A positioning system error testing method

Abstract

The application discloses a positioning system error testing method, and belongs to the technical field of positioning. The method comprises the following steps: determining the coordinate systems of a measured system and a positioning reference system, and the positions of a test target point and a measured target point on a carrier; controlling linear motion of the carrier, and calculating a deflection angle between the two coordinate systems through a plurality of coordinate points of the test target point and the measured target point on a track of the linear motion; controlling rotation and linear motion of the carrier, acquiring a plurality of coordinate points of the test target point and the measured target point on a linear motion track after each rotation before the rotation, and an included angle between a longitudinal axis of the carrier and a coordinate axis of the measured system; and calculating errors of the measured system at each measurement point based on a preset relationship between positioning errors and distances between the two target points. The application has low requirements on the test target point and the measured target point in the testing process, can simplify coordinate system conversion calculation, and improves the accuracy of a positioning precision test result.

Description

TECHNICAL FIELD

[0001] The present application relates to the positioning technology field, and particularly to a positioning system error testing method. BACKGROUND

[0002] With the research and development of positioning technology, it has been more and more widely used in people's daily life. As a core index of the performance of the positioning system, the positioning accuracy plays a vital role in the selection and decision of the positioning method and system. In actual engineering applications, the positioning accuracy of a system often needs to be tested and evaluated. At present, most of the positioning accuracy testing and evaluation systems have a series of problems, resulting in complex system operation and poor measurement accuracy. Mainly including: 1. The coordinate systems of the testing system and the measured system are not unified, that is, the origins of the coordinate systems of the testing system and the measured system do not coincide, the coordinate systems are not parallel, and the coordinate system conversion is relatively complex; 2. The target points observed by the testing system and the target points observed by the measured system are required to coincide when placed, but in the actual operation process, it is difficult to meet the requirement that the measured target points and the testing target points completely coincide; 3. The positioning of the measured system has errors, which are coupled with the offset of the target points and the offset of the coordinate system, and it is difficult to distinguish whether the error is caused by the offset of the coordinate system, the error caused by the non-coincidence of the target points or the error caused by the poor positioning accuracy. SUMMARY

[0003] The purpose of the present application is to provide a positioning system error testing method, which has low requirements for the testing target points and the measured target points in the testing process, and can simplify the coordinate system conversion calculation and improve the accuracy of the positioning accuracy test results.

[0004] To achieve the above purpose, the technical scheme adopted by the present application is as follows.

[0005] In the first aspect, the present application provides a positioning system error testing method, comprising:

[0006] S1, the positioning device of the measured positioning system and the positioning reference system is arranged on the same carrier; the measured target point B corresponding to the measured positioning system and the testing target point A corresponding to the positioning reference system on the carrier are determined; and the measured system coordinate system of the measured positioning system and the testing system coordinate system of the positioning reference system are determined;

[0007] S2, the carrier is controlled to move along a straight line, and the following points at multiple trajectory points in the straight line motion trajectory of the carrier are acquired: the coordinate point of the testing system target point A measured by the positioning reference system, the coordinate point of the measured target point B measured by the measured positioning system, and the included angle between the longitudinal axis of the carrier and the coordinate axis of the measured system coordinate system;

[0008] S3, fitting a trajectory of the multiple coordinate points of the measured target point B according to the multiple coordinate points of the measured target point B obtained in S2, fitting a trajectory of the multiple coordinate points of the test target point A according to the multiple coordinate points of the test target point A obtained in S2, and calculating an angle difference between the measured system coordinate system and the test system coordinate system according to the results of the trajectory fitting;

[0009] S4, performing a rotation transformation on the measured system coordinate system and / or the test system coordinate system according to the angle difference, so that the horizontal coordinate axes of the two coordinate systems are parallel to or coincide with each other, and the vertical coordinate axes of the two coordinate systems are parallel to or coincide with each other;

[0010] S5, controlling the carrier to rotate at least twice and moving in the original straight line motion direction after each rotation, and obtaining the following at multiple trajectory points in the straight line motion trajectory after each rotation: a coordinate point of the test target point A measured by the positioning reference system, a coordinate point of the measured target point B measured by the measured positioning system, and an included angle between the longitudinal axis of the carrier and the coordinate axis of the measured system coordinate system;

[0011] S6, calculating the x-direction error and the y-direction error of the measured positioning system at each measurement point based on a predefined relationship between the positioning error and the distance of the AB point according to the data obtained in S2 and S5.

[0012] In the above technical solution, the positioning reference system can adopt a high-precision positioning system to effectively calibrate the measured positioning system. The coordinate system rotation transformation in step S4 can be rotation of the measured system coordinate system or rotation of the test system coordinate system, or rotation of both. After the coordinate system rotation transformation, the coordinate point coordinate information measured in step S5 is the coordinate of the corresponding point in the new coordinate system.

[0013] Optionally, the center of the positioning device of the measured positioning system coincides with the center of the carrier, and the measured target point B is the center point of the carrier;

[0014] In S5, the carrier is controlled to rotate around the measured target point. The center of the positioning device of the measured positioning system can be obtained through self-sensor sensing. This selection method and carrier rotation method can simplify subsequent calculations, but the present application is not limited to this method.

[0015] Optionally, the trajectory fitting of the test target point A and the trajectory fitting of the measured target point B are performed by least squares method respectively, to obtain the trajectory slopes K A , K B ;

[0016] The angle difference between the measured system coordinate system and the test system coordinate system is calculated according to the following formula:

[0017]

[0018] In the formula, represents the angle difference between the measured system coordinate system and the test system coordinate system.

[0019] Optionally, in S4, the measured system coordinate system and / or the test system coordinate system are rotated according to the angle difference, so that the measured system coordinate system and the test system coordinate system are relatively rotated with the coordinate origin as the center. The angle difference is used to realize the direction alignment of the coordinate axes between the two coordinate systems, which is convenient for subsequent calculation.

[0020] Optionally, the relationship between the positioning error and the AB distance is as follows:

[0021]

[0022] Wherein, at the same trajectory point of the carrier, (X B , Y B ) and (X A , Y A ) are the coordinates of the B point and the A point corresponding to the same straight trajectory point in the same coordinate system, P and Q are the components of the AB distance in the X direction and the Y direction, δ x and δ y are the X direction error and the Y direction error of the measured system respectively; and have:

[0023]

[0024] In the formula, J is the distance of the AB point on the carrier, is an unknown quantity, μ is the angle between the AB point line and the longitudinal axis of the carrier, and θ is the angle between the central axis of the carrier and the horizontal axis of the measured system coordinate system. By referring to the AB distance, the error of the measured system is defined, so that the error calculation after obtaining the AB distance through the positioning result is realized, and the error calculation logic is simplified compared with the prior art.

[0025] Optionally, in S5, the carrier is controlled to rotate twice, and the coordinates of the A point after each rotation A1 1 , A2 1 ,..., An 1 and A1 2 , A2 2 ,..., An 2 , and the coordinates of the B point after each rotation B1 1 , B2 1 ,..., Bn 1 and B1 2 , B2 2 ,..., Bn 2 are obtained.

[0026] In S6, the data obtained in S2 and S5 are used to calculate the x-direction error and y-direction error of the measured positioning system at each measuring point based on a predefined relationship between positioning error and distance from point AB, including:

[0027] In S61, the data obtained in S2 and S5 are assumed to be normally distributed, and the following equation set is solved to obtain the values of J x , μ x , and L:

[0028]

[0029] wherein,

[0030] J x is the reference value of J in the X direction, μ x is the reference value of μ in the X direction, and L is the X-direction distance between the origins of the two coordinate systems after rotation transformation of the coordinate system; X Bi 0 , X Ai 0 , and θ i 0 are the horizontal coordinates of point B, the horizontal coordinates of point A, and the angle between the longitudinal axis of the carrier and the horizontal axis of the measured system coordinate system, respectively, obtained in S2, and n represents the number of trajectory points; X Bi 1 , and X Bi 2 are the horizontal coordinates of point B at the i-th trajectory point after the first rotation and the second rotation, respectively; X Ai 1 , and X Ai 2 are the horizontal coordinates of point A at the i-th trajectory point after the first rotation and the second rotation, respectively, X Ai 0′ , X Ai 1′ , and X Ai 2′ are the results of X Ai 0 , X Ai 1 , and X Ai 2 after X-direction translation by L;

[0031] In S62, the data obtained in S2 and S5 are assumed to be normally distributed, and the following equation set is solved to obtain the values of J y , μ y , and K:

[0032]

[0033] wherein,

[0034] wherein, J y is the reference value of J in the Y direction, μ y is the reference value of μ in the Y direction, K is the Y direction distance between the two coordinate system origins after the coordinate system rotation transformation; Y Bi 0 , Y Ai 0 are the longitudinal coordinates of B and A points obtained by S2 respectively; Y Bi 1 and Y Bi 2 are the horizontal coordinates of B points on the i-th trajectory point after the first rotation and the second rotation respectively; Y Ai 1 and Y Ai 2 are the longitudinal coordinates of A points on the i-th trajectory point after the first rotation and the second rotation respectively, Y Ai 0′ , Y Ai 1′ and Y Ai 2′ are the results after X direction translation L of Y Ai 0 , Y Ai 1 and Y Ai 2 ;

[0035] S63, calculate J according to J x and J y , calculate μ according to μ x and μ y ;

[0036] S64, considering the origin offset between the two coordinate systems, for any trajectory point i, the relationship between the positioning error and the AB point distance is rewritten as:

[0037]

[0038] Substitute the values of J and μ calculated by S63 into the above formula to obtain the measurement error of the measured system at each measurement point, wherein, δ xi is the X direction error, δ yi is the Y direction error.

[0039] The above technical solution describes in detail the process of calculating the origin offset between two coordinate systems, the distance between points A and B, and the related angle according to the positioning results of the positioning system, and further calculating the error of each measurement point according to the relationship between the positioning error and the distance between A and B. It can be seen that the calculation process only involves the calculation and processing of the positioning results of the positioning system, and the calculation process is simplified.

[0040] Optionally, in S63, the J x and J y Calculate J, according to μ x and μ y Calculate μ, the formula is:

[0041]

[0042] The above, according to the reference amount of X, Y direction, through the way of average to determine the final J, μ value, can further improve the accuracy of J, μ value.

[0043] In a second aspect, the present application provides a positioning system error testing method, the positioning device of the measured positioning system and the positioning reference system are arranged on the same carrier; the carrier is provided with a measured target point B corresponding to the measured positioning system, and a test target point A corresponding to the positioning reference system; the positioning system error testing method comprises:

[0044] S01, control the carrier to move along a straight line, and obtain the following at multiple trajectory points in the straight line motion trajectory of the carrier: the coordinate point of the test target point A measured by the positioning reference system, the coordinate point of the measured target point B measured by the measured positioning system, and the included angle between the longitudinal axis of the carrier and the coordinate axis of the measured system coordinate system;

[0045] S02, according to the multiple coordinate points of the measured target point B obtained in S01, the trajectory fitting of point B is carried out, according to the multiple coordinate points of the test target point A obtained in S2, the trajectory fitting of point A is carried out, and according to the results of the trajectory fitting, the angle difference between the measured system coordinate system and the test system coordinate system is calculated;

[0046] S03, after the measured system coordinate system and / or the test system coordinate system are rotated and transformed according to the angle difference, so that the horizontal coordinate axes of the two are parallel or coincided with each other, and the longitudinal coordinate axes are parallel or coincided with each other: control the carrier to rotate at least twice, and after each rotation, move along the original straight line motion direction, and obtain the following at multiple trajectory points in the straight line motion trajectory after each rotation: the coordinate point of the test target point A measured by the positioning reference system, the coordinate point of the measured target point B measured by the measured positioning system, and the included angle between the longitudinal axis of the carrier and the coordinate axis of the measured system coordinate system;

[0047] S04, according to the data obtained by S01 and S03, the x-direction error and the y-direction error of the measured positioning system at each measuring point are calculated based on a predefined relationship between the positioning error and the distance of the AB point.

[0048] Optionally, the center of the positioning device of the measured positioning system coincides with the center of the carrier, and the measured target point B is the center point of the carrier; in S03, the carrier is controlled to rotate with the measured target point as the center.

[0049] Optionally, in S02, the least square method is used for trajectory fitting of the test target point A and trajectory fitting of the measured target point B, respectively, to obtain the trajectory slope K A , K B .

[0050] The angle difference between the measured system coordinate system and the test system coordinate system is calculated, and the formula is:

[0051]

[0052] In the formula, Δ represents the angle difference between the measured system coordinate system and the test system coordinate system.

[0053] Optionally, in S03, the measured system coordinate system and / or the test system coordinate system are rotated and transformed according to the angle difference, so that the measured system coordinate system and the test system coordinate system are relatively rotated by an angle of Δ .

[0054] Optionally, the relationship between the positioning error and the distance of the AB point is:

[0055]

[0056] Where, at the same trajectory point of the carrier, (X B , Y B ) and (X A , Y A ) are the coordinates of the B point and the A point corresponding to the same straight trajectory point in the same coordinate system, P and Q are the components of the distance of the AB point in the X direction and the Y direction, δ x and δ y are the X-direction error and the Y-direction error of the measured system, respectively; and

[0057]

[0058] In the formula, J is the distance of the AB point on the carrier, is an unknown quantity, μ is the angle between the AB point line and the longitudinal axis of the carrier, and θ is the angle between the central axis of the carrier and the horizontal axis of the measured system coordinate system.

[0059] Optionally, in S03, the carrier is rotated twice, and the coordinates of point A after each rotation, A1 1 ,A2 1 ,...,An 1 and A1 2 ,A2 2 ,...,An 2 , and the coordinates of point B after each rotation, B1 1 ,B2 1 ,...,Bn 1 and B1 2 ,B2 2 ,...,Bn 2 are obtained.

[0060] In S04, the data obtained in S01 and S03 are used to calculate the x-direction error and y-direction error of the measured positioning system at each measurement point based on a predefined relationship between the positioning error and the distance between points A and B, including:

[0061] In S041, the data obtained in S01 and S03 are assumed to be normally distributed, and the following equation set is solved to obtain the values of J x 、μ x and L:

[0062]

[0063] wherein,

[0064] In the formula, J x is the reference value of J in the X direction, μ x is the reference value of μ in the X direction, L is the X-direction distance between the origins of the two coordinate systems after rotation transformation; X Bi 0 , X Ai 0 and θ i 0 are the horizontal coordinates of point B, the horizontal coordinates of point A, and the angle between the longitudinal axis of the carrier and the horizontal axis of the measured system coordinate system, respectively, obtained in S2, and n represents the number of trajectory points; X Bi 1 and X Bi 2 are the horizontal coordinates of point B at the i-th trajectory point after the first rotation and the second rotation, respectively; X Ai 1 and X Ai 2 are the horizontal coordinates of point A at the i-th trajectory point after the first rotation and the second rotation, respectively, X Ai 0 ′, X Ai1 and X Ai 2 is the result of X direction translation L on X Ai 0 , X Ai 1 and X Ai 2 is the result of X direction translation L on X

[0065] S042, according to the data obtained by S01 and S03, assuming that the error is normally distributed, solving the following equations to obtain J y , μ y and K:

[0066]

[0067] wherein,

[0068] J y is the reference value of J in Y direction, μ y is the reference value of μ in Y direction, K is the Y direction distance between the origins of the two coordinate systems after the coordinate system rotation transformation; Y Bi 0 , Y Ai 0 are respectively the longitudinal coordinates of B point and A point obtained by S2; Y Bi 1 and Y Bi 2 are respectively the horizontal coordinates of B point on the i th trajectory point measured after the first rotation and the second rotation; Y Ai 1 and Y Ai 2 are respectively the longitudinal coordinates of A point on the i th trajectory point measured after the first rotation and the second rotation, Y Ai 0 , Y Ai 1 and Y Ai 2 are respectively the horizontal coordinates of B point on the i th trajectory point measured after the first rotation and the second rotation; Y Ai 0 , Y Ai 1 and Y Ai 2 is the result of X direction translation L on X

[0069] S043, according to J x and J y , calculate J, according to μ x and μ y , calculate μ, the formula is:

[0070]

[0071] S044, considering the origin offset between the two coordinate systems, for any trajectory point i, the relationship between the positioning error and the distance between the AB points is rewritten as:

[0072]

[0073] Substitute the values of J and μ calculated in S043 into the above formula to obtain the measurement error of the measured system at each measurement point, wherein δ xi is the X-direction error, and δ yi is the Y-direction error.

[0074] In a third aspect, the present application provides a computer readable storage medium having a computer program stored thereon, wherein the computer program is executed by a processor to implement the positioning system error testing method according to the second aspect.

[0075] Advantages

[0076] The positioning system error testing method of the present application has simple and convenient testing process, does not require the coordinate systems of the measured system and the testing calibration system to be the same and the origins to coincide, does not require the testing target point and the measured target point to coincide, does not require a complex coordinate transformation process, only involves calculation and processing of the measurement results of the two positioning systems in the calculation process, obtains the positioning results of the measured target point and the testing target point under different trajectories through research on the deflection angle and the origin offset between the coordinate system of the measured system and the coordinate system of the testing system, and finally obtains the X-direction error and the Y-direction error of the measured system at each measurement point according to the positioning results, the deflection angle and the origin offset of the coordinate system, and the relationship between the measurement error and the distance between the testing target point and the measured target point. The testing precision is high, and the testing cost can be significantly reduced compared with the prior art. BRIEF DESCRIPTION OF DRAWINGS

[0077] Figure 1 Fig. 1 shows a flowchart of an embodiment of the positioning system error testing method according to the first aspect of the present application;

[0078] Figures 2 to 4 Fig. 2 shows a schematic diagram of the testing process principle of the positioning system error testing method in an embodiment, wherein, Figure 2 Fig. 3 shows a schematic diagram of the original coordinate system carrier movement; Figure 3 Fig. 4 shows a schematic diagram of the coordinate system rotation transformation result; Figure 4 Fig. 5 shows a schematic diagram of the carrier rotation and movement in the new coordinate system;

[0079] In the figure: 01-carrier, L1-carrier longitudinal axis, L2-linear motion direction. DETAILED DESCRIPTION

[0080] Further description is made below in combination with the drawings and specific embodiments.

[0081] Embodiment 1

[0082] This embodiment introduces a positioning system error testing method, referring to Figure 1 , which comprises the following steps.

[0083] S1, referring to Figures 2 to 4 , the positioning device of the measured positioning system and the positioning device of the positioning reference system are arranged on the same carrier; a measured target point B corresponding to the measured positioning system and a test target point A corresponding to the positioning reference system are determined on the carrier; and a measured system coordinate system XOY of the measured positioning system and a test system coordinate system X'O'Y' of the positioning reference system are determined.

[0084] In this embodiment, it is preferred to be arranged that the center of the positioning device of the measured positioning system coincides with the center of the carrier, and the measured target point B is the center point of the carrier, which can simplify the overall error calculation logic and simplify the subsequent calculation process. The center of the positioning device of the measured positioning system can be obtained through its own sensor sensing.

[0085] S2, as shown in Figure 2 , the carrier is controlled to move along a straight line L2, and the following is obtained at multiple trajectory points in the straight line motion trajectory of the carrier: the coordinate point A1 0 (X A1 0 ,Y A1 0 ), A2 0 (X A2 0 ,Y A2 0 ),..., An 0 (X An 0 ,Y An 0 ) of the test system target point A measured by the positioning reference system, the coordinate point B1 0 (X B1 0 ,Y B1 0 ), B2 0 (X B2 0 ,Y B2 0 ),..., Bn 0 (X Bn 0 ,Y Bn 0 ) of the measured target point B measured by the measured positioning system, and the included angle θ1 0 between the longitudinal axis L1 of the carrier and the transverse axis of the coordinate axis of the measured system coordinate system.θ2 0 θn 0 The coordinate points obtained here are direct measurement data of the measured positioning system and the positioning reference system, and the included angle can also be collected and obtained by the prior art.

[0086] The control carrier of the present application moves along a straight line, and the actual entire motion trajectory of the carrier can be an approximate straight line, but the present application only takes the trajectory points located on the same straight line to perform relevant calculations.

[0087] S3, according to the plurality of coordinate points of the measured system target point B obtained in S2, performing trajectory fitting on the point B, according to the plurality of coordinate points of the test target point A obtained in S2, performing trajectory fitting on the point A, and according to the results of the trajectory fitting, calculating the angle difference between the measured system coordinate system and the test system coordinate system.

[0088] Specifically, the trajectory fitting of the test target point A and the trajectory fitting of the measured target point B can be performed by the least square method respectively, to obtain the trajectory slope K A , K B ;

[0089] The formula for calculating the angle difference between the measured system coordinate system and the test system coordinate system is:

[0090]

[0091] In the formula, represents the angle difference between the measured system coordinate system and the test system coordinate system.

[0092] S4, referring to Figure 2 , according to the angle difference , performing a rotation transformation on the measured system coordinate system and / or the test system coordinate system, so that the horizontal coordinate axes of the two coordinate systems are parallel or coincident with each other, and the vertical coordinate axes are parallel or coincident with each other, and the relative rotation result of the coordinate systems is as shown in Figure 3 After the rotation transformation, the coordinate origin offset of the two coordinate systems is L in the X direction and K in the Y direction.

[0093] The coordinate system rotation transformation can be rotation of the measured system coordinate system or rotation of the test system coordinate system, or rotation of both, that is, to realize relative rotation with the angle difference as the target.

[0094] S5, referring to Figure 4, the control carrier rotates at least 2 times, and moves along the original straight line L2 after each rotation, and obtains the following at multiple trajectory points in the straight line trajectory after each rotation: the coordinate point of the test system target point A measured by the positioning reference system, the coordinate point of the measured target point B measured by the measured positioning system, and the included angle between the longitudinal axis of the carrier and the coordinate axis of the measured system coordinate system.

[0095] Considering the number of unknowns in the subsequent equation system, in this embodiment, the carrier can be controlled to rotate only 2 times as follows.

[0096] S51, first rotation, control the carrier to rotate 40° around its center point as the rotation center, move in a straight line along the original movement direction before rotation, and collect the coordinates B1 1 (X B1 1 ,Y B1 1 ), B2 1 (X B2 1 ,Y B2 1 ),..., Bn 1 (X Bn 1 ,Y Bn 1 ), the coordinates A1 1 (X A1 1 ,Y A1 1 ), A2 1 (X A2 1 ,Y A2 1 ),..., An 1 (X An 1 ,Y An 1 ) of the test target point A in the test system coordinate system, and the included angle θ1 1 , θ2 1 ,..., θn 1 .

[0097] S52, second rotation, control the carrier to rotate 60° around its center point as the rotation center, move in a straight line along the original movement direction before rotation, and collect the coordinates B1 2 (X B1 2 ,Y B1 2), B2 1 (X B2 2 ,Y B2 2 ),..., Bn 2 (X Bn 2 ,Y Bn 2 ), test target point A in the coordinate system of the test system A1 2 (X A1 2 ,Y A1 2 ), A2 2 (X A2 2 ,Y A2 2 ),..., An 2 (X An 2 ,Y An 2 ), and the angle θ1 between the longitudinal axis of the carrier and the transverse axis of the coordinate system of the system under test 2 , θ2 2 ,..., θn 2 .

[0098] S6, based on the relationship between the positioning error and the AB distance, the x-direction error and the y-direction error of the positioning system under test at each measurement point are calculated according to the data obtained in S2 and S5.

[0099] In this embodiment, it is assumed that P and Q are the components of the AB distance in the X direction and the Y direction respectively, and δ x and δ y are the x-direction error and the y-direction error of the system under test respectively, and the relationship between the positioning error and the AB distance is:

[0100]

[0101] wherein at the same trajectory point of the carrier, (X B , Y B ) and (X A , Y A ) are the coordinates of the B point and the A point respectively at the same straight trajectory point in the same coordinate system, P and Q are the components of the AB distance in the X direction and the Y direction respectively, and δ x and δ y are the x-direction error and the y-direction error of the system under test respectively.

[0102] Assuming J is the distance between points A and B on the carrier, μ is the angle between the line connecting points A and B and the longitudinal axis of the carrier, and θ is the angle between the longitudinal axis of the carrier and the horizontal axis of the coordinate system of the measured system, then:

[0103]

[0104] In this embodiment, according to the coordinate origin offset of the two coordinate systems, the coordinate value measured by the positioning reference system is translated and transformed to the result in the coordinate system of the measured positioning system, so that the two measurement values correspond to the same coordinate system, and this is taken as the error calibration reference value of the measured positioning system. Figures 2 to 4

[0105] Assuming L is the X-direction distance between the coordinate system origin points after rotation transformation, and K is the Y-direction distance between the coordinate system origin points after rotation transformation, then for any coordinate (X Ai ,Y Ai ) of point A measured by the positioning reference system, the translation transformation result (X Ai ′,Y Ai ′) of the coordinate system to the coordinate system of the measured positioning system is:

[0106]

[0107] The error definition formula is:

[0108]

[0109] From the above, according to the data obtained by S2 and S5, the x-direction error and y-direction error of the measured positioning system at each measurement point are calculated based on the pre-defined relationship between the positioning error and the distance of point A and point B, including:

[0110] S61, according to the data obtained by S2 and S5, assuming that the error is normally distributed, solving the following equation group to obtain the values of J x , μ x and L:

[0111]

[0112] Among them,

[0113] In the formula, J x is the reference value of J in the X direction, μ x is the reference value of μ in the X direction; X Ai 0′ , X Ai 1′ and X Ai 2′ are the solutions of the equation group. Ai 0 , X​Ai 1 and X Ai 2 the result of X direction translation L;

[0114] S62, according to the data obtained in S2 and S5, assuming that the error is normally distributed, solving the following equation set to obtain J y , μ y and K:

[0115]

[0116] wherein,

[0117] In the formula, J y is the reference value of J in the Y direction, μ y is the reference value of μ in the Y direction; Y Ai 0′ , Y Ai 1′ and Y Ai 2′ is the result of X direction translation L on Y Ai 0 , Y Ai 1 and Y Ai 2

[0118] S63, in order to make the calculation results of J and μ more accurate, the embodiment calculates J according to J x and J y , and calculates μ according to μ x and μ y , the formula is:

[0119]

[0120] S64, considering the origin offset between the two coordinate systems, for any trajectory point i, the relationship between the positioning error and the distance between points AB is:

[0121]

[0122] Substitute the values of J and μ calculated in S63 into the above formula, and the measurement error of the measured system at each measurement point can be obtained, wherein δ xi is the X direction error, and δ yi is the Y direction error.

[0123] For each measurement point of the measured system, after obtaining the measurement error, the measurement value can be corrected according to the error, and the positioning accuracy of the measured positioning system can be evaluated according to the error results of multiple measurements according to the set index calculation rule.​

[0124] Embodiment 2

[0125] Based on the same inventive concept as Embodiment 1, this embodiment introduces a positioning system error testing method, which can be realized by a computer running a corresponding software program.

[0126] The implementation basis of the positioning system error testing method of this embodiment is that the positioning device of the measured positioning system and the positioning reference system are arranged on the same carrier; the carrier is provided with a measured target point B corresponding to the measured positioning system and a test target point A corresponding to the positioning reference system; the positioning system error testing method realized by the computer comprises:

[0127] S01, controlling the carrier to move along a straight line to obtain the coordinates of the test target point A measured by the positioning reference system, the coordinates of the measured target point B measured by the measured positioning system, and the included angle between the longitudinal axis of the carrier and the coordinate axis of the measured system coordinate system at multiple trajectory points in the straight line motion trajectory of the carrier;

[0128] S02, fitting the trajectory of the measured target point B according to the multiple coordinate points of the measured target point B obtained in S01, fitting the trajectory of the test target point A according to the multiple coordinate points of the test target point A obtained in S2, and calculating the angle difference between the measured system coordinate system and the test system coordinate system according to the fitting results;

[0129] S03, after the measured system coordinate system and / or the test system coordinate system are rotationally transformed according to the angle difference so that the transverse coordinate axes of the two systems are parallel or coincided with each other and the longitudinal coordinate axes of the two systems are parallel or coincided with each other: controlling the carrier to rotate at least twice and moving along the original straight line motion direction after each rotation to obtain the coordinates of the test target point A measured by the positioning reference system, the coordinates of the measured target point B measured by the measured positioning system, and the included angle between the longitudinal axis of the carrier and the coordinate axis of the measured system coordinate system at multiple trajectory points in the straight line motion trajectory after each rotation;

[0130] S04, based on the pre-defined relationship between the positioning error and the distance of AB points, the x-direction error and the y-direction error of the measured positioning system at each measurement point are calculated according to the data obtained in S01 and S03.

[0131] The specific implementation of each step can refer to the corresponding content of Embodiment 1, which will not be described here.

[0132] Embodiment 3

[0133] This embodiment provides a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to realize the positioning system error testing method as described in Embodiment 2.

[0134] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0135] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0136] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0137] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0138] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention without departing from the spirit and scope of the claims. All of these forms are within the protection scope of the present invention.

Claims

1. A method of testing a positioning system for errors, the method comprising: The method comprises the following steps: S1, setting a positioning device of a measured positioning system and a positioning device of a positioning reference system on a same carrier; determining a measured target point B corresponding to the measured positioning system and a test target point A corresponding to the positioning reference system on the carrier; and determining a measured system coordinate system of the measured positioning system and a test system coordinate system of the positioning reference system; S2, controlling the carrier to move along a straight line, and acquiring, at multiple trajectory points in a straight line motion trajectory of the carrier, coordinates of the test target point A measured by the positioning reference system, coordinates of the measured target point B measured by the measured positioning system, and an included angle between a longitudinal axis of the carrier and a coordinate axis of the measured system coordinate system; S3, performing trajectory fitting on the measured target point B according to multiple coordinate points of the measured target point B acquired in S2, performing trajectory fitting on the test target point A according to multiple coordinate points of the test target point A acquired in S2, and calculating an angle difference between the measured system coordinate system and the test system coordinate system according to a result of the trajectory fitting; S4, performing rotational transformation on the measured system coordinate system and / or the test system coordinate system according to the angle difference, so that horizontal coordinate axes of the two coordinate systems are parallel to or coincide with each other, and longitudinal coordinate axes of the two coordinate systems are parallel to or coincide with each other; S5, controlling the carrier to rotate at least twice, and moving along an original straight line motion direction after each rotation, and acquiring, at multiple trajectory points in a straight line motion trajectory after each rotation, coordinates of the test target point A measured by the positioning reference system, coordinates of the measured target point B measured by the measured positioning system, and an included angle between a longitudinal axis of the carrier and a coordinate axis of the measured system coordinate system; S6, calculating x-direction errors and y-direction errors of the measured positioning system at each measurement point based on a predefined relationship between a positioning error and a distance between the points A and B, according to data acquired in S2 and S5.

2. The positioning system error testing method of claim 1, wherein, The center of the positioning device of the measured positioning system coincides with the center of the carrier, and the measured target point B is a carrier center point; In S5, the carrier is controlled to rotate around the measured target point.

3. The positioning system error testing method of claim 1, wherein, The trajectory fitting of the test target point A and the trajectory fitting of the measured target point B respectively adopt the least square method to obtain the trajectory slope K A , K B ; The angle difference between the measured system coordinate system and the test system coordinate system is calculated according to the following formula: In the formula, represents the angle difference between the measured system coordinate system and the test system coordinate system.

4. The positioning system error test method according to claim 3, wherein in S4, the rotation transformation is performed on the measured system coordinate system and / or the test system coordinate system according to the angle difference, so that the measured system coordinate system and the test system coordinate system are relatively rotated by the angle with the coordinate origin as the center. angle.

5. The positioning system error testing method of claim 1, wherein, The relationship between the positioning error and the distance between the points A and B is as follows: wherein, at the same trajectory point of the carrier, (X B , Y B ) and (X A , Y A ) are respectively the B point coordinates and the A point coordinates of the corresponding same straight line trajectory point in the same coordinate system, P and Q are respectively the components of the AB point distance in the X direction and the Y direction, δ x and δ y are respectively the X direction error and the Y direction error of the measured system; and have: In the formula, J is the distance between the points A and B on the carrier, is an unknown quantity, μ is an included angle between the line connecting the points A and B and the longitudinal axis of the carrier, is an unknown quantity, and θ is an included angle between the longitudinal axis of the carrier and a horizontal axis of the measured system coordinate system.

6. The positioning system error testing method of claim 5, wherein, In S5, the control carrier is rotated twice, and the coordinates of point A after each rotation, A1 1 ,A2 1 ,...,An 1 and A1 2 ,A2 2 ,...,An 2 , and the coordinates of point B after each rotation, B1 1 ,B2 1 ,...,Bn 1 and B1 2 ,B2 2 ,...,Bn 2 , are obtained. In S6, the x-direction errors and the y-direction errors of the measured positioning system at each measurement point are calculated based on the predefined relationship between the positioning error and the distance between the points A and B, according to data acquired in S2 and S5, and the calculation comprises the following steps: S61, Based on the data obtained from S2 and S5, assuming the error follows a normal distribution, solve the following system of equations to obtain J. x μ x And the value of L: wherein, In the formula, J x is the reference value of J in the X direction, μ x is the reference value of μ in the X direction, and L is the X direction distance between the two coordinate system origins after the coordinate system rotation transformation; X Bi 0 , X Ai 0 , and θ i 0 are respectively the B point horizontal coordinate, the A point horizontal coordinate, and the angle between the carrier longitudinal axis and the measured system coordinate system horizontal axis obtained by S2, and n represents the number of the trajectory points; X Bi 1 , and X Bi 2 are respectively the B point horizontal coordinate of the i-th trajectory point measured after the first rotation and the second rotation; X Ai 1 , and X Ai 2 are respectively the A point horizontal coordinate of the i-th trajectory point measured after the first rotation and the second rotation, X Ai 0′ , X Ai 1′ , and X Ai 2′ are respectively the results of X Ai 0 , X Ai 1 , and X Ai 2 after the X direction translation L; S62, assuming that the errors are normally distributed, solve the following set of equations for J given the data from S2 and S5 y , μ y and K: wherein In the formula, J y is the reference value of Y in the direction of Y, μ y is the reference value of Y in the direction of Y, K is the distance between the origins of the two coordinate systems in the Y direction after the coordinate system rotation transformation; Y Bi 0 , Y Ai 0 are the longitudinal coordinates of points B and A obtained by S2, respectively; Y Bi 1 Bi 2 is the horizontal coordinate of point B on the ith trajectory point measured after the first rotation and the second rotation; Y Ai 1 Ai 2 are the longitudinal coordinates of points A on the ith trajectory point measured after the first rotation and the second rotation, respectively, Y Ai 0′ Ai 1′ and Y Ai 2′ are the results of X-direction translation L on Y Ai 0 Ai 1 and Y Ai 2 ​​​​​ S63, according to J x and J y Calculate J, according to μ x and μ y Calculate μ; In S64, the relationship between the positioning error and the distance between the points A and B is rewritten as follows by considering an origin offset between the two coordinate systems for any trajectory point i: Substitute the values of J and μ calculated by S63 into the above formula, and the measurement error of the measured system at each measurement point is obtained, wherein, δ xi is the X-direction error, and δ yi is the Y-direction error.

7. The positioning system error testing method of claim 6, wherein, In S63, the J is calculated according to J = 1 - (1 - 1 / n) * n x and J y The J is calculated according to μ = 1 - (1 - 1 / n) * n x and μ y The μ is calculated according to formula:

8. A method for testing positioning system error, the positioning device of a positioning reference system and a positioning system to be tested are arranged on the same carrier; the carrier is provided with a test target point A corresponding to the positioning reference system and a target point B corresponding to the positioning system to be tested; the method is characterized in that, The method for testing a positioning system error comprises the following steps: S01, controlling the carrier to move along a straight line, and acquiring, at multiple trajectory points in a straight line motion trajectory of the carrier, coordinates of the test target point A measured by the positioning reference system, coordinates of the measured target point B measured by the measured positioning system, and an included angle between a longitudinal axis of the carrier and a coordinate axis of the measured system coordinate system; S02, fitting a trajectory of the multiple coordinate points of the measured system target point B according to the multiple coordinate points of the measured system target point B obtained in S01, fitting a trajectory of the multiple coordinate points of the test target point A according to the multiple coordinate points of the test target point A obtained in S2, and calculating an angle difference between the measured system coordinate system and the test system coordinate system according to a result of the trajectory fitting; S03, after the measured system coordinate system and / or the test system coordinate system are rotationally transformed according to the angle difference so that the horizontal coordinate axes thereof are parallel to or coincide with each other and the vertical coordinate axes thereof are parallel to or coincide with each other: controlling the carrier to rotate at least twice and moving along the original straight line movement direction after each rotation to obtain, at multiple trajectory points in a straight line movement trajectory after each rotation, a coordinate point of the test target point A measured by the positioning reference system, a coordinate point of the measured target point B measured by the measured positioning system, and an included angle between a longitudinal axis of the carrier and a coordinate axis of the measured system coordinate system; S04, calculating x-direction errors and y-direction errors of the measured positioning system at each measurement point based on a predefined relationship between the positioning errors and the AB point distances according to data obtained in S01 and S03.

9. The positioning system error testing method of claim 8, wherein, In S02, the trajectory fitting for the test target point A and the trajectory fitting for the measured target point B are respectively performed by using the least square method to obtain the trajectory slope K A , K B ; The angle difference between the measured system coordinate system and the test system coordinate system is calculated according to the following formula: In the formula, represents the angle difference between the measured system coordinate system and the test system coordinate system; In S03, the measured system coordinate system and / or the test system coordinate system is / are rotationally transformed according to the angle difference to, with the coordinate origin as the center, make the relative rotation between the measured system coordinate system and the test system coordinate system angle.

10. The positioning system error testing method of claim 8, wherein, The relationship between the positioning errors and the AB point distances is as follows: wherein, at the same trajectory point of the carrier, (X B , Y B ) and (X A , Y A ) are respectively the B point coordinates and the A point coordinates of the corresponding same straight line trajectory point in the same coordinate system, P and Q are respectively the components of the AB point distance in the X direction and the Y direction, δ x and δ y are respectively the X direction error and the Y direction error of the measured system; and have: In the formula, J is the distance of the AB point on the carrier, is an unknown quantity, μ is an included angle between the AB point line and the longitudinal axis of the carrier, and θ is an included angle between the longitudinal axis of the carrier and the horizontal axis of the measured system coordinate system.

11. The positioning system error testing method of claim 10, wherein, In S03, the carrier is controlled to rotate twice, and the coordinates A1 of point A are obtained after each rotation. 1 A2 1 ,...,An 1 and A1 2 A2 2 ,...,An 2 And the coordinates B1 of point B after each rotation. 1 B2 1 ,...,Bn 1 and B1 2 B2 2 ,...,Bn 2 ; In S04, the x-direction errors and the y-direction errors of the measured positioning system at each measurement point are calculated based on the predefined relationship between the positioning errors and the AB point distances according to data obtained in S01 and S03, including: S041, assuming that the errors are normally distributed, solve the following system of equations for the values of J x , μ x , and L based on the data obtained from S01 and S03. wherein In the formula, J x is the reference value of J in the X direction, μ x is the reference value of μ in the X direction, and L is the X direction distance between the origins of the two coordinate systems after the coordinate system rotation transformation; X Bi 0 , X Ai 0 and θ i 0 are respectively the horizontal coordinates of B points, the horizontal coordinates of A points and the angle between the longitudinal axis of the carrier and the horizontal axis of the measured system coordinate system obtained by S2, and n represents the number of the trajectory points; X Bi 1 and X Bi 2 are respectively the horizontal coordinates of B points on the i-th trajectory point after the first rotation and the second rotation; X Ai 1 and X Ai 2 are respectively the horizontal coordinates of A points on the i-th trajectory point after the first rotation and the second rotation, X Ai 0 ', X Ai 1′ and X Ai 2′ are respectively the horizontal coordinates of B points on the i-th trajectory point after the first rotation and the second rotation after the X direction translation L; X Ai 0 , X Ai 1 and X Ai 2 are respectively the horizontal coordinates of A points on the i-th trajectory point after the first rotation and the second rotation after the X direction translation L. S042, assuming that the errors are normally distributed, solve the following system of equations for J given the data from S01 and S03 y , μ y and K: wherein In the formula, J y Let J be the reference value in the Y direction, and μ be the reference value. y Let μ be the reference value in the Y direction, and K be the Y-direction distance between the origins of the two coordinate systems after the coordinate system rotation transformation; Y Bi 0 Y Ai 0 The ordinates of point B and point A obtained from S2 are respectively; Y Bi 1 and Y Bi 2 The x-coordinate of point B on the i-th trajectory point is divided into the first rotation and the second rotation; Y Ai 1 and Y Ai 2 Y and Y are the ordinates of point A on the i-th trajectory point measured after the first and second rotations, respectively. Ai 0′ Y Ai 1′ and Y Ai 2′ For Y Ai 0 Y Ai 1 and Y Ai 2 The result after translating L in the X direction; S043, according to J x and J y Calculate J, according to μ x and μ y Calculate μ, formula: In S044, the relationship between the positioning errors and the AB point distances is rewritten as follows by considering an original point offset between the two coordinate systems for any trajectory point i: Substitute the values of J and μ calculated by S043 into the above formula, and the measurement error of the measured system at each measurement point is obtained, wherein δ xi is the X-direction error, and δ yi is the Y-direction error.

12. A computer readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to implement the positioning system error testing method according to any one of claims 8-11.

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