Test scenario simulation system for evaluating GNSS receiver dynamic tracking capability

Abstract

The application relates to a test scene simulation system for evaluating GNSS receiver dynamic tracking capability, comprising a motion trajectory simulation module for forming the motion trajectory of a GNSS receiver model in different stages; and a received signal energy change simulation module for adjusting the received signal energy of the GNSS receiver model in different stages. The application can efficiently and accurately measure the dynamic tracking capability of the receiver.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of satellite navigation technology, in particular to a test scene simulation system for evaluating dynamic tracking capability of GNSS receiver. BACKGROUND

[0002] Due to the influence of front-end link attenuation, shielding and multipath and other factors, the satellite signal energy processed by the GNSS receiver has a wide range of variation, and the receiver usually has multiple sets of parameters and strategies at the algorithm level to cover the entire received energy range; and the actual application scene of the GNSS receiver is often a motion scene, and the tracking algorithm dynamically related parameters and strategies need to change accordingly. In general, the receiver needs to work reliably, stably and accurately under different signal energies and dynamics required by product specifications, so it is necessary to use specific simulation scenes to debug during the development process or test before product release.

[0003] At present, there are few GNSS simulation scenes for quantitatively testing the dynamic tracking capability of the receiver, and the corresponding simple and feasible scene design method is even rarer. The main problems are as follows: (1) the commonly used fixed cycle trajectory scene (such as repeatedly turning around), the trajectories at different times will overlap, which is not conducive to simply and easily identifying which dynamic and energy combination does not meet the expectations; or the commonly used straight line variable speed scene, due to the unchanged direction, the dynamic is relatively single; (2) the energy needs to be manually adjusted, the test automation and the degree of accurate repeatability are not high; (3) there is no simple and feasible means to accurately adjust the dynamic of the scene; (4) there is a lack of means for quantitatively and accurately measuring the dynamic receiving performance of the receiver. SUMMARY

[0004] The technical problem to be solved by the present application is to provide a test scene simulation system for evaluating the dynamic tracking capability of the GNSS receiver, which can accurately measure the dynamic tracking capability of the receiver with high efficiency.

[0005] The technical solution adopted by the present application to solve the technical problem is: providing a test scene simulation system for evaluating the dynamic tracking capability of the GNSS receiver, comprising:

[0006] A motion trajectory simulation module for forming the motion trajectory of the GNSS receiver model at different stages;

[0007] A received signal energy change simulation module for adjusting the received signal energy of the GNSS receiver model at different stages.

[0008] The motion trajectory simulation module comprises: a first stage simulation unit for keeping the GNSS receiver model in a static preparation stage; a second stage simulation unit for keeping the GNSS receiver model in a straight line acceleration stage; and a third stage simulation unit for keeping the GNSS receiver model in a dynamic motion stage; the motion trajectory of the GNSS receiver model in the static preparation stage is a point; the motion trajectory of the GNSS receiver model in the straight line acceleration stage is a straight line trajectory; and the motion trajectory of the GNSS receiver model in the dynamic motion stage is a plurality of identical trajectory groups, which are composed of circular trajectories and straight line segment trajectories.

[0009] The second stage simulation unit keeps the GNSS receiver model in a straight line acceleration stage, and makes the GNSS receiver model perform straight line acceleration motion, and keeps the preset absolute speed of the GNSS receiver model until the end point of the straight line trajectory is reached when the GNSS receiver model reaches the preset absolute speed.

[0010] The third stage simulation unit keeps the GNSS receiver model in a dynamic motion stage, and makes the GNSS receiver model perform uniform circular motion at a set speed when the circular trajectory is completed, and makes the GNSS receiver model perform uniform straight line motion at a set speed when the straight line segment trajectory is completed.

[0011] The third stage simulation unit makes the speed of the GNSS receiver model different when different trajectory groups are completed.

[0012] The received signal energy change simulation module comprises: a first energy adjustment unit for adjusting the received signal energy to a preset energy value when the GNSS receiver model is kept in the static preparation stage; a second energy adjustment unit for adjusting the received signal energy to a preset fixed value when the GNSS receiver model is kept in the straight line acceleration stage; and a third energy adjustment unit for keeping the received signal energy unchanged during the circular trajectory operation of the GNSS receiver model, and quantitatively reducing the received signal energy during the straight line trajectory operation, so that the received signal energy changes to a preset energy before the next circular trajectory.

[0013] Advantages

[0014] Compared with the prior art, the present application has the following advantages and positive effects: the motion trajectory simulation module simulates the motion trajectories in different stages, and the received signal energy change simulation module controls the change of the signal energy, so that the signal energy of different trajectory paths is different, the scene obtained by simulation can provide rich dynamic trajectories and the output energy gradually changes, and the receiver performance under different dynamic and energy combinations can be intuitively presented, so as to accurately measure the dynamic tracking ability of the receiver with high efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 is a structural block diagram of an embodiment of the present application;

[0016] Figure 2 is a trajectory diagram of an embodiment of the present application. DETAILED DESCRIPTION

[0017] The present application will be further described below with reference to specific embodiments. It should be understood that these embodiments are intended to illustrate the present application and not to limit the scope of the present application. Furthermore, it should be understood that those skilled in the art can make various modifications or changes to the present application after reading the content of the present application, and these equivalent forms also fall within the scope of the appended claims.

[0018] An embodiment of the present application relates to a test scene simulation system for evaluating dynamic tracking capability of a GNSS receiver, as shown in Figure 1 which comprises: a motion trajectory simulation module for forming a motion trajectory of a GNSS receiver model in different stages; and a received signal energy variation simulation module for adjusting received signal energy of the GNSS receiver model in different stages. The scene simulated by the embodiment can provide rich dynamics and gradually varying output energy, and can intuitively present receiver performance under different dynamic and energy combinations, so as to efficiently and accurately measure dynamic tracking capability of the receiver.

[0019] In the embodiment, the motion trajectory simulation module comprises: a first stage simulation unit for keeping the GNSS receiver model in a static preparation stage; a second stage simulation unit for making the GNSS receiver model in a straight-line acceleration stage; and a third stage simulation unit for making the GNSS receiver model in a dynamic motion stage. The motion trajectory of the GNSS receiver model in the static preparation stage is a point; the motion trajectory of the GNSS receiver model in the straight-line acceleration stage is a straight-line trajectory; and the motion trajectory of the GNSS receiver model in the dynamic motion stage is a plurality of identical trajectory groups, which are composed of circular trajectories and straight-line segment trajectories.

[0020] In the embodiment, when the second stage simulation unit makes the GNSS receiver model in the straight-line acceleration stage, the GNSS receiver model performs straight-line acceleration motion, and when the GNSS receiver model reaches a preset absolute speed, the GNSS receiver model keeps the preset absolute speed until reaching an end point of the straight-line trajectory. When the third stage simulation unit makes the GNSS receiver model in the dynamic motion stage, the GNSS receiver model performs uniform circular motion at a preset speed when completing the circular trajectory, and performs uniform straight-line motion at a preset speed when completing the straight-line segment trajectory.

[0021] The receiving signal energy change simulation module comprises: a first energy adjusting unit, configured to adjust the receiving signal energy to a preset energy value when the GNSS receiver model remains in the stationary preparation stage; a second energy adjusting unit, configured to adjust the receiving signal energy to a preset fixed value when the GNSS receiver model is in the straight line acceleration stage; and a third energy adjusting unit, configured to keep the receiving signal energy unchanged during the circular track operation of the GNSS receiver model and quantitatively reduce the receiving signal energy during the straight line track to change to a preset energy before the next circular track.

[0022] Therefore, the motion track in the scenario simulated by the embodiment comprises three stages:

[0023] (1) stationary preparation stage, in which the receiving signal energy is high (e.g., can be set to 40 dBHz), so as to facilitate the receiver to collect the text until positioning;

[0024] (2) straight line acceleration stage, in which the receiver starts to accelerate from a speed of 0 until a preset absolute speed is reached, and then the absolute speed remains unchanged until the set straight line track is completed, and the receiving signal energy can be adjusted to a preset fixed value in this stage;

[0025] (3) dynamic motion stage, the track of which comprises multiple groups of circular tracks and straight line segment tracks, the receiving signal energy remains unchanged during the circular track operation, and the signal energy is quantitatively reduced during the straight line segment track operation to change to a next preset simulation energy before the next circular track. In this stage, the receiver makes uniform circular motion at a specified speed when the circular track is completed, and makes uniform straight line motion at a specified speed when the straight line segment track is completed, wherein the motion speeds of each group of circular tracks and straight line segment tracks can be different.

[0026] The setting method and key parameters of the dynamic track scenario in the embodiment are as follows:

[0027] A) start setting a stationary state, including longitude and latitude and elevation, including state duration (not less than 15 min);

[0028] B) straight line acceleration state, setting acceleration duration or time (e.g., 100 m, 10 s) and absolute speed (e.g., 45 m / s).

[0029] C) uniform straight line travel for a specified distance (e.g., 100 m);

[0030] D) power reduction by a specified value (e.g., 1 dB) during uniform straight line travel;

[0031] E) uniform turning, direction change of 360°, turning radius X m (e.g., radius 50 m);

[0032] F) driving a specified distance (e.g. 100m) in a straight line at a constant speed;

[0033] G) Power reduction by a specified value (e.g., 1 dB) during straight-line driving at a constant speed;

[0034] H) Constant speed turn, direction change -360°, turning radius Xm (e.g. radius 50m);

[0035] I) Continue the cycle from C) to I).

[0036] According to the above method, the Figure 2 The trajectory shown in Figure 1 shows a trajectory. In this trajectory, when the receiver performs uniform circular motion at a specified rate, the velocity remains constant while the direction of the velocity continuously changes. At this time, the motion parameters of the satellite signals received by the receiver also continuously change, thus meeting the requirements of dynamic richness. This helps to fully test the receiver in a short period of time to expose defects in the tracking and positioning algorithm, thereby improving debugging and testing efficiency.

[0037] In this embodiment, the trajectory is composed of identical rings and line segments, which is simple and feasible in design and has good repeatability. Since the circular paths corresponding to different received energies do not overlap in space and time, the changes in positioning accuracy, reliability, and stability can be observed intuitively and conveniently, thereby determining at which energy the receiver tracking and positioning algorithm does not perform as expected. Since the difficulty of tracking dynamics increases with decreasing energy, this scenario can be used to well evaluate the dynamic tracking performance of different receivers. In addition, in this embodiment, the same trajectory only needs to be configured with different absolute speeds to simply and practically change the dynamic size of the scene, thereby making the scene simulated by the system highly reusable.

Claims

1. A test scenario simulation system for evaluating the dynamic tracking capability of a GNSS receiver, characterized in that: include: Motion trajectory simulation module, used to form the motion trajectory of the GNSS receiver model at different stages; The motion trajectory simulation module includes: a first-stage simulation unit for keeping the GNSS receiver model in a stationary preparation stage; a second-stage simulation unit for putting the GNSS receiver model in a linear acceleration stage; and a third-stage simulation unit for putting the GNSS receiver model in a dynamic motion stage. The motion trajectory of the GNSS receiver model in the stationary preparation stage is a point; the motion trajectory of the GNSS receiver model in the linear acceleration stage is a straight line trajectory; and the motion trajectory of the GNSS receiver model in the dynamic motion stage is a plurality of identical trajectory groups, each of which consists of a circular trajectory and a straight line segment trajectory. A received signal energy change simulation module is used to adjust the received signal energy of the GNSS receiver model in different stages; the received signal energy change simulation module includes: a first energy adjustment unit, used to adjust the received signal energy to a preset energy value when the GNSS receiver model remains in the stationary preparation stage; a second energy adjustment unit, used to adjust the received signal energy to a preset fixed value when the GNSS receiver model is in the linear acceleration stage; and a third energy adjustment unit, used to keep the received signal energy unchanged when the GNSS receiver model is in a circular trajectory, and quantitatively reduce the received signal energy when it is in a linear trajectory, so that it changes to the preset energy before the next circular trajectory.

2. The test scenario simulation system for evaluating the dynamic tracking capability of a GNSS receiver according to claim 1, characterized in that: The second stage simulation unit causes the GNSS receiver model to perform linear acceleration when it is in the linear acceleration stage. When the GNSS receiver model reaches a preset absolute speed, the preset absolute speed of the GNSS receiver model is maintained until it reaches the end point of the linear trajectory.

3. The test scenario simulation system for evaluating the dynamic tracking capability of a GNSS receiver according to claim 1, characterized in that: The third stage simulation unit enables the GNSS receiver model to perform uniform circular motion at a set speed when completing a circular trajectory, and to perform uniform linear motion at a set speed when completing a straight segment trajectory when in the dynamic motion stage.

4. The test scenario simulation system for evaluating the dynamic tracking capability of a GNSS receiver according to claim 1, characterized in that: The third stage simulation unit enables the GNSS receiver model to complete different trajectory groups at different speeds.

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