioning accuracy of the positioning and orientation device. The driving environment of the autonomous vehicle includes driving through tree shade, urban canyon, elevated road, tunnel, underground garage, etc. Based on different driving scenarios, the positioning accuracy of the positioning and orientation device can be measured to accurately determine the positioning accuracy of the positioning and orientation device in actual application.

[0070] In the measurement of the positioning accuracy of the positioning and orientation device, the positioning and orientation device is arranged on a mobile platform, and a satellite navigation double antenna and a combined positioning device are also arranged on the mobile platform. The satellite navigation double antenna is connected with the positioning and orientation device. The mobile platform can be but not limited to a vehicle, for example, it can be an autonomous vehicle. In this embodiment, the mobile platform is an autonomous vehicle, and the positioning and orientation device is a GNSS board card to be measured.

[0071] The mobile platform moves at a set speed in different driving scenarios, and the satellite navigation double antenna can locate the positioning information in different driving scenarios. The positioning information is sent to the positioning and orientation device, and the positioning and orientation device processes the positioning information to obtain the first positioning result data of the satellite navigation double antenna. That is, the first positioning result data includes the positioning information of the satellite navigation double antenna arranged on the mobile platform in different driving scenarios. The positioning information includes the position of the satellite, the distance between the satellite and the satellite navigation double antenna, the relative speed between the satellite and the satellite navigation double antenna, etc. The data processing method of the positioning information processed by the positioning and orientation device can be realized by the existing method, which is not described here.

[0072] The first positioning result data includes the position, heading, position type and heading type of the satellite navigation double antenna. It can be understood that the satellite navigation double antenna includes a main antenna and a sub antenna, and the position of the satellite navigation double antenna refers to the position of the satellite navigation main antenna, and the heading of the satellite navigation double antenna refers to the direction of the line connecting the main antenna and the sub antenna. As shown in Figure 3 The heading of the satellite navigation double antenna in an embodiment is shown in FIG. 1, wherein A is the main antenna, B is the sub antenna, and θ is the angle of the direction of the line connecting the main antenna and the sub antenna.

[0073] Step 204, determining the second positioning result data of the combined positioning device.

[0074] The combined positioning device includes a GNSS board card, an inertial measurement device, and the like, and can record raw data of GNSS / IMU / wheel odometry. According to the raw data, the position, speed, attitude of the inertial measurement device, and the corresponding uncertainty data can be determined. The inertial measurement device can also be referred to as an inertial measurement unit (IMU) in the present application. The second positioning result data includes the position and heading of the inertial measurement device in the combined positioning device. It can be understood that the positioning result data of the combined positioning device is output by the inertial measurement device and the GNSS board card, and there is no corresponding position type and heading type. The position data of the combined positioning device can be directly used as the true value of the position, and the heading data of the combined positioning device can be directly used as the true value of the heading.

[0075] Specifically, the satellite navigation dual-antenna sends the collected signals to the power divider, and sends the collected antenna signal to the combined positioning device via the power divider. The combined positioning device obtains the data collected by the wheel odometry arranged on the mobile platform and reads the data collected by the inertial measurement device in the combined positioning device. The data collected by the wheel odometry on the mobile platform, the data collected by the inertial measurement device in the combined positioning device, and the antenna signal are sent to the terminal, and the second positioning result data of the inertial measurement device is obtained by positioning processing through the algorithm model in the terminal.

[0076] In step 206, the positioning accuracy of the positioning and orientation device is measured according to the first positioning result data and the second positioning result data, and the measurement result of the positioning and orientation device is obtained.

[0077] The positioning result data includes position, heading, position type, and heading type.

[0078] Specifically, the terminal takes the second positioning result data of the combined positioning device as a reference to calculate an index for measuring the positioning accuracy of the first positioning result data. The calculated index is compared with a preset index to determine the measurement result of the positioning and orientation device. Further, the positioning performance of the positioning and orientation device is obtained according to the measurement result of the positioning and orientation device.

[0079] The positioning accuracy measurement method includes the following steps: a satellite navigation double antenna is arranged on the mobile platform; a combined positioning device is arranged; and a positioning and orientation device connected with the satellite navigation double antenna is arranged. First positioning result data of the satellite navigation double antenna in different driving states is received, second positioning result data of an inertial measurement device arranged on the mobile platform is determined, and positioning accuracy of the positioning and orientation device is measured according to the second positioning result data of the inertial measurement device and the first positioning result data of the satellite navigation double antenna in different states. The influence of signal quality in different motion states on the positioning and orientation device accuracy measurement is eliminated in combination with an actual driving scene, and the positioning accuracy of the positioning and orientation device is improved in terms of accuracy and reliability.

[0080] In the field of autonomous driving, the positioning accuracy of the positioning and orientation device is measured according to position indicators and heading indicators. The position indicators include position accuracy and position accuracy reliability, and the heading indicators include heading accuracy and heading accuracy reliability. The position accuracy reliability is represented by a corresponding position type, and the heading position accuracy reliability is represented by a corresponding heading type. In view of the reliability of the positioning accuracy, the target position type and the target heading type need to be measured according to the position data of the target position type and the heading data of the target heading type. The target position type can be a fixed solution position type, and the target heading type can be a fixed solution heading type. According to different actual scene requirements, the target position type and the target heading type can be determined.

[0081] In one embodiment, as shown in Figure 4 , a positioning accuracy measurement method is provided according to positioning result data of a satellite navigation double antenna and positioning result data of a combined positioning device. The method is applied to a terminal in Figure 1 , and includes the following steps:

[0082] Step 402: obtaining a first position quantity of the target position type in the first positioning result data; and a first heading quantity of the target heading type.

[0083] The target position type can be a fixed solution position type, and the target heading type can be a fixed solution heading type. The position type of the position includes a single point solution type, a differential solution type, a floating point solution type and a fixed solution type, and the heading type of the heading includes a single point solution type, a differential solution type, a floating point solution type and a fixed solution type.

[0084] The first positioning result data collected can be positioning information of a specific area captured by the dual satellite navigation antennas on the mobile platform when the platform is stationary, or positioning information of a specific area captured by the dual satellite navigation antennas on the platform when it is moving at a set speed. Specific areas include areas with poor satellite navigation signals, such as areas with shady trees, urban canyons, roads under elevated highways, tunnels, and underground parking garages.

[0085] It is understandable that if the first positioning result data represents the positioning information of a specific area captured by the dual satellite navigation antennas on the mobile platform when the platform is stationary, the corresponding second positioning result data from the inertial measurement unit (IMU) is also determined when the platform is stationary. Conversely, if the first positioning result data represents the positioning information of a specific area captured by the dual satellite navigation antennas on the platform when it is moving at a set speed, the corresponding second positioning result data from the IMU is also determined when the platform is moving at a set speed. In other words, the first and second positioning result data represent positioning results for the same area obtained through different positioning devices.

[0086] Step 404: Determine the position indicators used to measure the positioning and orientation device based on the first number of positions, the first position data, and the second position data.

[0087] The first number of locations refers to the number of locations where the main antenna position of the satellite navigation antenna is a fixed solution location type. The first location data consists of location data from the dual satellite navigation antennas, including multiple locations within a specific area, each with a corresponding location type. The second location data consists of location data from the integrated positioning device, also including multiple locations within a specific area. The location data from the integrated positioning device does not have a location type and can be directly used as the true location value.

[0088] Location metrics include location fixation rate and location error fixation rate. Location fixation rate refers to the ratio of the number of locations of the target location type to the total number of location types in a specific area. Location error fixation rate refers to the ratio of the number of locations in the first location data where the target location type's position has an error exceeding a set threshold compared to the total number of location types in a specific area, assuming the position type is the target location type. The location corresponding to the target location type in the first location data is determined from the second location data based on a specific time point.

[0089] Specifically, a first position quantity of the position type being the target position type is determined from the first positioning result data, a ratio of the first position quantity to all position total types in the specific area is determined, and the first position of the position type being the target position type and the position in the corresponding second position data are subtracted to obtain a position error. According to the position quantity whose position error is greater than the set threshold value, a ratio of the position quantity whose position error is greater than the set threshold value to the position total types is determined, and according to the ratio of the first position quantity to all position total types in the specific area and the ratio of the position quantity whose position error is greater than the set threshold value to the position total types, a position index for measuring the positioning and orientation device is determined.

[0090] Step 406, according to the first heading quantity, the first heading data and the second heading data, a heading index for measuring the positioning and orientation device is determined.

[0091] The first heading data is the heading data of the satellite navigation main antenna in the satellite navigation dual antenna, including a plurality of headings in the specific area, and each heading has a corresponding heading type. The second heading data is the heading data of the inertial measurement device, including a plurality of headings in the specific area. The heading data of the combined positioning device does not have a heading type, and the heading data of the combined positioning device can be directly used as the true value of the heading.

[0092] The heading index includes a heading fixation rate and a heading error fixation rate. The heading fixation rate refers to the ratio of the number of headings of the target heading type to the total number of heading types in the specific area. The heading error fixation rate refers to the ratio of the number of headings whose error exceeds the set heading threshold value to the total number of heading types in the specific area in the case of the heading type being the target heading type. The corresponding second heading data of the first heading data is determined according to the time point.

[0093] Specifically, a first position quantity of the position type being the target position type is determined from the first positioning result data, a ratio of the first position quantity to all position total types in the specific area is determined, and the first position of the position type being the target position type and the position in the corresponding second position data are subtracted to obtain a position error. According to the position quantity whose position error is greater than the set threshold value, a ratio of the position quantity whose position error is greater than the set threshold value to the position total types is determined, and according to the ratio of the first position quantity to all position total types in the specific area and the ratio of the position quantity whose position error is greater than the set threshold value to the position total types, a position index for measuring the positioning and orientation device is determined.

[0094] Step 408, according to the position index and the heading index, a measurement result of the positioning and orientation device is obtained.

[0095] Specifically, the positioning performance of the positioning and orientation device is measured according to the position fixing rate and the position error fixing rate in the position index, and according to the heading fixing rate and the heading error fixing rate in the heading index. The higher the position fixing rate and the heading fixing rate of the positioning and orientation device are, and the lower the position error fixing rate and the heading error fixing rate are, the better the positioning accuracy performance of the positioning and orientation device is.

[0096] In the above method for measuring the positioning accuracy according to the first positioning result data and the second positioning result data, the positioning accuracy of the positioning and orientation device is measured by obtaining the positioning result data of the satellite navigation double antenna and the positioning result data of the inertial measurement device of the mobile platform in different motion states, and the position and heading accuracy of the RTK of the positioning and orientation device, the corresponding fixing rate and the error fixing rate are determined. The influence of different motion states and signal quality on the positioning and orientation device is eliminated, and the reliability and accuracy of the positioning accuracy measurement are improved.

[0097] In one embodiment, as shown in Figure 5 , a method for determining a position index is provided, which is applied to a terminal in Figure 1 for example, and includes the following steps:

[0098] Step 502, determine the number of position types of the first position data, and obtain the total number of position types.

[0099] Specifically, the number of position types of the first position data in which the position type is single-point solution type, differential solution type, floating-point solution type and fixed solution type is determined to obtain the total number of position types.

[0100] Step 504, determine the ratio of the first position number in the total number of position types, and obtain the position fixing rate.

[0101] Step 506, determine the third position of the target position type from the first position data and the fourth position corresponding to the third position from the second position data.

[0102] Specifically, the third position of the target position type is determined from the first positioning data, and the third position refers to the position of the main antenna in the satellite navigation double antenna. According to the collection time of the third position, the corresponding fourth position is determined from the second positioning data, and the fourth position is the position of the inertial measurement device.

[0103] Step 508, determine the number of positions whose position error is greater than a set position threshold value.

[0104] It can be understood that the third position is the position of the main antenna of the satellite navigation dual antenna in the coordinate system of the main antenna of the satellite navigation dual antenna. The fourth position is the position of the inertial measurement device in the coordinate system of the inertial measurement device. In order to ensure the accuracy and reliability of the data when determining the position error, the same object needs to be compared, so the position of the inertial measurement device can be pose converted to obtain the position of the main antenna of the satellite navigation dual antenna in the coordinate system of the inertial measurement device.

[0105] In one embodiment, a position pose conversion method for a combined positioning device is provided, comprising: pose converting the fourth position to obtain a reference position of a satellite navigation main antenna of a satellite navigation dual antenna according to the third position, the fourth position, an attitude matrix of the combined positioning device, and an installation position of the satellite navigation dual antenna relative to the combined positioning device. Further, determining the number of positions with position errors greater than a set position threshold according to the third position and the reference position of the satellite navigation main antenna. That is, the position error of the third position relative to the reference position is determined by subtracting the third position and the reference position of the satellite navigation dual antenna, and the number of positions with position errors greater than the set position threshold is determined from all the obtained position errors.

[0106] It can be understood that the attitude matrix of the combined positioning device refers to the attitude matrix of the inertial measurement device. The installation position of the satellite navigation dual antenna relative to the combined positioning device refers to the installation position of the satellite navigation dual antenna relative to the inertial measurement device.

[0107] Wherein, the pose conversion can be represented as:

[0108]

[0109] represents the position of the main antenna of the satellite navigation dual antenna after conversion, represents the position of the inertial measurement device, represents the attitude matrix of the inertial measurement device, represents the installation position of the satellite navigation dual antenna relative to the inertial measurement device.

[0110] Step 510, determining the ratio of the number in the total number of position types to obtain the position error fixation rate.

[0111] In the above method of determining the position index, by determining the first positioning result data and the second positioning result data in different motion states, the position accuracy of the positioning and orientation device in different driving scenes is obtained, the corresponding position fixation rate and the position error fixation rate are measured, the influence of the environment on the measurement accuracy in the actual driving process of the vehicle is considered, the reliability of the position index is improved, and the reliability of the positioning of the positioning and orientation device is further improved.

[0112] In one embodiment, asFigure 6 As shown, a method for determining a heading indicator is provided, and the method is applied to Figure 1 The method includes the following steps:

[0113] Step 602, determine the number of heading types of the first heading data, and obtain the total number of heading types.

[0114] Specifically, the number of heading types of the first heading data is determined, and the total number of heading types is obtained, including the number of single-point solution types, the number of differential solution types, the number of floating-point solution types, and the number of fixed solution types.

[0115] Step 604, determine the ratio of the first heading number in the total number of heading types, and obtain the heading fixed rate.

[0116] Step 606, determine the third heading of the target heading type from the first heading data, and determine the fourth heading corresponding to the third heading from the second heading data.

[0117] Specifically, the third heading of the target heading type is determined from the first positioning data, and the third heading refers to the heading of the main antenna of the satellite navigation dual antenna. According to the collection time of the third heading, the fourth heading corresponding to the time is determined from the second positioning data, and the fourth heading is the heading of the inertial measurement device.

[0118] Step 608, determine the number of headings whose heading errors of the third heading and the corresponding fourth heading are greater than the set heading threshold.

[0119] It can be understood that the third heading is the direction of the connecting line between the main antenna and the auxiliary antenna of the satellite navigation dual antenna in the main antenna coordinate system. The fourth heading is the heading of the inertial measurement device in the inertial measurement device coordinate. When determining the heading error, in order to ensure the accuracy and reliability of the data, the same object needs to be compared, so the heading of the inertial measurement device can be converted to obtain the heading of the main antenna of the satellite navigation dual antenna in the inertial measurement device coordinate.

[0120] Further, when the number of headings whose heading errors of the first heading data and the corresponding second heading data are greater than the set heading threshold is determined, the second position is converted to the reference heading of the satellite navigation dual antenna according to the first heading data, the second heading data, and the installation angle between the satellite navigation dual antenna and the combined positioning device. According to the first heading and the reference heading of the satellite navigation dual antenna, the number of headings whose heading errors are greater than the set heading threshold is determined. It can be understood that the installation angle between the satellite navigation dual antenna and the combined positioning device refers to the installation angle between the satellite navigation dual antenna and the inertial measurement device.

[0121] Wherein, the heading conversion can be represented as:

[0122]

[0123] representing a satellite navigation dual-antenna heading, representing an inertial measurement device heading, representing an installation angle between the inertial measurement device heading and the satellite navigation dual-antenna heading.

[0124] Step 610, determining the ratio of the number of headings in the total number of heading types, to obtain the heading error fixing rate.

[0125] In the above method for determining the heading index, by determining the first positioning result data and the second positioning result data in different motion states, the position accuracy of the positioning and orientation device in different driving scenes is obtained, the corresponding heading fixing rate and the heading error fixing rate are measured, the influence of the environment on the measurement accuracy in the actual driving process of the vehicle is considered, the reliability of the heading index is improved, and the reliability of the positioning of the positioning and orientation device is further improved.

[0126] When measuring the positioning accuracy of the positioning and orientation device, the positioning data includes global positioning data. According to the actual application scene and the reliability requirement of the positioning and orientation device, the positioning data of the preset type in the positioning result data is measured.

[0127] In one embodiment, as shown in Figure 7 , a positioning accuracy measurement method is provided, which is applied to a terminal in Figure 1 for example, and includes the following steps:

[0128] Step 702, receiving the first global positioning data sent by the positioning and orientation device.

[0129] The first global positioning data is the global positioning data of the satellite navigation antenna sent by the positioning and orientation device, including the positions of different position types of the satellite navigation dual-antenna, the headings of different heading types, the absolute distance between the positions where the main antenna and the auxiliary antenna of the satellite navigation dual-antenna are located, etc.

[0130] Step 704, obtaining the first position data of the preset position type and the first heading data of the preset heading type from the first global positioning data, and the first positioning result data includes the first position data and the first heading data.

[0131] The preset position type includes single-point solution type, differential solution type, floating-point solution type, and fixed solution type, etc. The preset heading type includes single-point solution type, differential solution type, floating-point solution type, and fixed solution type, etc.

[0132] Step 706, receiving the second global positioning data sent by the combined positioning device.

[0133] The second global positioning data refers to the global positioning data of the combined positioning device, and includes the positioning data of the combined positioning device in different specific areas.

[0134] Step 708, obtaining the second position data and the second heading data from the second global positioning data, and the second positioning result data includes the second position data and the second heading data.

[0135] Step 710, obtaining the first position quantity of the first position data with the target position type, and the first heading quantity of the first heading data with the target heading type.

[0136] Step 712, determining the position index for measuring the position of the positioning and orientation device according to the first position quantity, the first position data and the second position data.

[0137] Step 714, determining the heading index for measuring the heading of the positioning and orientation device according to the first heading quantity, the first heading data and the second heading data.

[0138] Step 718, obtaining the measurement result of each positioning and orientation device according to the position index and the heading index.

[0139] In the above positioning accuracy measurement method, the satellite navigation dual antenna is arranged on the mobile platform, the positioning and orientation device and the combined positioning device connected with the satellite navigation dual antenna are arranged, the first positioning result data of the satellite navigation dual antenna in different driving states is obtained from the obtained global positioning data, the second positioning result data of the inertial measurement device arranged on the mobile platform is determined, the positioning accuracy of the positioning and orientation device is measured according to the second positioning result data of the inertial measurement device and the first positioning result data of the satellite navigation dual antenna in different states, and the measurement result of the positioning and orientation device is obtained. In combination with the actual driving scene, the influence of signal quality in different motion states on the accuracy measurement of the positioning and orientation device is eliminated, and the accuracy and reliability of the positioning accuracy of the positioning and orientation device are improved.

[0140] Optionally, in an embodiment, it is necessary to determine the best positioning and orientation device from a plurality of positioning and orientation devices, the first positioning result data sent by at least two different positioning and orientation devices is received, the second positioning result data of the combined positioning device is determined, the positioning accuracy of each positioning and orientation device is measured according to the first positioning result data and the second positioning result data, and the measurement result of each positioning and orientation device is obtained. According to the measurement result of each positioning and orientation device, the best target positioning and orientation device is determined from the at least two different positioning and orientation devices.

[0141] As Figure 8As shown, it is a schematic diagram of a measurement structure for measuring the positioning accuracy of multiple positioning and orientation devices in an embodiment. The satellite navigation dual antenna is arranged on the mobile platform, and the satellite navigation dual antenna is connected with the power divider. The power divider divides the GNSS signals captured by the satellite navigation dual antenna into multiple paths and connects them to the GNSS board card 1 to the GNSS board card N. In the case of providing differential signals externally, the GNSS board card processes the signals from the antenna, processes the main antenna signal to calculate the position and position type corresponding to the main antenna, and processes the signals of the main antenna and the auxiliary antenna to calculate the heading and heading type determined by the main auxiliary antenna. The combined positioning device is arranged on the mobile platform, and the pulse signal output by the wheel odometer arranged on the mobile platform and the GNSS signal output by the power divider are connected to the combined positioning device. The pulse signal output by the wheel odometer and the GNSS signal output by the power divider and the signal output by the inertial measurement device inside the combined positioning device are output to the terminal through the combined positioning device, and the position and position type of the inertial measurement device are obtained by data processing through the terminal. The heading and heading type of the inertial measurement device.

[0142] The terminal obtains the first position quantity of the first positioning result data in which the position type is the target position type; and the first heading quantity in which the heading type is the target heading type; determines the total quantity of the position types of the first position data and obtains the total quantity of the position types; determines the ratio of the first position quantity in the total quantity of the position types, and obtains the position fixing rate; determines the third position in which the position type is the target position type from the first position data and the fourth position corresponding to the third position from the second position data; according to the third position, the fourth position, the attitude matrix of the inertial measurement device and the installation position of the satellite navigation dual antenna relative to the inertial measurement device, the reference position of the satellite navigation main antenna in the satellite navigation dual antenna is obtained by performing pose conversion on the fourth position; according to the third position and the reference position of the satellite navigation main antenna, the position quantity in which the position error is greater than the set position threshold is determined. According to the ratio of the position quantity in which the position error is greater than the set position threshold in the total quantity of the position types, the position error fixing rate is obtained.

[0143] The number of heading types of the first heading data is determined to obtain a total number of heading types, and a ratio of the first heading number in the total number of heading types is determined to obtain a heading fixation rate. A third heading of the target heading type is determined from the first heading data, and a fourth heading corresponding to the third heading is determined from the second heading data. The fourth heading is converted in pose according to the third heading, the fourth heading, and an installation angle between the satellite navigation dual antenna and the inertial measurement device, and a reference heading of the satellite navigation dual antenna is obtained. The number of headings with a heading error greater than a set heading threshold is determined according to the third heading and the reference heading of the satellite navigation dual antenna. A heading error fixation rate is obtained according to a ratio of the number of headings with the heading error greater than the set heading threshold in the total number of heading types. Further, the fixation rate and the error fixation rate of the position and the heading of the at least two positioning and orientation devices are obtained, wherein the higher the fixation rate and the lower the error fixation rate, the better the RTK performance. The positioning and orientation device with the best performance is determined from the at least two positioning and orientation devices according to the fixation rate and the error fixation rate of the position and the heading of each positioning and orientation device.

[0144] It should be understood that, although each step in the flowchart involved in the above embodiments is shown in sequence according to the arrow, these steps are not necessarily executed in sequence according to the arrow. Unless otherwise specified herein, the execution of these steps is not strictly limited in sequence, and these steps can be executed in other sequences. Moreover, at least part of the steps in the flowchart involved in the above embodiments can include multiple steps or multiple stages, which are not necessarily executed at the same time, but can be executed at different times, and the execution sequence of these steps or stages is not necessarily sequential, but can be executed alternately or alternately with at least part of other steps or steps or stages in other steps.

[0145] Based on the same inventive concept, the embodiments of the present application also provide a positioning accuracy measurement system for implementing the positioning accuracy measurement method described above. The problem-solving implementation scheme provided by the system is similar to the implementation scheme described in the above method, so the specific limitations in one or more positioning accuracy measurement system embodiments provided below can refer to the limitations of the positioning accuracy measurement system described above, and will not be repeated here.

[0146] In one embodiment, as Figure 9As shown, a positioning accuracy measurement system is provided, and the positioning accuracy measurement system comprises a measurement device and a vehicle. The measurement device comprises a device body, a satellite navigation dual antenna arranged on the device body, a positioning and orientation device connected with the satellite navigation dual antenna, and a combined positioning device connected with the satellite navigation dual antenna. The vehicle comprises a memory and a processor. The memory stores a computer program. The processor implements the steps in the above method embodiments when executing the computer program.

[0147] The positioning accuracy measurement system described above sets the satellite navigation dual antenna on the mobile platform, sets the positioning and orientation device and the combined positioning device connected with the satellite navigation dual antenna, receives the first positioning result data of the satellite navigation dual antenna in different driving states, determines the second positioning result data of the combined positioning device arranged on the mobile platform, and measures the positioning accuracy of the positioning and orientation device according to the second positioning result data of the combined positioning device and the first positioning result data of the satellite navigation dual antenna in different states. In combination with the actual driving scene, the influence of the signal quality in different motion states on the positioning and orientation device accuracy measurement is eliminated, and the positioning accuracy accuracy and reliability of the positioning and orientation device are improved.

[0148] Each module in the positioning accuracy measurement system described above can be realized by software, hardware, and a combination thereof, in whole or in part. Each module described above can be embedded in or independent of the processor in the vehicle in hardware form, or can be stored in the memory in the vehicle in software form, so as to be called and executed by the processor to perform the operations corresponding to each module.

[0149] In one embodiment, a vehicle is provided, which can be a terminal, and an internal structure diagram of the vehicle can be as shown in Figure 10 The vehicle comprises a processor, a memory, a communication interface, a display screen, and an input device connected through a system bus. The processor of the vehicle is used to provide computing and control capabilities. The memory of the vehicle comprises a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operating system and the computer program in the non-volatile storage medium to run. The communication interface of the vehicle is used to perform wired or wireless communication with an external terminal. The wireless communication can be achieved through WIFI, mobile cellular network, NFC (near field communication), or other technologies. The computer program is executed by the processor to implement a positioning accuracy measurement method. The display screen of the vehicle can be a liquid crystal display screen or an electronic ink display screen. The input device of the vehicle can be a touch layer overlaid on the display screen, or can be a key, trackball, or touchpad arranged on the vehicle shell, or can be an external keyboard, touchpad, or mouse, etc.

[0150] Those skilled in the art can understand that, Figure 10The structure shown in the figure is only a block diagram of part of the structure related to the scheme of the present application, and does not constitute a limitation on the vehicle to which the scheme of the present application is applied. A specific vehicle can include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0151] In an embodiment, a vehicle is also provided, including a memory and a processor, the memory storing a computer program, and the processor implementing the steps in the above method embodiments when executing the computer program.

[0152] In an embodiment, a computer readable storage medium is provided, storing a computer program, and the computer program implementing the steps in the above method embodiments when executed by a processor.

[0153] In an embodiment, a computer program product is provided, including a computer program, and the computer program implementing the steps in the above method embodiments when executed by a processor.

[0154] It should be noted that the user information (including but not limited to user equipment information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in the present application are all information and data authorized by the user or authorized by all parties.

[0155] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer readable storage medium, and when the computer program is executed, the processes of the above-mentioned embodiments of the methods can be included. Any reference to memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. The non-volatile memory can include read-only memory (Read-Only Memory, ROM), magnetic tape, floppy disk, flash memory, optical storage, high-density embedded non-volatile memory, resistive memory (ReRAM), magnetoresistive random access memory (Magnetoresistive Random Access Memory, MRAM), ferroelectric memory (Ferroelectric Random Access Memory, FRAM), phase change memory (Phase Change Memory, PCM), graphene memory, etc. The volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory, etc. As an illustration but not limitation, the RAM can be in various forms, such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM), etc. The database involved in the embodiments provided in the present application can include at least one of a relational database and a non-relational database. The non-relational database can include a distributed database based on a block chain, etc., without being limited thereto. The processor involved in the embodiments provided in the present application can be a general-purpose processor, a central processing unit, a graphics processing unit, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., without being limited thereto.

[0156] Any combination of the technical features of the above embodiments can be made. In order to make the description simple, all possible combinations of the technical features in the above embodiments are not described, however, as long as the combination of the technical features does not exist contradictory, it should be considered as the scope of the present application.

[0157] The above embodiments only express several implementation manners of the present application, and the description is more specific and detailed, but it should not be understood as a limitation on the scope of the patent of the present application. It should be pointed out that for ordinary skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are within the scope of protection of the present application. Therefore, the protection scope of the present application should be subject to the appended claims.

Claims

1. A method for measuring positioning accuracy, characterized in that, The method includes: The system receives first positioning result data sent by the positioning and orientation device; the first positioning result data includes positioning information of the satellite navigation dual antennas set on the mobile platform under different driving scenarios and different motion states, and the mobile platform is equipped with a combined positioning device and a positioning and orientation device connected to the satellite navigation dual antennas; Determine the second positioning result data of the combined positioning device; The first positioning result data sent by the receiving positioning and orientation device includes: Receive first global positioning data sent by a positioning and orientation device, obtain first position data of a preset position type and first heading data of a preset heading type from the first global positioning data, and the first positioning result data includes the first position data and the first heading data; The determination of the second positioning result data of the combined positioning device includes: Receive the second global positioning data sent by the combined positioning device, and obtain the second position data and the second heading data from the second global positioning data; The system acquires the number of first positions of type target position and the number of first directions of type target heading from the first position data and the first heading data; wherein the position type includes single-point solution type, differential solution type, floating-point solution type and fixed solution type, and the heading type includes single-point solution type, differential solution type, floating-point solution type and fixed solution type. Based on the first number of locations, the first location data, and the second location data, a position index for measuring the positioning and orientation device is determined; based on the first number of headings, the first heading data, and the second heading data, a heading index for measuring the positioning and orientation device is determined; the position index includes a position fixation rate and a position error fixation rate. The measurement results of each positioning and orientation device are obtained based on the position index and the heading index.

2. The method according to claim 1, characterized in that, The step of determining the position indicators for measuring the positioning and orientation device based on the first number of positions, the first position data, and the second position data includes: The total number of location types is obtained by determining the number of location types in the first location data. The ratio of the number of the first positions to the total number of positions of the same type is determined to obtain the position fixation rate; Determine a third location from the first location data that is of the target location type, and determine a fourth location from the second location data that corresponds to the third location; The number of positions where the position error between the third position and the corresponding fourth position is greater than a set position threshold is determined, and the ratio of the number of such positions to the total number of position types is determined to obtain the position error fixation rate.

3. The method according to claim 2, characterized in that, The determination of the number of positions where the position error between the third position and the corresponding fourth position is greater than a set position threshold includes: Based on the third position, the fourth position, the attitude matrix of the combined positioning device, and the installation position of the dual satellite navigation antennas relative to the combined positioning device, the fourth position is pose-converted to obtain the reference position of the main satellite navigation antenna in the dual satellite navigation antennas. Based on the third position and the reference position of the satellite navigation main antenna, determine the number of positions where the position error is greater than a set position threshold.

4. The method according to claim 2, characterized in that, The step of determining the heading indicators for measuring the positioning and orientation device based on the first heading quantity, the first heading data, and the second heading data includes: The total number of heading types is obtained by determining the number of heading types in the first heading data; The ratio of the number of the first headings to the total number of heading types is determined to obtain the heading fixation rate; Determine a third course with the target course type from the first course data and a fourth course corresponding to the third course from the second course data; The number of heading errors of the third heading and the corresponding fourth heading are determined to be greater than a set heading threshold. The heading error fixation rate is obtained by determining the ratio of the number of headings to the total number of heading types.

5. The method according to claim 4, characterized in that, The determination of the number of heading errors of the third heading and the corresponding fourth heading that are greater than a set heading threshold includes: Based on the third heading, the fourth heading, and the installation angle between the satellite navigation dual antennas and the combined positioning device, the pose conversion of the fourth heading is performed to obtain the reference heading of the satellite navigation dual antennas; Based on the third heading and the reference heading of the dual satellite navigation antennas, determine the number of headings with heading errors greater than a set heading threshold.

6. The method according to claim 1, characterized in that, The first positioning result data sent by the receiving positioning and orientation device also includes: Receive first positioning result data sent from at least two different positioning and orientation devices; Perform the step of determining the second positioning result data of the combined positioning device; The method further includes: Based on the measurement results of each of the positioning and orientation devices, the target positioning and orientation device with the best performance is determined from the at least two different positioning and orientation devices.

7. A vehicle comprising a memory and a processor, said memory storing a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 6.

8. A positioning accuracy measurement system, characterized in that, The system includes a measuring device and the vehicle as described in claim 7. The measuring device includes a device body, a dual satellite navigation antenna disposed on the device body, a positioning and orientation device connected to the dual satellite navigation antenna, and a combined positioning device connected to the dual satellite navigation antenna. The vehicle includes a memory and a processor. The memory stores a computer program, characterized in that the processor executes the computer program to implement the steps of the method as described in any one of claims 1 to 5.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 6.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 6.

Images