A Multi-Beidou Terminal Data Verification Method and System Based on HarmonyOS

Abstract

The present invention discloses a multi-Beidou terminal data verification method and system based on the HarmonyOS. The method includes: forming a Beidou positioning network with multiple Beidou terminals, and obtaining the coordinate information of the measured positions of each Beidou terminal based on the HarmonyOS, wherein the coordinate information includes: measured coordinates, and the moving average coordinates of all the measured positions of the Beidou terminals within a time window; setting up a Beidou positioning data verification model, calculating a Beidou positioning data accuracy index according to the coordinate information, when the Beidou positioning data accuracy index exceeds a preset accuracy threshold, the accuracy of the Beidou positioning network reaches the accuracy standard, weighting and averaging the measured coordinates of all the Beidou terminals, and taking the result as the final Beidou positioning data; when the Beidou positioning data accuracy index is less than the preset accuracy threshold, adjusting the accuracy of each Beidou terminal, and newly obtaining the coordinate information of the measured position until the Beidou positioning data accuracy index exceeds the preset accuracy threshold.

Description

Technical Field

[0001] The present invention belongs to the technical field of multi-Beidou terminal data verification, and more specifically, relates to a multi-Beidou terminal data verification method and system based on the HarmonyOS operating system. Background Art

[0002] Beidou positioning data usually includes satellite information received by a satellite signal receiver, such as the position, speed, time, etc. of the satellite, as well as the position, time, etc. of the receiver itself. This data can be used in application fields such as positioning, navigation, map making, navigation, etc.

[0003] The accuracy and reliability of Beidou positioning data depend on various factors, including the performance of the receiver, the surrounding environment, the satellite distribution, etc. Usually, Beidou positioning data can provide positioning accuracy from meters to centimeters, suitable for different application scenarios, such as vehicle navigation, ship positioning, logistics tracking, etc.

[0004] However, sometimes the Beidou positioning data of a single terminal is not accurate enough, and multiple terminals are required for position correction. Currently, the accuracy of multi-terminal collaborative positioning is low and cannot meet the requirements of precise positioning. Summary of the Invention

[0005] To solve the above technical problems, the present invention proposes a multi-Beidou terminal data verification method based on the HarmonyOS operating system, including:

[0006] Form a Beidou positioning network with multiple Beidou terminals, and obtain the coordinate information of the measured positions of each Beidou terminal based on the HarmonyOS operating system, where the coordinate information includes: measured coordinates, moving average coordinates of all measured positions of Beidou terminals within a time window, and the time interval between the current measurement time and the average measurement time of all Beidou terminals;

[0007] Set up a Beidou positioning data verification model, calculate the Beidou positioning data accuracy index according to the coordinate information. When the Beidou positioning data accuracy index exceeds a preset accuracy threshold, the accuracy of the Beidou positioning network reaches the accuracy standard, and the weighted average of the measured coordinates of all the Beidou terminals is taken as the final Beidou positioning data;

[0008] When the Beidou positioning data accuracy index is less than the preset accuracy threshold, adjust the accuracy of each Beidou terminal, and re-obtain the coordinate information of the measured position until the Beidou positioning data accuracy index exceeds the preset accuracy threshold.

[0009] Further, the Beidou positioning data verification model includes:

[0010]

[0011] Among them, Consistency is the Beidou positioning data accuracy index, n is the number of Beidou terminals, σ is the adjustment factor, d i is the measured coordinate (x i , y i ) of the measured position of the i-th Beidou terminal within the time window and the moving average coordinate of all the measured positions of Beidou terminals within the time window The Euclidean distance between them, is the time interval between the current measurement time of the i-th Beidou terminal and the average measurement time of all Beidou terminals, α is the time interval weight, acc i is the measurement accuracy of the i-th Beidou terminal, ∈ is a positive constant, β is the measurement accuracy weight, γ is the correlation weight, corr i is the correlation index value between the measured coordinate (x i , y i ) of the measured position of the i-th Beidou terminal within the time window and the measured coordinates of other Beidou terminals.

[0012] Furthermore, the correlation index value corr between the measured coordinate (x i , y i ) of the measured position of the i-th Beidou terminal and the measured coordinates of other Beidou terminals i includes:

[0013]

[0014] Among them, is the covariance between the measured coordinate (x i , y i ) of the measured position of the i-th Beidou terminal and the moving average coordinate , Var(x i ) is the variance of the abscissa x of the measured coordinate of the measured position of the i-th Beidou terminal i , Var(y i ) is the variance of the ordinate y of the measured coordinate of the measured position of the i-th Beidou terminal i , is the variance of the abscissa of the moving average coordinate , is the variance of the ordinate of the moving average coordinate .

[0015] Furthermore, the measurement accuracy acc of the i-th Beidou terminal i includes:

[0016]

[0017] Among them, g i (x i , yi , e i ) is the measurement accuracy evaluation function, e i is the environmental information during the measurement of the i-th Beidou terminal.

[0018] Further, the measurement accuracy evaluation function g i (x i , y i , e i ) includes:

[0019]

[0020] Among them, the abscissa of the moving average coordinate The ordinate of the moving average coordinate Var(x i ) is the abscissa x of the measurement coordinate of the measured position of the i-th Beidou terminal i of the variance, Var(y i ) is the ordinate y of the measurement coordinate of the measured position of the i-th Beidou terminal i of the variance, c m is the weight of the m-th environmental information, e m is the value of the m-th environmental information.

[0021] The present invention also proposes a multi-Beidou-terminal data verification system based on the HarmonyOS, including:

[0022] An information acquisition module, used to form a Beidou positioning network with multiple Beidou terminals, and acquire the coordinate information of the measured position of each Beidou terminal based on the HarmonyOS, wherein the coordinate information includes: the measurement coordinate, the moving average coordinate of all the measured positions of the Beidou terminals within the time window, and the time interval between the current measurement time and the average measurement time of all the Beidou terminals;

[0023] A model setting module, used to set a Beidou positioning data verification model, calculate the Beidou positioning data accuracy index according to the coordinate information, when the Beidou positioning data accuracy index exceeds a preset accuracy threshold, the accuracy of the Beidou positioning network reaches the accuracy standard, and weight and average the measurement coordinates of all the Beidou terminals, and use the result as the final Beidou positioning data;

[0024] An adjustment module, used to adjust the accuracy of each Beidou terminal when the Beidou positioning data accuracy index is less than the preset accuracy threshold, and re-acquire the coordinate information of the measured position until the Beidou positioning data accuracy index exceeds the preset accuracy threshold.

[0025] Further, the Beidou positioning data verification model includes:

[0026]

[0027] Among them, Consistency is the Beidou positioning data accuracy index, n is the number of Beidou terminals, σ is the adjustment factor, d i is the Euclidean distance between the measured coordinates (x i , y i ) of the i-th Beidou terminal's measured position within the time window and the moving average coordinates of all Beidou terminals' measured positions within the time window . is the time interval between the current measurement time of the i-th Beidou terminal and the average measurement time of all Beidou terminals, α is the time interval weight, acc i is the measurement accuracy of the i-th Beidou terminal, ∈ is a positive constant, β is the measurement accuracy weight, γ is the correlation weight, corr i is the correlation index value between the measured coordinates (x i , y i ) of the i-th Beidou terminal's measured position within the time window and the measured coordinates of other Beidou terminals.

[0028] Furthermore, the correlation index value corr i between the measured coordinates (x i ) of the i-th Beidou terminal's measured position and the measured coordinates of other Beidou terminals includes:[[]] i

[0029]

[0030] Among them, is the covariance between the measured coordinates (x i , y i ) of the i-th Beidou terminal's measured position and the moving average coordinates , Var(x i ) is the variance of the abscissa x i of the measured coordinates of the i-th Beidou terminal's measured position, Var(y i ) is the variance of the ordinate y i of the measured coordinates of the i-th Beidou terminal's measured position, is the variance of the abscissa of the moving average coordinates , is the variance of the ordinate of the moving average coordinates .

[0031] Furthermore, the measurement accuracy acc i of the i-th Beidou terminal includes:[[]]

[0032]

[0033] Among them, g i (x​i , y i , e i ) is the measurement accuracy evaluation function, and e i is the environmental information during the measurement of the i-th Beidou terminal.

[0034] Furthermore, the measurement accuracy evaluation function g i (x i , y i , e i ) includes:

[0035]

[0036] Among them, the abscissa of the moving average coordinate The ordinate of the moving average coordinate Var(x i ) is the variance of the abscissa x of the measurement coordinate of the measured position of the i-th Beidou terminal i , and Var(y i ) is the variance of the ordinate y of the measurement coordinate of the measured position of the i-th Beidou terminal i , c m is the weight of the m-th environmental information, and e m is the value of the m-th environmental information.

[0037] Compared with the prior art through the above technical solutions conceived by the present invention, the following beneficial effects are achieved:

[0038] The present invention forms a Beidou positioning network with multiple Beidou terminals, and obtains the coordinate information of the measured positions of each Beidou terminal based on the HarmonyOS. Among them, the coordinate information includes: the measurement coordinate, the moving average coordinate of all the measured positions of the Beidou terminals within the time window, and the time interval between the current measurement time and the average measurement time of all the Beidou terminals; a Beidou positioning data verification model is set up, and according to the coordinate information, the Beidou positioning data accuracy index is calculated. When the Beidou positioning data accuracy index exceeds the preset accuracy threshold, the accuracy of the Beidou positioning network reaches the accuracy standard, and the measurement coordinates of all the Beidou terminals are weighted and averaged, and the result is used as the final Beidou positioning data; when the Beidou positioning data accuracy index is less than the preset accuracy threshold, the accuracy of each Beidou terminal is adjusted, and the coordinate information of the measured position is re-obtained until the Beidou positioning data accuracy index exceeds the preset accuracy threshold. According to the above technical solutions, the present invention can verify and correct the positioning network composed of multiple Beidou terminals based on the HarmonyOS, thereby improving the overall positioning accuracy. Description of the Drawings

[0039] Figure 1 is the flowchart of the method in Embodiment 1 of the present invention;

[0040] Figure 2 It is the system structure diagram of Embodiment 2 of the present invention. Specific implementation manners

[0041] In order to better understand the above technical solutions, the above technical solutions will be described in detail below in conjunction with the accompanying drawings of the specification and specific implementation manners.

[0042] The method provided by the present invention can be implemented in the following terminal environment. The terminal may include one or more of the following components: a processor, a storage medium, and a display screen. Among them, at least one instruction is stored in the storage medium, and the instruction is loaded and executed by the processor to implement the method described in the following embodiments.

[0043] The processor may include one or more processing cores. The processor uses various interfaces and lines to connect various parts within the entire terminal, and by running or executing instructions, programs, code sets, or instruction sets stored in the storage medium, and calling data stored in the storage medium, it executes various functions of the terminal and processes data.

[0044] The storage medium may include a random access memory (RAM), or may also include a read-only memory (ROM). The storage medium can be used to store instructions, programs, codes, code sets, or instructions.

[0045] The display screen is used to display the interaction cross-sections of various application programs.

[0046] All subscripts in the formulas of the present invention are only for distinguishing parameters and have no actual meaning.

[0047] In addition, those skilled in the art can understand that the structure of the above terminal does not constitute a limitation on the terminal. The terminal may include more or fewer components, or combine certain components, or have different component arrangements. For example, the terminal may also include components such as a radio frequency circuit, an input unit, a sensor, an audio circuit, and a power supply, which will not be elaborated here.

[0048] Embodiment 1

[0049] As Figure 1 shown, the embodiment of the present invention provides a multi-Beidou terminal data verification method based on the HarmonyOS, including:

[0050] Step 101, form a Beidou positioning network with multiple Beidou terminals, and obtain the coordinate information of the measured positions of each Beidou terminal based on the HarmonyOS, where the coordinate information includes: measured coordinates, moving average coordinates of all measured positions of Beidou terminals within a time window, and the time interval between the current measurement time and the average measurement time of all Beidou terminals;

[0051] Step 102, set up a Beidou positioning data verification model. According to the coordinate information, calculate the Beidou positioning data accuracy index. When the Beidou positioning data accuracy index exceeds the preset accuracy threshold, the accuracy of the Beidou positioning network reaches the accuracy standard. Weight-average the measurement coordinates of all the Beidou terminals, and use the result as the final Beidou positioning data;

[0052] Specifically, the Beidou positioning data verification model includes:

[0053]

[0054] where Consistency is the Beidou positioning data accuracy index, n is the number of Beidou terminals, σ is an adjustment factor, d i is the Euclidean distance between the measured coordinates (x i , y i ) of the measured position of the i-th Beidou terminal within the time window and the moving average coordinates of the measured positions of all Beidou terminals within the time window , is the time interval between the current measurement time of the i-th Beidou terminal and the average measurement time of all Beidou terminals, α is the time interval weight, acc i is the measurement accuracy of the i-th Beidou terminal, ∈ is a positive constant, β is the measurement accuracy weight, γ is the correlation weight, corr i is the correlation index value between the measured coordinates (x i , y i ) of the measured position of the i-th Beidou terminal within the time window and the measured coordinates of other Beidou terminals.

[0055] Specifically, the correlation index value corr i between the measured coordinates (x i ) of the measured position of the i-th Beidou terminal and the measured coordinates of other Beidou terminals includes: i

[0056]

[0057] where is the covariance between the measured coordinates (x i , y i ) of the measured position of the i-th Beidou terminal and the moving average coordinates , Var(x i ) is the variance of the abscissa x i of the measured coordinates of the measured position of the i-th Beidou terminal, and Var(y i ) is the variance of the ordinate y i of the measured coordinates of the measured position of the i-th Beidou terminal.​ is the variance of the abscissa of the moving average coordinates , is the variance of the ordinate of the moving average coordinates .

[0058] Specifically, the measurement accuracy acc of the i-th Beidou terminal i includes:

[0059]

[0060] where g i (x i , y i , e i ) is the measurement accuracy evaluation function, and e i is the environmental information during the measurement of the i-th Beidou terminal.

[0061] Specifically, the measurement accuracy evaluation function g i (x i , y i , e i ) includes:

[0062]

[0063] where the abscissa of the moving average coordinates the ordinate of the moving average coordinates Var(x i ) is the variance of the abscissa x of the measurement coordinates of the measured position of the i-th Beidou terminal i , and Var(y i ) is the variance of the ordinate y of the measurement coordinates of the measured position of the i-th Beidou terminal i , c m is the weight of the m-th environmental information, and e m is the value of the m-th environmental information.

[0064] Step 103, when the Beidou positioning data accuracy index is less than the preset accuracy threshold, adjust the accuracy of each Beidou terminal, and re-obtain the coordinate information of the measured position until the Beidou positioning data accuracy index exceeds the preset accuracy threshold.

[0065] Embodiment 2

[0066] As Figure 2 shown, the embodiment of the present invention also proposes a multi-Beidou terminal data verification system based on the HarmonyOS, including:

[0067] An information acquisition module is used to form a Beidou positioning network with multiple Beidou terminals, and acquire the coordinate information of the measured positions of each Beidou terminal based on the HarmonyOS. Among them, the coordinate information includes: measured coordinates, the moving average coordinates of all the measured positions of the Beidou terminals within a time window, and the time interval between the current measurement time and the average measurement time of all the Beidou terminals;

[0068] A model setting module is used to set a Beidou positioning data verification model, calculate the Beidou positioning data accuracy index according to the coordinate information. When the Beidou positioning data accuracy index exceeds a preset accuracy threshold, the accuracy of the Beidou positioning network reaches the accuracy standard, and the measured coordinates of all the Beidou terminals are weighted and averaged, and the result is used as the final Beidou positioning data;

[0069] Specifically, the Beidou positioning data verification model includes:

[0070]

[0071] Among them, Consistency is the Beidou positioning data accuracy index, n is the number of Beidou terminals, σ is an adjustment factor, d i is the Euclidean distance between the measured coordinates (x i , y i ) of the measured position of the i-th Beidou terminal within the time window and the moving average coordinates of all the measured positions of the Beidou terminals within the time window , is the time interval between the current measurement time of the i-th Beidou terminal and the average measurement time of all the Beidou terminals, α is the time interval weight, acc i is the measurement accuracy of the i-th Beidou terminal, ∈ is a positive constant, β is the measurement accuracy weight, γ is the correlation weight, corr i is the correlation index value between the measured coordinates (x i , y i ) of the measured position of the i-th Beidou terminal within the time window and the measured coordinates of other Beidou terminals.

[0072] Specifically, the correlation index value corr i between the measured coordinates (x i , y i ) of the measured position of the i-th Beidou terminal and the measured coordinates of other Beidou terminals includes:

[0073]

[0074] Among them, is the Euclidean distance between the measured coordinates (x i , y i ) of the measured position of the i-th Beidou terminal and the moving average coordinates The covariance between, Var(x i ), where the abscissa x of the measured coordinate of the i-th Beidou terminal's measured position i The variance of Var(y i ), where the ordinate y of the measured coordinate of the i-th Beidou terminal's measured position i The variance of is the variance of the abscissa of the moving average coordinate The variance of is the variance of the ordinate of the moving average coordinate The variance of

[0075] Specifically, the measurement accuracy acc of the i-th Beidou terminal i includes:

[0076]

[0077] where g i (x i , y i , e i ) is the measurement accuracy evaluation function, and e i is the environmental information during the measurement of the i-th Beidou terminal

[0078] Specifically, the measurement accuracy evaluation function g i (x i , y i , e i ) includes:

[0079]

[0080] where the abscissa of the moving average coordinate the ordinate of the moving average coordinate Var(x i ), where the abscissa x of the measured coordinate of the i-th Beidou terminal's measured position i The variance of Var(y i ), where the ordinate y of the measured coordinate of the i-th Beidou terminal's measured position i The variance of c m is the weight of the m-th environmental information, and e m is the value of the m-th environmental information

[0081] An adjustment module, configured to adjust the accuracy of each Beidou terminal when the accuracy index of the Beidou positioning data is less than a preset accuracy threshold, and re-obtain the coordinate information of the measured position until the accuracy index of the Beidou positioning data exceeds the preset accuracy threshold

[0082] Embodiment 3

[0083] An embodiment of the present invention also provides a storage medium storing multiple instructions for implementing the multi-Beidou terminal data verification method based on the HarmonyOS.

[0084] Optionally, in this embodiment, the above storage medium may be located in any computer terminal in a computer terminal group in a computer network or in any mobile terminal in a mobile terminal group.

[0085] Optionally, in this embodiment, the storage medium is configured to store program code for performing the following steps: Step 101, form a Beidou positioning network with multiple Beidou terminals, and obtain the coordinate information of the measured positions of each Beidou terminal based on the HarmonyOS, where the coordinate information includes: measured coordinates, moving average coordinates of all the measured positions of the Beidou terminals within a time window, and the time interval between the current measurement time and the average measurement time of all the Beidou terminals;

[0086] Step 102, set up a Beidou positioning data verification model, calculate the Beidou positioning data accuracy index according to the coordinate information, when the Beidou positioning data accuracy index exceeds a preset accuracy threshold, the accuracy of the Beidou positioning network reaches the accuracy standard, and weight and average the measured coordinates of all the Beidou terminals, and use the result as the final Beidou positioning data;

[0087] Specifically, the Beidou positioning data verification model includes:

[0088]

[0089] where Consistency is the Beidou positioning data accuracy index, n is the number of Beidou terminals, σ is an adjustment factor, d i is the Euclidean distance between the measured coordinates (x i , y i ) of the measured position of the i-th Beidou terminal within the time window and the moving average coordinates of all the measured positions of the Beidou terminals within the time window , is the time interval between the current measurement time of the i-th Beidou terminal and the average measurement time of all the Beidou terminals, α is the time interval weight, acc i is the measurement accuracy of the i-th Beidou terminal, ∈ is a positive constant, β is the measurement accuracy weight, γ is the correlation weight, corr i is the correlation index value between the measured coordinates (x i , y i ) of the measured position of the i-th Beidou terminal within the time window and the measured coordinates of other Beidou terminals.

[0090] Specifically, the measured coordinates (x of the measured position of the i-th Beidou terminali , y i ) and the correlation index value corr of the measurement coordinates with other Beidou terminals i including:

[0091]

[0092] wherein, is the covariance between the measurement coordinates (x i , y i ) of the measured position of the i-th Beidou terminal and the moving average coordinates , Var(x i ) is the variance of the abscissa x i of the measurement coordinates of the measured position of the i-th Beidou terminal, Var(y i ) is the variance of the ordinate y i of the measurement coordinates of the measured position of the i-th Beidou terminal, is the variance of the abscissa of the moving average coordinates , is the variance of the ordinate of the moving average coordinates .

[0093] Specifically, the measurement accuracy acc i of the i-th Beidou terminal includes:

[0094]

[0095] wherein, g i (x i , y i , e i ) is the measurement accuracy evaluation function, and e i is the environmental information during the measurement of the i-th Beidou terminal.

[0096] Specifically, the measurement accuracy evaluation function g i (x i , y i , e i ) includes:

[0097]

[0098] wherein, the abscissa of the moving average coordinates the ordinate of the moving average coordinates Var(x i ) is the variance of the abscissa x i of the measurement coordinates of the measured position of the i-th Beidou terminal, Var(y i ) is the variance of the ordinate y i of the measurement coordinates of the measured position of the i-th Beidou terminal, and c m is the weight of the m-th environmental information, em is the value of the m-th environmental information.

[0099] Step 103: When the precision index of the Beidou positioning data is less than the preset precision threshold, adjust the precision of each Beidou terminal, and re-obtain the coordinate information of the measured position until the precision index of the Beidou positioning data exceeds the preset precision threshold.

[0100] Embodiment 4

[0101] The embodiment of the present invention also provides an electronic device, including a processor and a storage medium connected to the processor. The storage medium stores multiple instructions, and the instructions can be loaded and executed by the processor so that the processor can execute a multi-Beidou terminal data verification method based on the HarmonyOS.

[0102] Specifically, the electronic device in this embodiment may be a computer terminal, and the computer terminal may include: one or more processors and a storage medium.

[0103] Among them, the storage medium can be used to store software programs and modules, such as a multi-Beidou terminal data verification method based on the HarmonyOS in the embodiment of the present invention, the corresponding program instructions / modules. The processor runs the software programs and modules stored in the storage medium, thereby performing various functional applications and data processing, that is, implementing the above-mentioned multi-Beidou terminal data verification method based on the HarmonyOS. The storage medium may include a high-speed random storage medium, and may also include a non-volatile storage medium, such as one or more magnetic storage systems, flash memory, or other non-volatile solid-state storage media. In some instances, the storage medium may further include a storage medium remotely set relative to the processor, and these remote storage media can be connected to the terminal through a network. Examples of the above network include but are not limited to the Internet, enterprise intranet, local area network, mobile communication network and their combinations.

[0104] The processor can call the information and application programs stored in the storage medium through the transmission system to execute the steps: Step 101: Form a Beidou positioning network with multiple Beidou terminals, and obtain the coordinate information of the measured position of each Beidou terminal based on the HarmonyOS. Among them, the coordinate information includes: measured coordinates, the moving average coordinates of the measured positions of all Beidou terminals within the time window, and the time interval between the current measurement time and the average measurement time of all Beidou terminals.

[0105] Step 102, set up a Beidou positioning data verification model. According to the coordinate information, calculate the Beidou positioning data accuracy index. When the Beidou positioning data accuracy index exceeds the preset accuracy threshold, the accuracy of the Beidou positioning network reaches the accuracy standard. Weight-average the measurement coordinates of all the Beidou terminals, and use the result as the final Beidou positioning data;

[0106] Specifically, the Beidou positioning data verification model includes:

[0107]

[0108] where Consistency is the Beidou positioning data accuracy index, n is the number of Beidou terminals, σ is an adjustment factor, d i is the Euclidean distance between the measured coordinates (x i , y i ) of the measured position of the i-th Beidou terminal within the time window and the moving average coordinates of the measured positions of all Beidou terminals within the time window , is the time interval between the current measurement time of the i-th Beidou terminal and the average measurement time of all Beidou terminals, α is the time interval weight, acc i is the measurement accuracy of the i-th Beidou terminal, ∈ is a positive constant, β is the measurement accuracy weight, γ is the correlation weight, corr i is the correlation index value between the measured coordinates (x i , y i ) of the measured position of the i-th Beidou terminal within the time window and the measured coordinates of other Beidou terminals.

[0109] Specifically, the correlation index value corr i between the measured coordinates (x i , y i ) of the measured position of the i-th Beidou terminal and the measured coordinates of other Beidou terminals includes:

[0110]

[0111] where is the covariance between the measured coordinates (x i , y i ) of the measured position of the i-th Beidou terminal and the moving average coordinates , Var(x i ) is the variance of the abscissa x i of the measured coordinates of the measured position of the i-th Beidou terminal, Var(y i ) is the variance of the ordinate y i of the measured coordinates of the measured position of the i-th Beidou terminal, is the abscissa of the moving average coordinates The variance of is the vertical coordinate of the moving average coordinate The variance of

[0112] Specifically, the measurement accuracy acc of the i-th Beidou terminal i includes:

[0113]

[0114] where g i (x i , y i , e i ) is the measurement accuracy evaluation function, and e i is the environmental information during the measurement of the i-th Beidou terminal.

[0115] Specifically, the measurement accuracy evaluation function g i (x i , y i , e i ) includes:

[0116]

[0117] where the horizontal coordinate of the moving average coordinate the vertical coordinate of the moving average coordinate Var(x i ) is the variance of the horizontal coordinate x of the measurement coordinate of the measured position of the i-th Beidou terminal i , Var(t i ) is the variance of the vertical coordinate y of the measurement coordinate of the measured position of the i-th Beidou terminal i , c m is the weight of the m-th environmental information, and e m is the value of the m-th environmental information.

[0118] Step 103, when the Beidou positioning data accuracy index is less than the preset accuracy threshold, adjust the accuracy of each Beidou terminal, and re-obtain the coordinate information of the measured position until the Beidou positioning data accuracy index exceeds the preset accuracy threshold.

[0119] The above serial numbers of the embodiments of the present invention are only for description and do not represent the advantages and disadvantages of the embodiments.

[0120] In the above embodiments of the present invention, the descriptions of the various embodiments have their own emphases. For parts not detailed in a certain embodiment, reference may be made to the relevant descriptions of other embodiments.

[0121] In several embodiments provided by the present invention, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the system embodiments described above are merely illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the couplings or direct couplings or communication connections shown or discussed with each other can be through some interfaces. The indirect couplings or communication connections of the units or modules can be in electrical or other forms.

[0122] The units described as separate components may or may not be physically separated. The components shown as units may or may not be physical units, that is, they can be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0123] In addition, in each embodiment of the present invention, the functional units can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above-mentioned integrated units can be implemented in the form of hardware or in the form of software functional units.

[0124] If the above-mentioned integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in each embodiment of the present invention. The foregoing storage medium includes: USB flash drives, read-only storage media (ROM, Read-Only Memory), random access storage media (RAM, Random Access Memory), mobile hard disks, magnetic disks, or optical discs and other various media that can store program codes.

[0125] Obviously, the above embodiments are only examples for clear illustration and not limitations on the implementation manners. For those of ordinary skill in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to enumerate all the implementation manners here. And the obvious changes or modifications derived therefrom are still within the protection scope of the present invention.

Claims

1. A multi-Beidou terminal data verification method based on Hongmeng operating system, characterized in that: include: Multiple Beidou terminals are formed into a Beidou positioning network to obtain the coordinate information of the measured position of each Beidou terminal based on the Hongmeng operating system, wherein the coordinate information includes: the measurement coordinates, the moving average coordinates of the measured positions of all Beidou terminals in the time window, and the time interval between the current measurement time and the average measurement time of all Beidou terminals; A Beidou positioning data verification model is set, and the Beidou positioning data accuracy index is calculated according to the coordinate information. When the Beidou positioning data accuracy index exceeds a preset accuracy threshold, the accuracy of the Beidou positioning network reaches the accuracy standard, and the measured coordinates of all the Beidou terminals are weighted averaged, and the result is used as the final Beidou positioning data, wherein the Beidou positioning data verification model includes: Where Consistency is the Beidou positioning data accuracy index, n is the number of Beidou terminals, σ is the adjustment factor, and d i is the measured coordinates (x i ,y i ) and the moving average coordinates of all Beidou terminal measured positions in the time window The Euclidean distance between is the time interval between the current measurement time of the i-th Beidou terminal and the average measurement time of all Beidou terminals, α is the time interval weight, acc i is the measurement accuracy of the i-th Beidou terminal, ∈ is a positive constant, β is the measurement accuracy weight, γ is the correlation weight, corr i is the measured coordinates (x i ,y i ) and the correlation index value of the measurement coordinates of other Beidou terminals; When the Beidou positioning data accuracy index is less than a preset accuracy threshold, the accuracy of each Beidou terminal is adjusted, and the coordinate information of the measured position is reacquired until the Beidou positioning data accuracy index exceeds the preset accuracy threshold.

2. A multi-Beidou terminal data verification method based on Hongmeng operating system as claimed in claim 1, characterized in that: The measured coordinates of the i-th Beidou terminal’s measured position (x i ,y i ) and the correlation index value corr of the measured coordinates of other Beidou terminals i include: in, is the measured coordinates of the i-th Beidou terminal’s measured position (x i ,y i ) and the moving average coordinates The covariance between Var(x i ) is the measured coordinate x of the measured position of the i-th Beidou terminal i The variance of Var(y i ) is the measured coordinate y of the measured position of the i-th Beidou terminal i The variance of The horizontal coordinate is the moving average coordinate The variance of The ordinate is the moving average coordinate The variance of .

3. A multi-Beidou terminal data verification method based on Hongmeng operating system as claimed in claim 1, characterized in that: The measurement accuracy of the i-th Beidou terminal is acc i include: Among them, g i (x i ,y i , e i ) is the measurement accuracy evaluation function, e i It is the environmental information when the i-th Beidou terminal is measuring.

4. A multi-Beidou terminal data verification method based on Hongmeng operating system as described in claim 3, characterized in that: Measurement accuracy evaluation function g i (x i ,y i , e i )include: Among them, the horizontal coordinate of the moving average coordinate Moving average coordinate ordinate Var(x i ) is the measured coordinate x of the measured position of the i-th Beidou terminal i The variance of Var(y i ) is the measured coordinate y of the measured position of the i-th Beidou terminal i The variance of m is the weight of the mth environmental information, e m is the value of the mth environmental information.

5. A multi-Beidou terminal data verification system based on Hongmeng operating system, characterized in that: include: An information acquisition module is used to form a Beidou positioning network with multiple Beidou terminals, and obtain the coordinate information of the measured position of each Beidou terminal based on the Hongmeng operating system, wherein the coordinate information includes: measurement coordinates, moving average coordinates of the measured positions of all Beidou terminals in a time window, and the time interval between the current measurement time and the average measurement time of all Beidou terminals; A model module is set to set a Beidou positioning data verification model, and the Beidou positioning data accuracy index is calculated according to the coordinate information. When the Beidou positioning data accuracy index exceeds a preset accuracy threshold, the accuracy of the Beidou positioning network reaches the accuracy standard, and the measured coordinates of all the Beidou terminals are weighted averaged, and the result is used as the final Beidou positioning data, wherein the Beidou positioning data verification model includes: Where Consistency is the Beidou positioning data accuracy index, n is the number of Beidou terminals, σ is the adjustment factor, and d i is the measured coordinates (x i ,y i ) and the moving average coordinates of all Beidou terminal measured positions in the time window The Euclidean distance between is the time interval between the current measurement time of the i-th Beidou terminal and the average measurement time of all Beidou terminals, α is the time interval weight, acc i is the measurement accuracy of the i-th Beidou terminal, ∈ is a positive constant, β is the measurement accuracy weight, γ is the correlation weight, corr i is the measured coordinates (x i ,y i ) and the correlation index value of the measurement coordinates of other Beidou terminals; The adjustment module is used to adjust the accuracy of each Beidou terminal when the Beidou positioning data accuracy index is less than a preset accuracy threshold, and reacquire the coordinate information of the measured position until the Beidou positioning data accuracy index exceeds the preset accuracy threshold.

6. A multi-Beidou terminal data verification system based on Hongmeng operating system as claimed in claim 5, characterized in that: The measured coordinates of the i-th Beidou terminal’s measured position (x i ,y i ) and the correlation index value corr of the measured coordinates of other Beidou terminals i include: in, is the measured coordinates of the i-th Beidou terminal’s measured position (x i ,y i ) and the moving average coordinates The covariance between Var(x i ) is the measured coordinate x of the measured position of the i-th Beidou terminal i The variance of Var(y i ) is the measured coordinate y of the measured position of the i-th Beidou terminal i The variance of The horizontal coordinate is the moving average coordinate The variance of The ordinate is the moving average coordinate The variance of .

7. A multi-Beidou terminal data verification system based on Hongmeng operating system as claimed in claim 5, characterized in that: The measurement accuracy of the i-th Beidou terminal is acc i include: Among them, g i (x i ,y i , e i ) is the measurement accuracy evaluation function, e i It is the environmental information when the i-th Beidou terminal is measuring.

8. A multi-Beidou terminal data verification system based on Hongmeng operating system as claimed in claim 7, characterized in that: Measurement accuracy evaluation function g i (x i ,y i , e i )include: Among them, the horizontal coordinate of the moving average coordinate Moving average coordinate ordinate Var(x i ) is the measured coordinate x of the measured position of the i-th Beidou terminal i The variance of Var(y i ) is the measured coordinate y of the measured position of the i-th Beidou terminal i The variance of m is the weight of the mth environmental information, e m is the value of the mth environmental information.

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