RTK service performance testing method, device and equipment

Abstract

The present invention provides an RTK service performance testing method, device and equipment, relating to the field of testing technology. The method comprises: obtaining information of a point to be tested in a reference station network; determining a subnet structure to be replayed in the reference station network based on the information of the point to be tested and recorded information of the reference station network; and determining the quality of the real-time dynamic positioning RTK service performance at the point to be tested based on the subnet structure. The solution of the present invention is based on the subnet structure in the reference station network, and locally replays the network RTK solution process, ensuring that the playback process of the point to be tested is consistent with the real-time solution process, reducing the amount of calculation in the playback process, and saving time.

Description

Technical Field

[0001] The present invention belongs to the field of testing technology, and in particular relates to an RTK service performance testing method, device and equipment. Background Art

[0002] The high-precision positioning technology currently in use is RTK (Real-Time Kinematic), which offers advantages such as wide coverage, high positioning accuracy, and high reliability. To ensure high-precision real-time positioning results, testing and improving the performance of network RTK services is particularly important. Because RTK's real-time nature allows for the reproduction of problems encountered during testing, the network RTK solution process must be replayed. Furthermore, the playback process in the problem area must be close to the real-time solution process, ensuring that the problem can be reproduced and objectively reflecting the performance and accuracy of the network RTK service. Existing RTK performance testing methods include: first, recording satellite signals and differential signals of several fixed points, and replaying the satellite signals and differential signals of each fixed point one by one to the RTK receiver to be tested through a signal playback module, so that the RTK receiver to be tested receives the satellite signals and differential signals of each fixed point and performs solution to obtain the solved position coordinates of each fixed point; second, placing a first common-view timing receiver and a first acquisition and playback instrument at a reference station coordinate point that has been previously surveyed and calibrated, and placing a second common-view timing receiver and a second acquisition and playback instrument at a differential station coordinate point that has been previously surveyed and calibrated, comparing the reference coordinates with the positioning data of the receiver under test, and obtaining the positioning performance of the receiver under test; therefore, the RTK service performance testing methods in the existing technology have the problems of large computational complexity and long time consumption. Summary of the Invention

[0003] The purpose of the embodiments of the present invention is to provide an RTK service performance testing method, apparatus and device, thereby solving the problem that the RTK performance testing method in the prior art has a large amount of calculation and is time-consuming.

[0004] To achieve the above objectives, an embodiment of the present invention provides an RTK service performance testing method, comprising:

[0005] Obtain information of test points in the reference station network;

[0006] Determine the subnet structure to be replayed in the reference station network based on the information of the test point and the recorded information of the reference station network;

[0007] Determine the quality of the RTK service performance at the test point based on the subnet structure;

[0008] The recorded information includes: base station network structure information, ephemeris data and satellite observation data of the base station.

[0009] Optionally, the information of the point to be tested includes: coordinates of the point to be tested and an extension identifier, the extension identifier being used to indicate an extended playback mode of the point to be tested in the reference station network;

[0010] Based on the information of the test points and the recorded information of the reference station network, the subnet structure to be replayed in the reference station network is determined, including:

[0011] According to the coordinates of the point to be tested and the recorded information of the reference station network, the triangulation base station located in the reference station network is determined, and the coordinates of the point to be tested are located in the area constructed by the triangulation base station;

[0012] According to the extended identifier and the delta element reference station, the subnet structure to be replayed in the reference station network is determined.

[0013] Optionally, determining a subnet structure to be replayed in the reference station network based on the extended identifier and the delta element reference station includes the following:

[0014] When the extension identifier is the first extension identifier: determining that the subnet structure is a subnet constructed by a delta element reference station;

[0015] When the extension identifier is the second extension identifier: determining the subnet structure as a subnet including any two reference stations among the delta element reference stations;

[0016] When the extension identifier is the third extension identifier: the subnet structure is determined to be a subnet including any one of the delta element reference stations.

[0017] Optionally, before obtaining the information of the test points in the reference station network, the method further includes:

[0018] Obtain the point to be tested through the first method;

[0019] The first method includes one of the following:

[0020] Randomly select multiple monitoring points in the base station network, and determine the test point as a monitoring point among the multiple monitoring points where the quality of RTK service performance is less than a preset quality parameter and the differential positioning accuracy is greater than a preset positioning accuracy;

[0021] When the quality of the RTK service performance in the base station network sent by the receiving terminal is less than the reference point of the preset quality parameter and the differential positioning accuracy of the reference point is greater than the preset positioning accuracy, the test point is determined to be the reference point.

[0022] Optionally, determining the quality of RTK service performance at the point to be tested based on the subnet structure includes:

[0023] Performing network RTK solution on the subnet structure to generate first data, wherein the first data includes at least one of double-difference corrections and virtual reference station (VRS) data;

[0024] The first data is processed to determine the quality of the RTK service performance at the point to be tested.

[0025] Optionally, processing the first data to determine the quality of RTK service performance at the point to be tested includes:

[0026] Differential positioning is performed on the first data and satellite observation data of a reference station near the point to be tested to determine the quality of RTK service performance at the point to be tested.

[0027] An embodiment of the present invention further provides an RTK service performance testing device, comprising:

[0028] The first acquisition module acquires information of test points in the reference station network;

[0029] A first determining module is used to determine the subnet structure to be replayed in the reference station network according to the information of the test point and the recorded information of the reference station network;

[0030] The second determination module is used to determine the quality of the real-time dynamic positioning RTK service performance at the test point according to the subnet structure;

[0031] The recorded information includes: base station network structure information, ephemeris data and satellite observation data of the base station.

[0032] Optionally, the information of the point to be tested includes: coordinates of the point to be tested and an extension identifier, the extension identifier being used to indicate an extended playback mode of the point to be tested in the reference station network;

[0033] The first determination module includes:

[0034] A first determining unit is configured to determine a triangulated reference station located in the reference station network based on the coordinates of the point to be tested and the recorded information of the reference station network, wherein the coordinates of the point to be tested are located within an area constructed by the triangulated reference station;

[0035] The second determining unit is configured to determine a subnet structure to be replayed in the reference station network according to the extended identifier and the delta element reference station.

[0036] Optionally, the second determining unit is specifically configured to:

[0037] When the extension identifier is the first extension identifier: determining that the subnet structure is a subnet constructed by a delta element reference station;

[0038] When the extension identifier is the second extension identifier: determining the subnet structure as a subnet including any two reference stations among the delta element reference stations;

[0039] When the extension identifier is the third extension identifier: the subnet structure is determined to be a subnet including any one of the delta element reference stations.

[0040] Optionally, it also includes:

[0041] A second acquisition module is used to acquire the point to be tested by the first method;

[0042] The first method includes one of the following:

[0043] Randomly select multiple monitoring points in the base station network, and determine the test point as a monitoring point among the multiple monitoring points where the quality of RTK service performance is less than a preset quality parameter and the differential positioning accuracy is greater than a preset positioning accuracy;

[0044] When the quality of the RTK service performance in the base station network sent by the receiving terminal is less than the reference point of the preset quality parameter and the differential positioning accuracy of the reference point is greater than the preset positioning accuracy, the test point is determined to be the reference point.

[0045] Optionally, the second determining module includes:

[0046] A generating unit, configured to perform network RTK solution on the subnet structure to generate first data, wherein the first data includes at least one of double-difference corrections and virtual reference station (VRS) data;

[0047] The processing unit is configured to process the first data and determine the quality of the RTK service performance at the point to be tested.

[0048] Optionally, the processing unit is specifically configured to:

[0049] Differential positioning is performed on the first data and satellite observation data of a reference station near the point to be tested to determine the quality of RTK service performance at the point to be tested.

[0050] An embodiment of the present invention further provides a playback device, including a transceiver and a processor, wherein the transceiver is configured to:

[0051] Obtain information of test points in the reference station network;

[0052] The processor is used to:

[0053] Determine the subnet structure to be replayed in the reference station network based on the information of the test point and the recorded information of the reference station network;

[0054] Determine the quality of the RTK service performance at the test point based on the subnet structure;

[0055] The recorded information includes: base station network structure information, ephemeris data and satellite observation data of the base station.

[0056] Optionally, the information of the point to be tested includes: coordinates of the point to be tested and an extension identifier, the extension identifier being used to indicate an extended playback mode of the point to be tested in the reference station network;

[0057] The processor is also used to:

[0058] According to the coordinates of the point to be tested and the recorded information of the reference station network, the triangulation base station located in the reference station network is determined, and the coordinates of the point to be tested are located in the area constructed by the triangulation base station;

[0059] According to the extended identifier and the delta element reference station, the subnet structure to be replayed in the reference station network is determined.

[0060] Optionally, the processor is further configured to:

[0061] When the extension identifier is the first extension identifier: determining that the subnet structure is a subnet constructed by a delta element reference station;

[0062] When the extension identifier is the second extension identifier: determining the subnet structure as a subnet including any two reference stations among the delta element reference stations;

[0063] When the extension identifier is the third extension identifier: the subnet structure is determined to be a subnet including any one of the delta element reference stations.

[0064] Optionally, the transceiver is further configured to:

[0065] Obtain the point to be tested through the first method;

[0066] The first method includes one of the following:

[0067] Randomly select multiple monitoring points in the base station network, and determine the test point as a monitoring point among the multiple monitoring points where the quality of RTK service performance is less than a preset quality parameter and the differential positioning accuracy is greater than a preset positioning accuracy;

[0068] When the quality of the RTK service performance in the base station network sent by the receiving terminal is less than the reference point of the preset quality parameter and the differential positioning accuracy of the reference point is greater than the preset positioning accuracy, the test point is determined to be the reference point.

[0069] Optionally, the processor is further configured to:

[0070] Performing network RTK solution on the subnet structure to generate first data, wherein the first data includes at least one of double-difference corrections and virtual reference station (VRS) data;

[0071] The first data is processed to determine the quality of the RTK service performance at the point to be tested.

[0072] Optionally, the processor is further configured to:

[0073] Differential positioning is performed on the first data and satellite observation data of a reference station near the point to be tested to determine the quality of RTK service performance at the point to be tested.

[0074] An embodiment of the present invention also provides an RTK service performance testing device, comprising: a processor, a memory, and a program stored in the memory and executable on the processor, wherein when the program is executed by the processor, the steps of the RTK service performance testing method described above are implemented.

[0075] An embodiment of the present invention further provides a readable storage medium, on which a program is stored. When the program is executed by a processor, the steps of the RTK service performance testing method as described above are implemented.

[0076] The above technical solution of the present invention has at least the following beneficial effects:

[0077] In the above scheme, the RTK service performance test method obtains the information of the points to be tested in the base station network; determines the subnet structure to be replayed in the base station network based on the information of the points to be tested and the recorded information of the base station network; determines the quality of the RTK service performance at the points to be tested based on the subnet structure, and efficiently replays the network RTK solution process of the points to be tested to reduce the amount of calculation. The playback process is nearly consistent with the solution process, can reproduce the problem, and objectively reflect the network RTK service performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0078] Figure 1 Schematic diagram of the process of the RTK service performance testing method according to an embodiment of the present invention;

[0079] Figure 2 is a schematic diagram of a reference station network according to an embodiment of the present invention;

[0080] Figure 3 Schematic diagram of the steps of the RTK service performance testing method according to an embodiment of the present invention;

[0081] Figure 4 Schematic diagram of an RTK service performance testing device according to an embodiment of the present invention;

[0082] Figure 5 This is a block diagram of an RTK service performance test device according to an embodiment of the present invention;

[0083] Figure 6 This is the second block diagram of the RTK service performance testing device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0084] In order to make the technical problems, technical solutions and advantages to be solved by the present invention clearer, a detailed description will be given below with reference to the accompanying drawings and specific embodiments.

[0085] The embodiments of the present invention address the problems of large computational complexity and long time consumption in the RTK performance testing method in the prior art, and provide an RTK service performance testing method, apparatus and device.

[0086] like Figure 1 As shown, an embodiment of the present invention provides an RTK service performance testing method, including:

[0087] Step 101, obtaining information of test points in the reference station network;

[0088] Step 102: determining a subnet structure to be replayed in the reference station network based on the information of the test point and the recorded information of the reference station network; wherein the recorded information includes: reference station network structure information, ephemeris data, and satellite observation data of the reference station;

[0089] It should be noted that the RTK service performance testing method of the embodiment of the present invention can be applied to a high-precision positioning system; the base station network structure information is obtained from the database through the solution platform of the high-precision positioning system, and the base station network structure information includes the coordinate information of all base stations and the information of all delta element base stations in the base station network; the ephemeris data and the satellite observation data of the base station are provided by the solution platform, and the solution platform obtains relevant information through the receiver of the base station.

[0090] Step 103: Determine the quality of the RTK service performance at the point to be tested based on the subnet structure.

[0091] It should be noted that the replay of the network RTK solution process based on the subnet organization is used to test and verify the accuracy and robustness of the high-precision positioning system, provide reliable repeatable test conditions for network RTK service performance testing and optimization, and can reduce computing consumption and improve efficiency.

[0092] The embodiments of the present invention obtain information of a point to be tested in a reference station network; determine a subnet structure to be replayed in the reference station network based on the information of the point to be tested and recorded information of the reference station network; determine the quality of RTK service performance at the point to be tested based on the subnet structure, and efficiently replay the network RTK solution process of the point to be tested, thereby reducing the amount of calculation. The replay process is nearly consistent with the solution process, and problems can be reproduced, thereby objectively reflecting the network RTK service performance.

[0093] Optionally, the information of the point to be tested includes: coordinates of the point to be tested and an extension identifier, the extension identifier being used to indicate an extended playback mode of the point to be tested in the reference station network;

[0094] Based on the information of the test points and the recorded information of the reference station network, the subnet structure to be replayed in the reference station network is determined, including:

[0095] According to the coordinates of the point to be tested and the recorded information of the reference station network, the triangulation base station located in the reference station network is determined, and the coordinates of the point to be tested are located in the area constructed by the triangulation base station;

[0096] According to the extended identifier and the delta element reference station, the subnet structure to be replayed in the reference station network is determined.

[0097] It should be noted that if Figure 2 In the reference station network shown, ABH, BLH, BCL, CML, MLK, KIL, AEH, ADE, DEF, JKI, GJI, EFG, EGI, EHI, and HIL are all delta element reference stations.

[0098] Alternatively, as Figure 2 As shown, according to the extended identifier and the delta element base station, the subnet structure to be replayed in the base station network is determined, including the following items:

[0099] When the extension identifier is the first extension identifier: determining that the subnet structure is a subnet constructed by a delta element reference station;

[0100] When the extension identifier is the second extension identifier: determining the subnet structure as a subnet including any two reference stations among the delta element reference stations;

[0101] When the extension identifier is the third extension identifier: the subnet structure is determined to be a subnet including any one of the delta element reference stations.

[0102] Here, as Figure 2 As shown, the coordinates of the test point are indicated by a five-pointed star, and the coordinates of the test point are located within the triangular area constructed by the triangular element reference station HIL. If the extension identifier is the first extension identifier, the subnet structure is determined to be the subnet constructed by the triangular element reference station HIL in the reference station network, that is, HIL. If the extension identifier is the second extension identifier, the subnet structure is determined to be all subnets in the reference station network that include any two reference stations in the triangular element reference station HIL, that is, HIE, BHL, ILK. If the extension identifier is the third extension identifier, the subnet structure is determined to be all subnets in the reference station network that include any one reference station in the triangular element reference station HIL, that is, EHI, AEH, BLH, BCL, CML, MLK, KIL, JKI, GJI, EGI.

[0103] It should be noted that the computational complexity of the first, second, and third extended identifiers gradually increases, while simultaneously improving accuracy. Local playback of the coordinates of the measured points based on the extended identifiers can achieve results nearly identical to those of the full network playback, efficiently restoring the real-time solution process and used to test and verify the accuracy and robustness of high-precision positioning systems. This provides reliable and repeatable test conditions for RTK service performance testing and optimization of high-precision positioning systems.

[0104] Optionally, before obtaining the information of the test points in the reference station network, the method further includes:

[0105] Obtain the point to be tested through the first method;

[0106] The first method includes one of the following:

[0107] Randomly select multiple monitoring points in the base station network, and determine the test point as a monitoring point among the multiple monitoring points where the quality of RTK service performance is less than a preset quality parameter and the differential positioning accuracy is greater than a preset positioning accuracy;

[0108] When the quality of the RTK service performance in the base station network sent by the receiving terminal is less than the reference point of the preset quality parameter and the differential positioning accuracy of the reference point is greater than the preset positioning accuracy, the test point is determined to be the reference point.

[0109] It should be noted that the test points include the following performance:

[0110] The quality of the RTK service performance of the test point is less than the preset quality parameter, that is, the RTK service performance of the test point does not meet the standard;

[0111] The test point cannot receive the VRS data broadcast by the high-precision positioning system, or the test point performs differential positioning based on the VRS (Virtual Reference Station) data broadcast by the high-precision positioning system, and the differential positioning accuracy is greater than the preset positioning accuracy, that is, the differential positioning accuracy is poor.

[0112] Optionally, determining the quality of RTK service performance at the point to be tested based on the subnet structure includes:

[0113] Performing network RTK solution on the subnet structure to generate first data, wherein the first data includes at least one of a double-difference correction number and VRS data;

[0114] The first data is processed to determine the quality of the RTK service performance at the point to be tested.

[0115] Here, the network RTK solution process is replayed according to the subnet structure to generate first data, and the first data is used for processing to obtain differential positioning accuracy, thereby determining the quality of RTK service performance at the point to be tested.

[0116] It should be noted that the carrier phase differential positioning technology is used to solve the coordinates of the subnet structure.

[0117] Optionally, processing the first data to determine the quality of RTK service performance at the point to be tested includes:

[0118] Differential positioning is performed on the first data and satellite observation data of a reference station near the point to be tested to determine the quality of RTK service performance at the point to be tested.

[0119] It should be noted that post-processing of the first data includes but is not limited to performing differential positioning using the first data and satellite observation data of a reference station near the test point to obtain differential positioning accuracy, and determining the quality of the RTK service performance at the test point based on the differential positioning accuracy analysis.

[0120] It should also be noted that if Figure 3 As shown, the steps of the RTK service performance testing method according to the embodiment of the present invention are described as follows:

[0121] First, record the reference station network structure information, ephemeris data, and satellite observation data of all reference stations;

[0122] At the same time, the coordinates of the test points are partially replayed, including:

[0123] Enter the coordinates of the test point to be replayed and the extended identifier;

[0124] Read in the reference station network organization information, coordinates of the points to be tested, and extended identifiers to determine the subnet structure to be replayed;

[0125] Perform network RTK solution on the subnet structure and output double-difference corrections or VRS data;

[0126] Finally, the double-difference corrections or VRS data are post-processed to analyze the accuracy and quality of the RTK service at the test point.

[0127] like Figure 4 As shown, an embodiment of the present invention further provides an RTK service performance testing device, comprising:

[0128] The first acquisition module 401 acquires information of test points in the reference station network;

[0129] A first determining module 402 is configured to determine a subnet structure to be replayed in the reference station network based on information of the test point and recorded information of the reference station network;

[0130] The second determining module 403 is used to determine the quality of the real-time dynamic positioning RTK service performance at the test point according to the subnet structure;

[0131] The recorded information includes: base station network structure information, ephemeris data and satellite observation data of the base station.

[0132] The embodiments of the present invention obtain information of a point to be tested in a reference station network; determine a subnet structure to be replayed in the reference station network based on the information of the point to be tested and recorded information of the reference station network; determine the quality of RTK service performance at the point to be tested based on the subnet structure, and efficiently replay the network RTK solution process of the point to be tested, thereby reducing the amount of calculation. The replay process is nearly consistent with the solution process, and problems can be reproduced, thereby objectively reflecting the network RTK service performance.

[0133] Optionally, the information of the point to be tested includes: coordinates of the point to be tested and an extension identifier, the extension identifier being used to indicate an extended playback mode of the point to be tested in the reference station network;

[0134] The first determining module 402 includes:

[0135] A first determining unit is configured to determine a triangulated reference station located in the reference station network based on the coordinates of the point to be tested and the recorded information of the reference station network, wherein the coordinates of the point to be tested are located within an area constructed by the triangulated reference station;

[0136] The second determining unit is configured to determine a subnet structure to be replayed in the reference station network according to the extended identifier and the delta element reference station.

[0137] Optionally, the second determining unit is specifically configured to:

[0138] When the extension identifier is the first extension identifier: determining that the subnet structure is a subnet constructed by a delta element reference station;

[0139] When the extension identifier is the second extension identifier: determining the subnet structure as a subnet including any two reference stations among the delta element reference stations;

[0140] When the extension identifier is the third extension identifier: the subnet structure is determined to be a subnet including any one of the delta element reference stations.

[0141] Optionally, it also includes:

[0142] A second acquisition module is used to acquire the point to be tested by the first method;

[0143] The first method includes one of the following:

[0144] Randomly select multiple monitoring points in the base station network, and determine the test point as a monitoring point among the multiple monitoring points where the quality of RTK service performance is less than a preset quality parameter and the differential positioning accuracy is greater than a preset positioning accuracy;

[0145] When the quality of the RTK service performance in the base station network sent by the receiving terminal is less than the reference point of the preset quality parameter and the differential positioning accuracy of the reference point is greater than the preset positioning accuracy, the test point is determined to be the reference point.

[0146] Optionally, the second determining module 403 includes:

[0147] A generating unit, configured to perform network RTK solution on the subnet structure to generate first data, wherein the first data includes at least one of double-difference corrections and virtual reference station (VRS) data;

[0148] The processing unit is configured to process the first data and determine the quality of the RTK service performance at the point to be tested.

[0149] Optionally, the processing unit is specifically configured to:

[0150] Differential positioning is performed on the first data and satellite observation data of a reference station near the point to be tested to determine the quality of RTK service performance at the point to be tested.

[0151] It should be noted that the RTK service performance testing device provided in the embodiment of the present invention is a device capable of executing the above-mentioned RTK service performance testing method. All embodiments of the above-mentioned RTK service performance testing method are applicable to the device and can achieve the same or similar technical effects.

[0152] like Figure 5 As shown, an embodiment of the present invention further provides an RTK service performance testing device 500, including a transceiver 501 and a processor 502, wherein the transceiver 501 is configured to:

[0153] Obtain information of test points in the reference station network;

[0154] The processor 502 is configured to:

[0155] Determine the subnet structure to be replayed in the reference station network based on the information of the test point and the recorded information of the reference station network;

[0156] Determine the quality of the RTK service performance at the test point based on the subnet structure;

[0157] The recorded information includes: base station network structure information, ephemeris data and satellite observation data of the base station.

[0158] Optionally, the information of the point to be tested includes: coordinates of the point to be tested and an extension identifier, the extension identifier being used to indicate an extended playback mode of the point to be tested in the reference station network;

[0159] The processor 502 is further configured to:

[0160] According to the coordinates of the point to be tested and the recorded information of the reference station network, the triangulation base station located in the reference station network is determined, and the coordinates of the point to be tested are located in the area constructed by the triangulation base station;

[0161] According to the extended identifier and the delta element reference station, the subnet structure to be replayed in the reference station network is determined.

[0162] Optionally, the processor 502 is further configured to:

[0163] When the extension identifier is the first extension identifier: determining that the subnet structure is a subnet constructed by a delta element reference station;

[0164] When the extension identifier is the second extension identifier: determining the subnet structure as a subnet including any two reference stations among the delta element reference stations;

[0165] When the extension identifier is the third extension identifier: the subnet structure is determined to be a subnet including any one of the delta element reference stations.

[0166] Optionally, the transceiver 501 is further configured to:

[0167] Obtain the point to be tested through the first method;

[0168] The first method includes one of the following:

[0169] Randomly select multiple monitoring points in the base station network, and determine the test point as a monitoring point among the multiple monitoring points where the quality of RTK service performance is less than a preset quality parameter and the differential positioning accuracy is greater than a preset positioning accuracy;

[0170] When the quality of the RTK service performance in the base station network sent by the receiving terminal is less than the reference point of the preset quality parameter and the differential positioning accuracy of the reference point is greater than the preset positioning accuracy, the test point is determined to be the reference point.

[0171] Optionally, the processor 502 is further configured to:

[0172] Performing network RTK solution on the subnet structure to generate first data, wherein the first data includes at least one of double-difference corrections and virtual reference station (VRS) data;

[0173] The first data is processed to determine the quality of the RTK service performance at the point to be tested.

[0174] Optionally, the processor 502 is further configured to:

[0175] Differential positioning is performed on the first data and satellite observation data of a reference station near the point to be tested to determine the quality of RTK service performance at the point to be tested.

[0176] like Figure 6As shown, an embodiment of the present invention also provides an RTK service performance testing device, including: a processor 601, a memory 602, and a program stored in the memory 602 and executable on the processor 601, wherein when the program is executed by the processor 601, the steps of the network RTK playback method as described above are implemented.

[0177] Optionally, the RTK service performance test device further includes a transceiver 603 for receiving and sending data under the control of the processor 601.

[0178] Among them, Figure 6 In the embodiment, the bus architecture may include any number of interconnected buses and bridges, specifically linking together various circuits of one or more processors represented by processor 601 and memory represented by memory 602. The bus architecture may also link together various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are all well known in the art and therefore will not be described further herein. The bus interface provides an interface. The transceiver 603 may be a plurality of components, i.e., a transmitter and a receiver, providing a unit for communicating with various other devices on a transmission medium. The processor 601 is responsible for managing the bus architecture and general processing, and the memory 602 may store data used by the processor 601 when performing operations.

[0179] An embodiment of the present invention further provides a readable storage medium, on which a program is stored. When the program is executed by a processor, the steps of the RTK service performance testing method as described above are implemented.

[0180] The processor is the processor in the RTK service performance test device described in the above embodiment. The readable storage medium includes a computer-readable storage medium, such as a computer read-only memory (ROM), random access memory (RAM), a magnetic disk, or an optical disk.

[0181] The above is a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as within the scope of protection of the present invention.

Claims

1. A RTK service performance testing method, characterized in that: include: Obtain information of test points in the reference station network; Determining a subnet structure to be replayed in the reference station network according to the information of the test point and the recorded information of the reference station network; Playing back the subnet structure to determine the quality of the real-time dynamic positioning RTK service performance at the test point; The recorded information includes: reference station network structure information, ephemeris data and satellite observation data of the reference station; The information of the point to be tested includes: coordinates of the point to be tested and an extension identifier, wherein the extension identifier is used to indicate an extended playback mode of the point to be tested in the reference station network; The determining of the subnet structure to be replayed in the reference station network according to the information of the test point and the recorded information of the reference station network includes: Determining a triangulated reference station located in the reference station network according to the coordinates of the point to be tested and the recorded information of the reference station network, wherein the coordinates of the point to be tested are located within an area constructed by the triangulated reference station; According to the extension identifier and the delta element reference station, a subnet structure to be replayed in the reference station network is determined.

2. The RTK service performance testing method according to claim 1, characterized in that: The determining, based on the extended identifier and the delta element reference station, a subnet structure to be replayed in the reference station network, comprises the following: When the extension identifier is the first extension identifier: determining that the subnet structure is a subnet constructed by the delta element reference station; When the extension identifier is the second extension identifier: determining that the subnet structure is a subnet including any two reference stations among the delta element reference stations; When the extension identifier is the third extension identifier: determining that the subnet structure is a subnet including any one of the delta element reference stations.

3. The RTK service performance testing method according to claim 1, characterized in that: Before obtaining the information of the test points in the reference station network, the method further includes: Obtain the point to be tested through the first method; The first method includes one of the following: Randomly selecting a plurality of monitoring points in the reference station network, and determining the test point as a monitoring point among the plurality of monitoring points at which the quality of RTK service performance is less than a preset quality parameter and the differential positioning accuracy is greater than a preset positioning accuracy; The test point is determined to be the reference point when the quality of the RTK service performance in the reference station network sent by the receiving terminal is less than a reference point with a preset quality parameter and the differential positioning accuracy of the reference point is greater than a preset positioning accuracy.

4. The RTK service performance testing method according to claim 1, characterized in that: Determining the quality of RTK service performance at the point to be tested according to the subnet structure includes: Performing network RTK solution on the subnet structure to generate first data, wherein the first data includes at least one of double-difference corrections and virtual reference station (VRS) data; The first data is processed to determine the quality of the RTK service performance at the point to be tested.

5. The RTK service performance testing method according to claim 4, characterized in that: The processing of the first data to determine the quality of the RTK service performance at the point to be tested includes: Differential positioning is performed on the first data and satellite observation data of a reference station near the point to be tested to determine the quality of RTK service performance at the point to be tested.

6. An RTK service performance test device, characterized in that: include: The first acquisition module acquires information of test points in the reference station network; A first determining module is configured to determine a subnet structure to be replayed in the reference station network based on the information of the test point and the recorded information of the reference station network; A second determination module is configured to perform playback according to the subnet structure to determine the quality of the real-time dynamic positioning RTK service performance at the point to be tested; The recorded information includes: reference station network structure information, ephemeris data and satellite observation data of the reference station; The information of the point to be tested includes: coordinates of the point to be tested and an extension identifier, wherein the extension identifier is used to indicate an extended playback mode of the point to be tested in the reference station network; The first determining module includes: A first determining unit is configured to determine a triangulated reference station located in the reference station network according to the coordinates of a point to be tested and the recorded information of the reference station network, wherein the coordinates of the point to be tested are located within an area constructed by the triangulated reference station; The second determining unit is configured to determine a subnet structure to be replayed in the reference station network according to the extended identifier and the delta element reference station.

7. An RTK service performance test device, characterized in that: The invention comprises a transceiver and a processor, wherein the transceiver is configured to: Obtain information of test points in the reference station network; The processor is configured to: Determining a subnet structure to be replayed in the reference station network according to the information of the test point and the recorded information of the reference station network; Playing back the subnet structure to determine the quality of the real-time dynamic positioning RTK service performance at the test point; The recorded information includes: reference station network structure information, ephemeris data and satellite observation data of the reference station; The information of the point to be tested includes: coordinates of the point to be tested and an extension identifier, wherein the extension identifier is used to indicate an extended playback mode of the point to be tested in the reference station network; The processor is specifically configured to: Determining a triangulated reference station located in the reference station network according to the coordinates of the point to be tested and the recorded information of the reference station network, wherein the coordinates of the point to be tested are located within an area constructed by the triangulated reference station; According to the extension identifier and the delta element reference station, a subnet structure to be replayed in the reference station network is determined.

8. An RTK service performance test device, characterized in that: include: A processor, a memory, and a program stored in the memory and executable on the processor, wherein when the program is executed by the processor, the steps of the RTK service performance testing method according to any one of claims 1 to 5 are implemented.

9. A readable storage medium, characterized in that: The readable storage medium stores a program, and when the program is executed by the processor, the steps of the RTK service performance testing method according to any one of claims 1 to 5 are implemented.

Images