An automated testing method, system, device, and medium for a combined navigation device

Abstract

The application discloses a kind of automation test method, system, equipment and medium of combined navigation equipment, can be combined navigation equipment production test process standardization, automation, reaches the purpose of unattended, can batch production calibration, the method comprises: test industrial computer detects that several combined navigation equipment is powered on, test firmware is respectively copied to the internal of any combined navigation equipment in several combined navigation equipment and is run, enters automation test mode;Test industrial computer sends multiple test instructions to any combined navigation equipment, and any combined navigation equipment executes multiple function test procedures based on multiple test instructions by test firmware;Test industrial computer receives the test report sent by any combined navigation equipment;Test report includes: GNSS antenna mainboard, IMU module, ethernet communication, CANFD communication and the respective test results corresponding to internal power supply voltage.

Description

Technical Field

[0001] This invention relates to the field of integrated navigation equipment testing technology, and in particular to an automated testing method, system, equipment and medium for integrated navigation equipment. Background Technology

[0002] Integrated navigation systems are key components for achieving vehicle-level autonomous driving, providing high-precision positioning coordinates through multi-source data fusion. As an electronic device, integrated navigation systems have complex hardware designs. Besides the main system-on-chip (SOC), they typically include a high-precision Global Navigation Satellite System (GNSS) board, a high-precision Inertial Measurement Unit (IMU) module, and complex external interfaces. Furthermore, their software design requires multi-source data fusion and high-frequency position, velocity, and time (PVT) data output. The complexity of the hardware and software design of integrated navigation systems dictates that their assembly steps and production testing processes are quite complex, placing high demands on the proficiency of production workers and their professional testing skills.

[0003] Most existing production lines for integrated navigation equipment rely on manual testing of individual devices. However, manual testing can lead to problems such as low testing efficiency, susceptibility to errors, and inability to mass-produce. Summary of the Invention

[0004] Based on this, the purpose of the present invention is to provide an automated testing method, system, equipment and medium for integrated navigation devices, which solves the problems of low testing efficiency, easy misoperation and inability to mass production caused by manual single-unit testing, so as to standardize and automate the production and testing process of integrated navigation devices, so as to achieve the purpose of unattended operation and mass production calibration.

[0005] In a first aspect, the present invention provides an automated testing method for integrated navigation devices, comprising:

[0006] After the test industrial control computer detects that several integrated navigation devices are powered on, it copies the test firmware to the internal storage of any one of the several integrated navigation devices and runs it, thus entering the automated test mode;

[0007] The test industrial control computer sends multiple test commands to any one of the integrated navigation devices, and the any one of the integrated navigation devices executes multiple functional test processes based on the multiple test commands through the test firmware; the multiple functional test processes are respectively used to test the functions of the GNSS antenna motherboard, IMU module, Ethernet communication and CANFD communication of any one of the integrated navigation devices, as well as to detect the internal power supply voltage of any one of the integrated navigation devices;

[0008] The test industrial control computer receives a test report sent by any of the integrated navigation devices; the test report includes the test results corresponding to the GNSS antenna motherboard, the IMU module, the Ethernet communication, the CANFD communication, and the internal power supply voltage.

[0009] In one possible design, before the test industrial control computer detects the power-on of several integrated navigation devices, the following test preparation work is performed:

[0010] Place any of the combined navigation devices on a tooling fixture; the tooling fixture is provided with several sets of GNSS antenna interfaces and several sets of RS232 serial ports, and the several sets of GNSS antenna interfaces correspond to the several sets of RS232 serial ports.

[0011] Connect the GNSS motherboard of any of the combined navigation devices to any one of the several groups of GNSS antenna interfaces, and connect the RS232 serial port corresponding to any one of the several groups of GNSS antenna interfaces to the test industrial control computer.

[0012] Connect the scanning device to the USB interface of the test industrial control computer, use the scanning device to scan and obtain the identification information of any group of navigation devices, and record the identification information into the test industrial control computer.

[0013] In one possible design, after the test industrial control computer detects that several integrated navigation devices have been powered on, it copies the test firmware to the internal storage of any one of the several integrated navigation devices and runs it, including:

[0014] After the test industrial control computer detects that the plurality of combined navigation devices are powered on, it accesses the internally mapped drive letter of any of the combined navigation devices via Ethernet, copies the test firmware to the internally mapped drive letter of each of the combined navigation devices, and runs it.

[0015] In one possible design, the multiple test commands include: GNSS motherboard test commands, IMU module test commands, Ethernet communication test commands, CANFD communication test commands, and internal power supply voltage test commands; the test industrial control computer sends multiple test commands to any one of the integrated navigation devices, and the any one of the integrated navigation devices executes multiple functional test processes based on the multiple test commands through the test firmware, including:

[0016] The test industrial control computer sends the GNSS motherboard test command, the IMU module test command, the Ethernet communication test command, the CANFD communication test command, and the internal power supply voltage test command to any of the multiple test commands in sequence to any of the combined navigation devices.

[0017] The multiple functional test processes are executed asynchronously and simultaneously by any of the combined navigation devices through the test firmware using a multi-process, multi-threaded approach based on the multiple test instructions.

[0018] In one possible design, any of the combined navigation devices uses the test firmware to asynchronously execute multiple functional test processes based on the multiple test instructions, including:

[0019] The test function thread pool is created by any of the combined navigation devices based on the test firmware according to the multiple test instructions, and then the multiple function test processes are executed asynchronously and simultaneously through the test function thread pool.

[0020] The test function thread pool includes a GNSS serial port test thread, a GNSS NEMA data parsing thread, a GNSS range data parsing thread, an IMU data analysis thread, an Ethernet test thread, a CANFD test thread, and a power supply voltage detection thread.

[0021] In one possible design, the test report is obtained in the following manner:

[0022] The combined navigation device writes the test results of the multiple functional test processes into the data pipeline through the test firmware based on the test function thread pool.

[0023] The combined navigation device then obtains the test results of the multiple functional test processes from the data pipeline through the test firmware, and generates the test report based on the test results of the multiple functional test processes.

[0024] In one possible design, the method further includes:

[0025] The test industrial control computer displays the test report in Excel spreadsheet format through a visual interface.

[0026] Secondly, the present invention also provides an automated testing system for integrated navigation equipment, comprising: a tooling fixture, a testing industrial control computer, and a scanning device, wherein the tooling fixture is provided with a plurality of GNSS antenna interfaces and a plurality of RS232 serial ports, the plurality of GNSS antenna interfaces corresponding to the plurality of RS232 serial ports; wherein...

[0027] Any one of the several groups of GNSS antenna interfaces is connected to the GNSS motherboard of a combined navigation device.

[0028] One of the several sets of RS232 serial ports, which corresponds to any one of the GNSS antenna interfaces, is connected to the test industrial control computer.

[0029] The scanning device is connected to the USB interface of the test industrial control computer;

[0030] The test industrial computer is used to execute the method involved in any of the possible designs of the first aspect described above.

[0031] Thirdly, the present invention also provides an electronic device, comprising: at least one memory and at least one processor;

[0032] The at least one memory is used to store one or more programs;

[0033] When the one or more programs are executed by the at least one processor, the method involved in any possible design of the first aspect described above is implemented.

[0034] Fourthly, the present invention also provides a computer-readable storage medium storing at least one program; when the at least one program is executed by a processor, it implements the method involved in any possible design of the first aspect described above.

[0035] The beneficial effects of this invention are as follows:

[0036] In the technical solution provided by this invention, after the test industrial control computer detects that several integrated navigation devices have been powered on, it copies the test firmware to the internal storage of any one of the integrated navigation devices and runs it, entering an automated test mode. The test industrial control computer sends multiple test commands to any one of the integrated navigation devices, and the device executes multiple functional test processes based on these commands using the test firmware. These multiple functional test processes are used to test the GNSS antenna motherboard, IMU module, Ethernet communication, and CANFD communication functions of any one of the integrated navigation devices, as well as to detect the internal power supply voltage of any one of the integrated navigation devices. The test industrial control computer receives a test report from any one of the integrated navigation devices. The test report includes information on the GNSS antenna motherboard, IMU module, Ethernet communication, and CANFD communication functions. The software analyzes the test results corresponding to communication, CANFD communication, and internal power supply voltage, thereby enabling the software implementation of test items and processes in the production process of integrated navigation equipment. This deeply integrates the original manual operation by workers. For example, by deeply analyzing, summarizing, and extracting test items from the general testing process of integrated navigation products, the entire testing process of any integrated navigation equipment can be streamlined and standardized. The serial testing process can be transformed into parallel execution, which reduces the testing time of a single integrated navigation equipment while ensuring the test success rate and improving testing efficiency. At the same time, it can also automatically generate test reports, thus forming a complete business flow and closed loop in the software, realizing the automated control of the entire testing business flow, and achieving the goal of unattended operation and mass production calibration.

[0037] To better understand and implement this invention, the following detailed description is provided in conjunction with the accompanying drawings. Attached Figure Description

[0038] Figure 1 A flowchart illustrating an automated testing method for a combined navigation device provided by the present invention;

[0039] Figure 2 A flowchart illustrating the test preparation process provided by this invention;

[0040] Figure 3 This is a schematic diagram of the testing process for any integrated navigation device provided by the present invention;

[0041] Figure 4 A schematic diagram of the test thread architecture inside any integrated navigation device provided by the present invention;

[0042] Figure 5 A schematic diagram of the architecture of an automated testing system for a combined navigation device provided by the present invention;

[0043] Figure 6 This is a schematic diagram of the structure of an electronic device provided by the present invention. Detailed Implementation

[0044] The directional terms such as up, down, left, right, front, back, front, back, top, and bottom mentioned or possibly used in this specification are defined relative to their structure and are relative concepts. Therefore, they may vary depending on their location and usage. Consequently, these or other directional terms should not be interpreted as restrictive.

[0045] The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Rather, they are merely examples of embodiments consistent with some aspects of the present invention.

[0046] The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The singular forms “a,” “described,” and “the” as used herein are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any and all possible combinations of one or more of the associated listed items.

[0047] The technical solution provided by the present invention will now be described in detail with reference to the accompanying drawings.

[0048] Please refer to Figure 1 As shown, the automated testing method for integrated navigation devices provided by this invention can be executed by a test industrial control computer, which can be understood as a dedicated computer running test software. Figure 1 As shown, the method may include the following steps:

[0049] S11. After the test industrial control computer detects that several integrated navigation devices are powered on, it copies the test firmware to the internal storage of any one of the integrated navigation devices and runs it, thus entering the automated test mode.

[0050] In practice, after the test industrial control computer detects that several integrated navigation devices have been powered on, it can access the internally mapped drive of any one of the integrated navigation devices via Ethernet. At this point, the test industrial control computer can copy the test firmware to the internally mapped drive of any of the integrated navigation devices and run it, thus automating the originally manual testing operations through software. Afterwards, the test industrial control computer can communicate with any of the integrated navigation devices (test firmware) via serial port to execute subsequent test operations.

[0051] In some embodiments provided by the present invention, combined with Figure 1-2 As shown, the following test preparation work can be performed before executing step S11:

[0052] S11a. Place any of the combined navigation devices on the tooling fixture; the tooling fixture is provided with several sets of GNSS antenna interfaces and several sets of RS232 serial ports, with the several sets of GNSS antenna interfaces corresponding to the several sets of RS232 serial ports.

[0053] In practical implementation, the number of integrated navigation devices can be determined by the number of GNSS antenna interfaces and RS232 serial ports provided on the fixture. For example, if the fixture has 4 GNSS antenna interfaces and 4 RS232 serial ports, then the number of integrated navigation devices can be 4. In other words, the fixture is a rigid, specially designed device that can simultaneously mount several integrated navigation devices.

[0054] The number of GNSS antenna interfaces and RS232 serial ports on the tooling fixture can be set according to actual needs, and this invention does not limit this.

[0055] In this invention, by placing any one of the combined navigation devices on a tooling fixture, it is convenient to test several combined navigation devices simultaneously using the tooling fixture.

[0056] S11b Connect the GNSS motherboard of any integrated navigation device to any one of the several GNSS antenna interfaces, and connect the RS232 serial port corresponding to any one of the several RS232 serial ports to the test industrial control computer.

[0057] In practice, by connecting the GNSS motherboard of any integrated navigation device to any one of the GNSS antenna interfaces from several groups of GNSS antenna interfaces, any integrated navigation device can connect to a GNSS antenna for positioning.

[0058] In practical implementation, by connecting one set of RS232 serial ports corresponding to any set of GNSS antenna interfaces to the test industrial control computer, any combined navigation device can be connected to the test industrial control computer through the RS232 serial port. This allows the test industrial control computer to interact with any set of navigation devices through the RS232 serial port and obtain the test results fed back by any set of navigation devices.

[0059] S11c Connect the scanning device to the USB interface of the test industrial control computer, use the scanning device to scan and obtain the identification information of any group of navigation devices, and enter the identification information into the test industrial control computer.

[0060] In practice, any integrated navigation device can be affixed with a QR code, which records the identification information of the integrated navigation device. This identification information can uniquely identify any integrated navigation device.

[0061] In practical implementation, the scanning device can be a barcode scanner that supports QR code scanning. The test industrial control computer can drive the scanning device to scan the QR code attached to any navigation device to obtain the identification information of any navigation device, and enter the identification information into the test industrial control computer so that the test industrial control computer can identify and classify any navigation device.

[0062] As an example, the above steps S11a-S11c can be performed manually or by automated equipment; the present invention does not limit this.

[0063] S12. The test industrial control computer sends multiple test commands to any integrated navigation device, and any integrated navigation device executes multiple functional test processes based on the multiple test commands through the test firmware.

[0064] In practice, multiple test commands may include, but are not limited to: GNSS motherboard test commands, IMU module test commands, Ethernet communication test commands, CANFD communication test commands, and internal power supply voltage test commands.

[0065] In specific implementation, such as Figure 3 As shown, the test industrial control computer can send multiple test commands, including GNSS motherboard test command, IMU module test command, Ethernet communication test command, CANFD communication test command, and internal power supply voltage test command, to any integrated navigation device in sequence. That is, among the multiple test commands, the GNSS motherboard test command is sent to any integrated navigation device first, and the internal power supply voltage test command is sent to any integrated navigation device last. This avoids the congestion of multiple test commands on the bus caused by sending multiple test commands to any integrated navigation device at the same time, thus avoiding the competition for the bus caused by transmitting multiple test commands, and improving the efficiency of executing multiple functional test processes.

[0066] It should be noted that for several integrated navigation devices, the test industrial control computer can send multiple test commands, including GNSS motherboard test command, IMU module test command, Ethernet communication test command, CANFD communication test command, and internal power supply voltage test command, to the several integrated navigation devices in sequence. That is, the test industrial control computer first sends the GNSS motherboard test command to the several integrated navigation devices, and finally sends the internal power supply voltage test command to the several integrated navigation devices.

[0067] In practice, any integrated navigation device can use the test firmware to asynchronously execute multiple functional test processes based on multiple test instructions using a multi-process, multi-threaded approach.

[0068] For example, combining Figure 3-4 As shown, any integrated navigation device can create a test function thread pool based on multiple test commands through the test firmware, and then asynchronously execute multiple functional test processes simultaneously through the test function thread pool. The test function thread pool may include, but is not limited to: GNSS serial port test thread, GNSS NEMA data parsing thread, GNSS range data parsing thread, IMU data analysis thread, Ethernet test thread, CANFD test thread, and power supply voltage detection thread.

[0069] In this invention, any integrated navigation device can use multi-process, multi-threaded, asynchronous testing of multiple functions through the test firmware, thereby enabling the parallel execution of multiple function test processes. This transforms the originally serial test process into parallel execution, significantly reducing the test time of a single integrated navigation device and improving the test efficiency of a single integrated navigation device.

[0070] For example, when transforming a serial testing process into parallel execution, the test items in the original production guidelines can be analyzed and extracted. The testing process can be divided and re-summarized according to the testing purpose and the test subject. For instance, all tests related to the GNSS motherboard can be summarized, and all test points can be integrated into the GNSS motherboard testing function. After re-analyzing, summarizing, and extracting the test items, separate processes or threads can be created to correspond to the test items. For example, a GNSS test process and its related sub-threads can be created to complete all GNSS-related test content. In this way, the determination of GNSS motherboard serial port connection, satellite search, and data quality can be completed in one test, avoiding excessively long test times and low test efficiency caused by repeated equipment transfers.

[0071] S13. The test industrial control computer receives a test report sent by any of the integrated navigation devices.

[0072] In practice, the test report may include, but is not limited to, the test results for the GNSS antenna motherboard, IMU module, Ethernet communication, CANFD communication and internal voltage of any integrated navigation device.

[0073] In specific implementation, combined with Figure 3-4 As shown, the test report is obtained in the following way: any integrated navigation device writes the test results of multiple functional test processes into the data pipeline through the test firmware based on the test function thread pool; any integrated navigation device then obtains the test results of multiple functional test processes from the data pipeline through the test firmware, and generates a test report based on the test results of multiple functional test processes.

[0074] That is, in this invention, combined with Figure 3-4 As shown, the testing process for any integrated navigation device can be divided into three sub-processes: the first sub-process is executed by the test instruction parsing thread, the second sub-process by the test function thread pool, and the third sub-process by the test data management thread. Specifically, after receiving multiple test instructions from any integrated navigation device, the test firmware creates various full-function test sub-threads through the test instruction parsing thread. These sub-threads execute in parallel and independently, forming a test function thread pool to complete the corresponding functional tests. After the test function thread pool completes multiple functional test processes, the corresponding test results can be written to the data pipeline through each test sub-thread. At this point, the test data management thread can be notified, and it retrieves the test results from the data pipeline, generates a test report, and submits it to the test control computer.

[0075] In practice, the test report can be a summary of the test results of multiple functional test processes in the form of an Excel spreadsheet.

[0076] As an example, a test report can be formatted as shown in the table below:

[0077]

[0078]

[0079] In this invention, a test report is generated by the test firmware running in any integrated navigation device and then reported to the test industrial control computer. Compared with reporting the test results of multiple functional test processes to the test industrial control computer separately, this can avoid bus contention and further help improve the test efficiency of any integrated navigation device.

[0080] In practical implementation, any integrated navigation device can add a description field for each test item to the test results of multiple functional test processes, so that the test industrial control computer can distinguish different test items according to the description field, and facilitate the subsequent display of the test results of the corresponding test items.

[0081] In an applicable scenario provided by this invention, the automated testing method for the integrated navigation device provided by this invention may further include the following steps:

[0082] S14. The test industrial control computer displays the test report in Excel spreadsheet format through a visual interface.

[0083] In this invention, the test report is displayed in Excel spreadsheet format through a visual interface, which makes it convenient for test workers to view the test report of any combined navigation device in a timely manner.

[0084] As described above, in the technical solution provided by this invention, after the test industrial control computer detects that several integrated navigation devices are powered on, it copies the test firmware to the internal components of any one of the integrated navigation devices and runs it, entering an automated test mode. The test industrial control computer sends multiple test commands to any one of the integrated navigation devices, and the device executes multiple functional test processes based on these commands using the test firmware. These multiple functional test processes are used to test the GNSS antenna motherboard, IMU module, Ethernet communication, and CANFD communication functions of any one of the integrated navigation devices, as well as to detect the internal power supply voltage of any one of the integrated navigation devices. The test industrial control computer receives a test report from any one of the integrated navigation devices. The test report includes: GNSS antenna motherboard, IMU module, ... The test results corresponding to Ethernet communication, CANFD communication, and internal power supply voltage are used to implement the test items and processes in the production process of integrated navigation equipment in software. The original manual operation by workers is deeply integrated through software. For example, the general testing process of integrated navigation products is deeply analyzed, summarized, and test items are extracted. The entire testing process of any integrated navigation equipment can be streamlined and standardized, and the serial testing process is transformed into parallel execution. While ensuring the test success rate, the testing time of a single integrated navigation equipment is reduced and the testing efficiency is improved. At the same time, test reports are automatically generated, thus forming a complete business flow and closed loop in the software. This enables automated control of the entire testing business flow, achieving the goal of unattended operation and mass production calibration.

[0085] This invention employs a software-based technical concept, combining software technology and communication protocol design. By reserving communication serial ports, GNSS antenna interfaces, and Ethernet interfaces in the tooling fixtures, it tests the industrial control computer and the integrated navigation equipment to perform a series of protocol interactions. This achieves the goal of automatically identifying several integrated navigation equipment without manual identification, thus standardizing and automating the production and testing process of the integrated navigation equipment, and achieving the goal of unattended, mass production and calibration.

[0086] Based on the same inventive concept, embodiments of the present invention also provide an automated testing system for integrated navigation devices, such as... Figure 5 As shown, the system may include: a tooling fixture 21, a test industrial control computer 22, and a scanning device 23. The tooling fixture 21 is equipped with several sets of GNSS antenna interfaces and several sets of RS232 serial ports, with the GNSS antenna interfaces corresponding to the RS232 serial ports; wherein,

[0087] Any one of the several GNSS antenna interfaces is connected to the GNSS motherboard of a combined navigation device;

[0088] One of the several RS232 serial ports, corresponding to any one of the GNSS antenna interfaces, is connected to the test industrial control computer 22.

[0089] The scanning device 23 is connected to the USB interface of the test industrial control computer 22;

[0090] The industrial control computer 22 is used to achieve the above. Figure 1 The method for automating the testing of the integrated navigation device shown.

[0091] The automated testing system for the integrated navigation device in this embodiment of the invention is the same as that described above. Figure 1 The automated testing method for the integrated navigation device shown is based on the same concept. Through the foregoing detailed description of the automated testing method for the integrated navigation device, those skilled in the art can clearly understand the implementation process of the automated testing system for the integrated navigation device in this embodiment. Therefore, for the sake of brevity, it will not be described again here.

[0092] Based on the same inventive concept, embodiments of the present invention also provide an electronic device, such as... Figure 6 As shown, the electronic device may include at least one memory 31 and at least one processor 32. Wherein:

[0093] At least one memory 31 is used to store one or more programs.

[0094] When one or more programs are executed by at least one processor 32, the above is achieved. Figure 1 The method for automating the testing of the integrated navigation device shown.

[0095] Electronic devices may also optionally include a communication interface for communicating and exchanging data with external devices.

[0096] It should be noted that memory 31 may include high-speed RAM memory, and may also include nonvolatile memory, such as at least one disk storage.

[0097] In the specific implementation process, if the memory 31, processor 32, and communication interface are integrated on a single chip, then the memory 31, processor 32, and communication interface can communicate with each other through internal interfaces. If the memory 31, processor 32, and communication interface are implemented independently, then the memory 31, processor 32, and communication interface can be interconnected through a bus to complete mutual communication.

[0098] It should be noted that the aforementioned electronic device can be the aforementioned test industrial control computer, or other devices that communicate with the aforementioned test industrial control computer, and the present invention does not limit this.

[0099] Based on the same inventive concept, embodiments of the present invention also provide a computer-readable storage medium that can store at least one program, which, when executed by a processor, implements the above-described... Figure 1 The method for automating the testing of the integrated navigation device shown.

[0100] It should be understood that a computer-readable storage medium is any data storage device that can store data or programs that can subsequently be read by a computer system. Examples of computer-readable storage media include: read-only memory, random access memory, CD-ROM, HDD, DVD, magnetic tape, and optical data storage devices.

[0101] Computer-readable storage media can also be distributed across network-coupled computer systems, enabling computer-readable code to be stored and executed in a distributed manner.

[0102] Program code contained on a computer-readable storage medium may be transmitted using any suitable medium, including but not limited to: wireless, wire, optical fiber, radio frequency (RF), or any suitable combination thereof.

[0103] The embodiments described above are merely examples of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention.

Claims

1. An automated testing method for a combined navigation device, characterized in that, include: After the test industrial control computer detects that several integrated navigation devices have been powered on, it accesses the internal mapped disk of any one of the several integrated navigation devices via Ethernet, copies the test firmware to the internal mapped disk of any one of the integrated navigation devices and runs it, thus entering the automated test mode. The test industrial control computer sends multiple test commands to any of the integrated navigation devices. The integrated navigation devices then create a test function thread pool based on the multiple test commands using the test firmware, and asynchronously execute multiple functional test processes simultaneously. The multiple functional test processes are used to test the functions of the GNSS antenna motherboard, IMU module, Ethernet communication and CANFD communication of any of the integrated navigation devices, as well as to detect the internal power supply voltage of any of the integrated navigation devices. The test industrial control computer receives the test report sent by any of the combined navigation devices; The test report includes the test results for the GNSS antenna motherboard, the IMU module, the Ethernet communication, the CANFD communication, and the internal power supply voltage, respectively. The test report is obtained in the following manner: any one of the integrated navigation devices writes the test results of the multiple functional test processes into the data pipeline based on the test function thread pool through the test firmware; the any one of the integrated navigation devices then obtains the test results of the multiple functional test processes from the data pipeline through the test firmware, and generates the test report based on the test results of the multiple functional test processes.

2. The method as described in claim 1, characterized in that, Before testing the power-on of several integrated navigation devices using the industrial control computer, the following test preparation work should be performed: Place any of the combined navigation devices on a tooling fixture; the tooling fixture is provided with several sets of GNSS antenna interfaces and several sets of RS232 serial ports, and the several sets of GNSS antenna interfaces correspond to the several sets of RS232 serial ports. Connect the GNSS motherboard of any of the combined navigation devices to any one of the several groups of GNSS antenna interfaces, and connect the RS232 serial port corresponding to any one of the several groups of GNSS antenna interfaces to the test industrial control computer. Connect the scanning device to the USB interface of the test industrial control computer, use the scanning device to scan and obtain the identification information of any of the combined navigation devices, and enter the identification information into the test industrial control computer.

3. The method as described in claim 1, characterized in that, The multiple test commands include: GNSS motherboard test commands, IMU module test commands, Ethernet communication test commands, CANFD communication test commands, and internal power supply voltage test commands; the test industrial control computer sends multiple test commands to any of the integrated navigation devices, including: The test industrial control computer sends the GNSS motherboard test command, the IMU module test command, the Ethernet communication test command, the CANFD communication test command, and the internal power supply voltage test command to any of the multiple test commands in sequence to any of the integrated navigation devices.

4. The method as described in claim 3, characterized in that, The test function thread pool includes a GNSS serial port test thread, a GNSS NEMA data parsing thread, a GNSS range data parsing thread, an IMU data analysis thread, an Ethernet test thread, a CANFD test thread, and a power supply voltage detection thread.

5. The method according to any one of claims 1-4, characterized in that, The method further includes: The test industrial control computer displays the test report in Excel spreadsheet format through a visual interface.

6. An automated testing system for a combined navigation device, characterized in that, include: The system includes a tooling fixture, a testing industrial control computer, and a scanning device. The tooling fixture is equipped with several sets of GNSS antenna interfaces and several sets of RS232 serial ports, with the GNSS antenna interfaces corresponding to the RS232 serial ports. Any one of the several groups of GNSS antenna interfaces is connected to the GNSS motherboard of a combined navigation device. One of the several sets of RS232 serial ports, which corresponds to any one of the GNSS antenna interfaces, is connected to the test industrial control computer. The scanning device is connected to the USB interface of the test industrial control computer; The test industrial control computer is used to perform the method as described in any one of claims 1-5.

7. An electronic device, characterized in that, include: At least one memory and at least one processor; The at least one memory is used to store one or more programs; When the one or more programs are executed by the at least one processor, the method as described in any one of claims 1-5 is implemented.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores at least one program; when the at least one program is executed by a processor, it performs the method as described in any one of claims 1-5.

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