Evaluation method and evaluation device
By integrating a variety of positioning algorithms in electronic devices, the appropriate algorithm is selected according to the SSR correction parameter type, and the limitations of existing evaluation schemes have been solved, and more flexible and accurate positioning accuracy assessment has been achieved.
Patent Information
- Application Number
- CN202411477823.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-10-22
- Publication Date
- 2025-01-24
AI Technical Summary
The existing SSR correction parameter evaluation scheme has limitations, and it is difficult to effectively evaluate positioning accuracy under diversified needs.
By integrating a variety of positioning algorithms in electronic devices, including PPP-RTK and PPP-AR, the appropriate second positioning algorithm is selected based on the received SSR correction parameter type, and the positioning accuracy is evaluated.
The applicable scenario and scope of the SSR correction parameter assessment is improved, so that the accuracy of the positioning accuracy evaluation can be more flexibly cope with the needs of diversified needs.
Smart Images
Figure CN119355783A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of satellite navigation and positioning technology, and in particular to an evaluation method and an evaluation device. Background Art
[0002] In the positioning solution, the State Space Representation (SSR) correction parameter is an advanced technology used to improve the accuracy of Global Navigation Satellite System (GNSS) positioning. SSR correction parameters can provide high-precision correction information such as satellite orbit, satellite clock error, ionospheric delay, etc., thereby significantly improving the accuracy of positioning results.
[0003] At present, in order to ensure the real-time update and accuracy of SSR correction parameters, it is necessary to evaluate the SSR correction parameters. When evaluating the SSR correction parameters, the accuracy of orbit and clock correction, the update frequency of SSR correction parameters, the effectiveness of SSR correction parameters, the implementation effect of SSR correction parameters, etc. are usually considered. However, the known SSR correction parameter evaluation schemes have certain limitations. Summary of the invention
[0004] The embodiments of the present application are dedicated to providing an evaluation method and an evaluation device, which are introduced from the following aspects.
[0005] In a first aspect, an evaluation method is provided, including: an electronic device uses a first positioning algorithm to obtain a first positioning result of a target device, the first positioning algorithm is a positioning algorithm that is not based on state space representation SSR correction parameters; the electronic device selects a second positioning algorithm from a plurality of positioning algorithms, the plurality of positioning algorithms include a plurality of positioning algorithms that perform positioning based on the SSR correction parameters; the electronic device uses the second positioning algorithm to obtain a second positioning result of the target device; the electronic device evaluates the positioning accuracy of positioning based on the SSR correction parameters based on the difference between the first positioning result and the second positioning result.
[0006] As a possible implementation method, the electronic device selects a second positioning algorithm from a plurality of positioning algorithms for positioning based on the SSR correction parameters, including: the electronic device selects the second positioning algorithm from the plurality of positioning algorithms based on the type of the received SSR correction parameters, and different types of SSR correction parameters required to run different positioning algorithms among the plurality of positioning algorithms are different.
[0007] As a possible implementation method, the multiple positioning algorithms include a precise point positioning-real-time kinematic measurement PPP-RTK positioning algorithm and a precise point positioning ambiguity fixed PPP-AR positioning algorithm, and the electronic device selects the second positioning algorithm from the multiple positioning algorithms based on the type of the received SSR correction parameters, including: if the type of the SSR correction parameters includes satellite clock error correction parameters, satellite orbit correction parameters, phase deviation correction parameters and code chip correction parameters, the electronic device selects the PPP-AR positioning algorithm as the second positioning algorithm from the multiple positioning algorithms; if the type of the SSR correction parameters includes satellite clock error correction parameters, satellite orbit correction parameters, phase deviation correction parameters, code chip correction parameters and tropospheric delay correction parameters, the electronic device selects the PPP-RTK positioning algorithm as the second positioning algorithm from the multiple positioning algorithms.
[0008] As a possible implementation method, the electronic device is provided with a global navigation satellite system GNSS board, and the electronic device uses a first positioning algorithm to obtain a first positioning result of the target device, including: the electronic device obtains a virtual observation value from a virtual reference station VRS; the electronic device receives the GNSS observation value through the GNSS board; the electronic device inputs the virtual observation value and the GNSS observation value into the first positioning algorithm to obtain the first positioning result of the target device.
[0009] As a possible implementation manner, the first positioning algorithm is a real-time kinematic RTK positioning algorithm.
[0010] In a second aspect, an evaluation device is provided, including: a processing unit, for obtaining a first positioning result of a target device by using a first positioning algorithm, wherein the first positioning algorithm is a positioning algorithm that is not based on the state space representation SSR correction parameters; the processing unit, for selecting a second positioning algorithm from a plurality of positioning algorithms, wherein the plurality of positioning algorithms include a plurality of positioning algorithms that perform positioning based on the SSR correction parameters; the processing unit, for obtaining a second positioning result of the target device by using the second positioning algorithm; and the processing unit, for evaluating the positioning accuracy of positioning based on the SSR correction parameters according to the difference between the first positioning result and the second positioning result.
[0011] As a possible implementation manner, the processing unit is used to: select the second positioning algorithm from the multiple positioning algorithms based on the type of the received SSR correction parameters, and different types of SSR correction parameters required to run different positioning algorithms among the multiple positioning algorithms are different.
[0012] As a possible implementation method, the multiple positioning algorithms include a precise point positioning-real-time kinematic measurement PPP-RTK positioning algorithm and a precise point positioning ambiguity fixed PPP-AR positioning algorithm, and the processing unit is used to: if the type of the SSR correction parameters includes satellite clock error correction parameters, satellite orbit correction parameters, phase deviation correction parameters and code chip correction parameters, then select the PPP-AR positioning algorithm from the multiple positioning algorithms as the second positioning algorithm; if the type of the SSR correction parameters includes satellite clock error correction parameters, satellite orbit correction parameters, phase deviation correction parameters, code chip correction parameters and tropospheric delay correction parameters, then select the PPP-RTK positioning algorithm from the multiple positioning algorithms as the second positioning algorithm.
[0013] As a possible implementation method, the electronic device is provided with a global navigation satellite system GNSS board, and the processing unit is used to: obtain virtual observation values from a virtual reference station VRS; receive GNSS observation values through the GNSS board; input the virtual observation values and GNSS observation values into the first positioning algorithm to obtain a first positioning result of the target device.
[0014] As a possible implementation manner, the first positioning algorithm is a real-time kinematic RTK positioning algorithm.
[0015] In a third aspect, an electronic device is provided. The electronic device includes: a memory for storing computer executable program code; a communication interface, and a processor, the processor being coupled to the memory and the communication interface. The program code stored in the memory includes instructions, and when the processor executes the instructions, the communication device executes the method executed by the electronic device in the first aspect or any possible design of the first aspect.
[0016] According to a fourth aspect, a computer program product is provided, the computer program product comprising: a computer program code, when the computer program code is run on a computer, the computer executes the methods in the above aspects.
[0017] According to a fifth aspect, a computer-readable medium is provided, wherein the computer-readable medium stores a program code, and when the computer program code is executed on a computer, the computer executes the methods in the above aspects.
[0018] In an embodiment of the present application, the electronic device can support a plurality of different positioning algorithms for positioning based on the SSR correction parameters. Thus, in the process of evaluating the SSR correction parameters, a second positioning algorithm can be selected from a plurality of positioning algorithms to evaluate the SSR correction parameters. Compared with the traditional solution of using only a single algorithm to evaluate the SSR correction parameters, this helps to improve the applicable scenarios of the SSR correction parameter evaluation and broaden its scope of application, so as to respond to diverse needs more flexibly. BRIEF DESCRIPTION OF THE DRAWINGS
[0019] Figure 1 Shown is a schematic diagram of the principles of the foundation reinforcement system.
[0020] Figure 2 Shown is a schematic diagram of the principles of the satellite-based augmentation system.
[0021] Figure 3 The figure is a schematic diagram of the principle of broadcasting SSR correction parameters by a low-orbit satellite provided in an embodiment of the present application.
[0022] Figure 4 Shown is a schematic flow chart of the evaluation method provided in an embodiment of the present application.
[0023] Figure 5 Shown is a functional application schematic diagram of an electronic device provided in an embodiment of the present application.
[0024] Figure 6 Shown is a schematic diagram of the structure of an evaluation device provided in an embodiment of the present application.
[0025] Figure 7 Shown is a schematic block diagram of an electronic device according to another embodiment of the present application. DETAILED DESCRIPTION
[0026] For ease of understanding, the evaluation method of the embodiment of the present application is introduced below.
[0027] In the field of global navigation satellite systems, although systems such as the Global Positioning System (GPS) and BeiDou have been widely used, their positioning accuracy is often limited by multiple factors such as satellite orbit error, clock error, ionosphere and tropospheric delay, and is usually maintained at 5 to 10 meters, which is difficult to meet high-precision positioning needs.
[0028] In order to improve positioning accuracy, the navigation augmentation system was introduced, which can meet the higher positioning requirements of specific applications by providing more accurate positioning information, enhancing signal integrity and availability. At present, the navigation augmentation system is mainly divided into two categories: ground-based augmentation system and satellite-based augmentation system.
[0029] The ground-based augmentation system provides differential correction signals through ground base stations (or reference stations) to optimize positioning accuracy. Figure 1 The ground-based augmentation system receives the GNSS satellite 120 signal through the ground base station 110 and calculates the correction value, and then sends these correction values to the user equipment 130. After receiving these correction values, the user equipment 130 can correct the satellite signal it receives, thereby achieving higher precision positioning. Although the ground-based augmentation system can effectively improve positioning accuracy, it requires the deployment of base stations on the ground, and the establishment and maintenance require a lot of funds and human resources, resulting in high costs and limited coverage, which limits its wide application potential.
[0030] Satellite-based augmentation systems have the advantage of wide coverage, making up for the shortcomings of ground-based augmentation systems. However, the low speed of medium and high-orbit satellites results in a long convergence time for centimeter-level positioning accuracy, which is difficult to meet the urgent needs of real-time high-precision applications. Low-orbit satellites have high speeds and can quickly provide navigation signals and modulate error correction information, thereby significantly shortening the convergence time. Figure 2 , the satellite-based augmentation system uses the ground base station 210 to detect the GNSS satellite 220 signal, collects the original positioning data, and sends the data to the master control station 230. The master control station calculates various positioning correction information of the satellite, such as satellite ephemeris error, satellite clock error and ionospheric delay, and sends it to the geostationary orbit (GEO) satellite 240 through the uplink injection station. The GEO satellite 240 broadcasts this correction information to the user equipment 250, and the user equipment corrects the satellite signal it receives in combination with the correction information, thereby achieving higher precision positioning.
[0031] The above-mentioned GEO satellites are located above the earth's equator, at an altitude of 35,786 kilometers from the ground, while low-orbit satellites have a lower orbital altitude, usually between 200-2000 kilometers, and can provide faster signal updates and more flexible services. That is, low-orbit satellites can update their orbit and clock information more quickly, thereby providing more timely SSR correction parameters, which is particularly important for dynamic positioning and high-precision applications.
[0032] The principle process of broadcasting SSR correction parameters by low-orbit satellites is similar to that of satellite-based augmentation systems. Figure 3The ground base station 310 collects GNSS observation data and calculates correction information, which is sent to the calculation and injection center 320, which processes and generates differential correction information, namely SSR correction parameters. This information is sent to the low-orbit satellite 330 via an uplink, and the low-orbit satellite broadcasts the GNSS observation values and SSR correction parameters to the user equipment 340. Finally, the user equipment 340 uses this differential correction information (i.e., SSR correction parameters) to correct the received satellite signals and improve positioning accuracy.
[0033] According to the different correction information received by the user receiver, the positioning algorithm of the user end can also be classified into positioning algorithms based on SSR correction parameters and positioning algorithms not based on SSR correction parameters. Among them, the positioning algorithm based on SSR correction parameters depends on SSR correction parameters, such as: Precise Point Positioning (PPP) algorithm, Precise Point Positioning-Real Time Kinematic (PPP-RTK) positioning algorithm and Precise Point Positioning-Ambiguity Resolution (PPP-AR) positioning algorithm; while the positioning algorithm not based on SSR correction parameters usually does not rely on the correction of this state space representation, but may rely on other methods, such as the traditional double difference (Differential Dual-Frequency, DD) algorithm or the correction based on observation space representation (Observation Space Representation, OSR). For example: Real-Time Kinematic (RTK) positioning algorithm is a high-precision positioning technology in this type of positioning algorithm not based on SSR correction parameters. Positioning algorithms not based on SSR correction parameters may not be as good as positioning algorithms based on SSR correction parameters in terms of positioning accuracy and convergence time, but they may be simpler or less costly in some application scenarios.
[0034] In the positioning algorithm based on SSR correction parameters mentioned above, there can be many types of SSR correction parameters. For example: satellite clock correction parameters, satellite orbit correction parameters, phase deviation correction parameters, code chip correction parameters, and tropospheric delay correction parameters. The purpose of SSR correction parameters is to decompose the observation value error into different state quantity errors, so as to improve the positioning accuracy of the satellite navigation system.
[0035] The following introduces the types of SSR correction parameters. Satellite clock correction parameters provide correction information of satellite clocks, which can be used to calculate satellite clock corrections at any time; Satellite orbit correction parameters provide correction information of satellite positions, including position correction and velocity correction of satellites at reference times, which can be used to calculate the precise position of satellites at any time; Phase deviation correction parameters are used to correct the phase deviation of satellite signals caused by satellite hardware or signal processing software, further improving the accuracy of signals; Code chip correction parameters, also known as Differential Code Bias (DCB), DCB parameters usually include satellite-side DCB, receiver-side DCB, inter-frequency DCB and inter-code deviation, which are used to correct the effects caused by satellite and receiver hardware delays; The troposphere is the closest layer to the ground in the Earth's atmosphere, which has a significant impact on the propagation of GNSS signals. Tropospheric delay correction parameters are used to correct the delay of satellite signals in the troposphere.
[0036] At present, in order to ensure the real-time update and accuracy of SSR correction parameters, it is necessary to evaluate the SSR correction parameters. When evaluating the SSR correction parameters, the accuracy of orbit and clock correction, the update frequency of SSR correction parameters, the effectiveness of SSR correction parameters, the implementation effect of SSR correction parameters, etc. are usually considered. However, the known SSR correction parameter evaluation schemes have certain limitations.
[0037] In an embodiment of the present application, the electronic device can support a plurality of different positioning algorithms for positioning based on the SSR correction parameters. Thus, in the process of evaluating the SSR correction parameters, a second positioning algorithm can be selected from a plurality of positioning algorithms to evaluate the SSR correction parameters. Compared with the traditional solution of using only a single algorithm to evaluate the SSR correction parameters, this helps to improve the applicable scenarios of the SSR correction parameter evaluation and broaden its scope of application, so as to respond to diverse needs more flexibly.
[0038] Combine the following Figure 4 The evaluation method of the embodiment of the present application is introduced. Figure 4 The method shown may be executed by an electronic device. In some implementations, the electronic device may be a test terminal, such as a terminal server, a computer, etc. Of course, in the embodiment of the present application, the electronic device may also be other devices with evaluation functions. Figure 4 The method shown includes steps S410 to S440.
[0039] In step S410, a first positioning result of a target device is acquired using a first positioning algorithm.
[0040] In some implementations, the target device is a device that needs to be located, and the embodiment of the present application does not limit the type of the target device. The target device can be an electronic device or other device other than an electronic device, such as a building.
[0041] In some implementations, the first positioning algorithm is a positioning algorithm that is not based on the state space representation of the SSR correction parameters. For the relevant introduction to the first positioning algorithm, please refer to the above. For example, the first positioning algorithm is a real-time dynamic RTK positioning algorithm. Using the real-time dynamic RTK positioning algorithm as the first positioning algorithm can provide a high positioning accuracy of up to the centimeter level. In this way, the first positioning result obtained based on the first positioning algorithm is used as the true value reference in the SSR correction parameter evaluation process, thereby laying the foundation for the subsequent SSR correction parameter evaluation.
[0042] In some implementations, the first positioning result is a positioning result obtained by using a first positioning algorithm for the target device. The first positioning result generally includes one or more of the following: location information, timestamp, positioning accuracy, speed and direction, satellite information, positioning mode, and integrity information of the target device.
[0043] Among them, the location information of the target device may include, for example, the longitude information, latitude information and altitude information of the target device; timestamp, indicating when the location information of the target device is determined; positioning accuracy, indicating the accuracy of the positioning result, usually expressed as an error range; speed and direction, indicating the moving speed and direction of the target device in dynamic positioning; satellite information, referring to the satellite information used to solve the position, such as the satellite number, elevation angle, azimuth, etc.; positioning mode, indicating how the positioning is solved; integrity information, to evaluate the reliability and security of the positioning results.
[0044] In step S420, a second positioning algorithm is selected from a plurality of positioning algorithms.
[0045] In some implementations, the multiple positioning algorithms include multiple positioning algorithms based on SSR correction parameters, such as: PPP-RTK algorithm, PPP-AR algorithm, etc.
[0046] In the embodiment of the present application, the method for selecting the second positioning algorithm from a plurality of positioning algorithms is not limited. In some implementations, the second positioning algorithm can be selected from a plurality of positioning algorithms based on the type of SSR correction parameters, and the relevant introduction can be found below. In other implementations, the second positioning algorithm can be selected according to the positioning accuracy of the plurality of positioning algorithms. For example, a positioning algorithm with higher positioning accuracy can be selected from a plurality of positioning algorithms as the second positioning algorithm.
[0047] In step S430, a second positioning result of the target device is acquired using a second positioning algorithm.
[0048] In some implementations, the second positioning result is a positioning result obtained by using a second positioning algorithm for the target device. Similar to the content included in the first positioning result, the second positioning result generally includes one or more of the following: location information, timestamp, positioning accuracy, speed and direction, satellite information, positioning mode, and integrity information of the target device. For relevant information, please refer to the first positioning result above.
[0049] In step S440, the positioning accuracy of positioning based on the SSR correction parameters is evaluated according to the difference between the first positioning result and the second positioning result.
[0050] In the embodiment of the present application, the positioning accuracy based on the SSR correction parameters is evaluated by setting a threshold in advance. After obtaining the first positioning result and the second positioning result, the difference is calculated and then compared with the set threshold to evaluate the positioning accuracy of the SSR correction parameters.
[0051] For example, if the difference between the first positioning result and the second positioning result is greater than a threshold value, it indicates that the accuracy of positioning the target device based on the second positioning algorithm is poor, and accordingly, the accuracy of the SSR correction parameters indicated by the evaluation result of the SSR correction parameters is low. On the contrary, if the difference between the first positioning result and the second positioning result is less than or equal to a threshold value, it indicates that the accuracy of positioning the target device based on the second positioning algorithm is high, and accordingly, the accuracy of the SSR correction parameters indicated by the evaluation result of the SSR correction parameters is high.
[0052] In the embodiment of the present application, there is no limitation on the setting method of the threshold. In some implementations, the threshold can be set based on the tester's needs. For example, if the tester wants to perform a test with higher accuracy, the threshold can be set to a smaller value. On the contrary, if the tester wants to perform a test with lower accuracy, the threshold can be set to a larger value.
[0053] It should be understood that the above is only an example of obtaining the first positioning result first and then the second positioning result, but the embodiment of the present application does not limit the timing relationship. In fact, the embodiment of the present application can also obtain the second positioning result first and then the first positioning result, as long as the two positioning results are obtained before the comparison and evaluation.
[0054] As described above, the second positioning algorithm may be selected from a plurality of positioning algorithms based on the type of the received SSR correction parameter. In this case, different types of SSR correction parameters are required to run different positioning algorithms among the plurality of positioning algorithms.
[0055] In some implementations, the types of SSR correction parameters may include one or more of the following: satellite clock correction parameters, satellite orbit correction parameters, phase deviation correction parameters, code chip correction parameters, and tropospheric delay correction parameters.
[0056] In some scenarios, the type of SSR correction parameters obtained by the electronic device may change. Therefore, in an embodiment of the present application, the electronic device may support multiple positioning algorithms, and the types of SSR correction parameters required for running different positioning algorithms are different. This allows the electronic device to select a second positioning algorithm from the multiple positioning algorithms based on the type of SSR correction parameters received, which helps to improve the applicable scenarios for SSR correction parameter evaluation.
[0057] The following describes the types of SSR correction parameters corresponding to different positioning algorithms among the multiple positioning algorithms in the embodiments of the present application.
[0058] For example, if the types of SSR correction parameters include satellite clock correction parameters, satellite orbit correction parameters, phase deviation correction parameters and code chip correction parameters, the PPP-AR positioning algorithm is selected as the second positioning algorithm from a plurality of positioning algorithms.
[0059] For another example, if the types of SSR correction parameters include satellite clock correction parameters, satellite orbit correction parameters, phase deviation correction parameters, code chip correction parameters and tropospheric delay correction parameters, the PPP-RTK positioning algorithm is selected as the second positioning algorithm from multiple positioning algorithms.
[0060] At present, the traditional test terminal receives GNSS observation data from other devices, and the data transmission has a time delay, which may lead to inaccurate evaluation of SSR correction parameters. Therefore, in order to reduce the delay in transmitting GNSS observation data, the GNSS board can be integrated into the electronic device. At this time, the electronic device can directly receive the GNSS observation data as the input of the first positioning algorithm to obtain the first positioning result.
[0061] That is, a GNSS board is provided on the electronic device, and step S410 includes: the electronic device obtains virtual observation values from a virtual reference station (VRS); receives GNSS observation values through the GNSS board; and inputs the virtual observation values and the GNSS observation values into a first positioning algorithm to obtain a first positioning result of the target device.
[0062] In some implementations, the electronic device may also have one or more of the following functions: data source management, algorithm result analysis, system real-time monitoring, map visualization, authority management, and remote configuration. The above functions are introduced below.
[0063] In some implementations, data source management is used to manage a data source, where management may include opening or closing a data source.
[0064] In some implementations, see Figure 5 As shown, the data source may include one or more of the following: a data source of GNSS observation data, a data source of virtual observation data, and a data source of SSR correction parameters. The data source of GNSS observation data may be, for example, a GNSS board integrated in an electronic device. The data source of virtual observation data may be, for example, a VRS, and the data source of SSR correction parameters may be, for example, a low-orbit satellite.
[0065] The embodiments of the present application do not limit the method of data source management. In some implementations, during the evaluation of the SSR correction parameters, if the first positioning result corresponding to the target device has not changed, the historical positioning result of the target device can be used. At this time, the data source of the GNSS observation data can be closed. In other implementations, during the evaluation of the SSR correction parameters, if the first positioning result corresponding to the target device has changed, the data source of the GNSS observation data can be opened.
[0066] In some implementations, the algorithm result analysis is used to indicate the accuracy of the first positioning result and / or the second positioning result. Of course, in the embodiment of the present application, the algorithm result analysis is also used to indicate the time required to calculate the first positioning result and / or the second positioning result, so that the tester can intuitively evaluate the SSR correction parameters based on the algorithm positioning result.
[0067] In some implementations, the system real-time monitoring is used to monitor the performance of the electronic device in real time. For example, the system real-time monitoring can monitor in real time the occupancy rate of the storage space of the electronic device during the SSR correction parameter evaluation process. For another example, the system real-time monitoring can monitor in real time the occupancy rate of the computing resources of the electronic device during the SSR correction parameter evaluation process. For another example, the system real-time monitoring can monitor in real time the power of the electronic device during the SSR correction parameter evaluation process.
[0068] In some implementations, map visualization is used to display the first positioning result of the target device and the second positioning result of the target device on a map, which helps to intuitively display the positioning results in a graphical interface and enhances the convenience of data interpretation.
[0069] In some implementations, permission management is used to limit the access rights of testers with different permissions to the electronic device to improve the security of evaluating SSR correction parameters using the electronic device.
[0070] In some implementations, remote configuration is used to remotely upgrade the firmware of the electronic device and / or adjust the hardware configuration of the electronic device, which helps to improve the maintainability and scalability of the electronic device.
[0071] For ease of understanding, the following Figure 5 The electronic device 500 in the embodiment of the present application may include data source management 510 , algorithm result analysis 520 , system real-time monitoring 530 , map visualization 540 , authority management 550 , and remote configuration 560 .
[0072] In the data source management module 510, the data source can be turned on and off. When starting to collect data, you can choose the data collection method, or you can perform data reception and decoding operations. The electronic device 500 mainly focuses on the collection of three key GNSS data types, including GNSS original observation data, VRS virtual reference values, and SSR correction parameters. Among them, GNSS observation data is collected in real time by a variety of high-precision GNSS modules integrated in the system. These modules have high sensitivity and low noise characteristics, ensuring the accuracy and reliability of the observation data; VRS virtual reference values are derived from professional network RTK services; SSR correction parameters are precise correction parameters for GNSS signals, which are broadcast in real time by low-orbit satellites.
[0073] When data collection begins, the electronic device 500 uses a Raspberry Pi platform equipped with a Debian operating system as a core control unit to schedule a variety of hardware interfaces to obtain key data and achieve efficient scheduling and management of hardware resources. For example, through wireless communication protocols such as Universal Asynchronous Receiver / Transmitter (UART), Ethernet, Bluetooth, and Wireless Fidelity (WiFi), the electronic device 500 can collect the above three key data types in real time and efficiently. This multi-protocol, multi-interface data collection strategy not only ensures the comprehensiveness and timeliness of the data, but also improves the flexibility and scalability of the system, laying a solid foundation for subsequent data processing and analysis.
[0074] In the algorithm result analysis module 520, the user can intuitively view the positioning results of different positioning algorithms. This module involves the deployment of the Message Queuing Telemetry Transport (MQTT) service and the World Wide Web (WEB) management system, and the following will explain these two parts separately.
[0075] At the MQTT service level, an MQTT message proxy service is deployed. As a central scheduler, this service is responsible for monitoring data releases from various data sources and distributing data to corresponding algorithm processing flows as needed. For various positioning algorithms such as RTK, PPP-AR, and PP-RTK, multiple instances are started in parallel, forming a total of more than ten independent processes.
[0076] MQTT is a lightweight, publish / subscribe-based message transmission protocol. Devices can publish messages to specific topics through MQTT, and other devices can subscribe to these topics to receive messages, thereby achieving efficient communication and data exchange between devices. For example: after obtaining the positioning result using the RTK positioning algorithm, the result can be used as a true value benchmark for subsequent positioning accuracy evaluation. At this time, it can be published to a certain topic through MQTT. After obtaining the positioning result using the positioning algorithm based on SSR correction parameters, subscribe to the topic and call the RTK-based positioning result for comparative evaluation.
[0077] The design of MQTT not only significantly improves the concurrency and efficiency of data processing, but also enhances the system's ability to dynamically manage complex data streams, providing support for the efficient operation and collaborative work of algorithms.
[0078] In the WEB service architecture, an integrated WEB management system is built, which adopts the development mode of front-end and back-end separation. Among them, the front-end part is built based on the Vue3 framework, which has responsive data binding and component design characteristics, which can effectively improve the interactive experience and dynamic rendering capabilities of the user interface; the back-end relies on the Node.js platform and uses the Express framework to build the Representational State Transfer (RESTful) Application Programming Interface (API) service, realizing the efficient integration of the logical layer of data processing and business logic; in addition, MongoDB, a non-relational database, is selected to use its flexible document model and powerful query capabilities to effectively guarantee the management of system data. The management system not only provides an intuitive and easy-to-use configuration interface, but also integrates powerful real-time analysis tools, allowing users to deeply analyze positioning results, providing strong support for the performance evaluation and optimization of the low-orbit satellite navigation enhancement system, and further enhancing the functionality of electronic equipment.
[0079] In the system real-time monitoring module 530, users can fully understand the usage of system resources. An intuitive interface is provided in the above-mentioned WEB management system to help users observe and analyze the performance and status of the system in real time. For example: the occupancy rate of the storage space of the electronic device, the occupancy rate of the computing resources, the power of the electronic device, etc. during the SSR correction parameter evaluation process. This active monitoring strategy is crucial to maintaining the stability of the system, improving the service quality and optimizing resource allocation.
[0080] In the map visualization module 540, complex positioning data is converted into an easy-to-understand graphical interface, which greatly improves the user's understanding and analysis efficiency of information. This function can not only display the first positioning result and the second positioning result of the target device, but also intuitively indicate the importance and status of different data points through visual elements such as color coding and icons. In addition, users can view detailed information of a specific area through zooming, panning and clicking interactions. This intuitive display method enhances the convenience of data interpretation.
[0081] In the permission management module 550, user permissions are allowed to be set and managed in a refined manner, limiting the access rights of testers with different permissions to electronic devices. This permission management mechanism is usually based on a role-based access control model, which controls user access to resources by defining different roles and assigning corresponding permission sets to each role. This access control model simplifies the complexity of permission management, improves the security of the system, and makes permission allocation more intuitive and flexible. Through role inheritance and permission subdivision, a complex permission hierarchy can be constructed to meet the needs of different users and business scenarios, and also improves the security of using electronic devices to evaluate SSR correction parameters.
[0082] In the remote configuration module 560, the user can remotely upgrade the firmware of the electronic device and / or adjust the hardware configuration of the electronic device through the network. Through remote access, the system administrator can monitor and maintain the system at any time and any place, ensuring that the system is always kept up to date, while quickly responding to and solving possible problems. Such configuration not only improves the convenience of operation, but also reduces the need for on-site maintenance, greatly improving the maintainability and scalability of electronic devices.
[0083] Combination of the above Figures 1 to 5 , described the method embodiment of the present application, and the following describes the device embodiment of the present application. It should be understood that the description of the device embodiment corresponds to the description of the method embodiment, so the part not described in detail can refer to the previous method embodiment.
[0084] Figure 6 6 is a schematic diagram of the structure of an evaluation device provided in an embodiment of the present application. The evaluation device 600 includes a processing unit 610 .
[0085] The processing unit 610 is configured to obtain a first positioning result of the target device by using a first positioning algorithm, where the first positioning algorithm is a positioning algorithm not based on the state space representation SSR correction parameter;
[0086] The processing unit 610 is configured to select a second positioning algorithm from a plurality of positioning algorithms, wherein the plurality of positioning algorithms include a plurality of positioning algorithms for positioning based on the SSR correction parameters;
[0087] The processing unit 610 is configured to obtain a second positioning result of the target device by using the second positioning algorithm;
[0088] The processing unit 610 is used to evaluate the positioning accuracy of positioning based on the SSR correction parameters according to the difference between the first positioning result and the second positioning result.
[0089] In some implementations, the processing unit is configured to: select a second positioning algorithm from a plurality of positioning algorithms based on a type of received SSR correction parameters, and different positioning algorithms among the plurality of positioning algorithms require different types of SSR correction parameters to be run.
[0090] In some implementations, the multiple positioning algorithms include a precise point positioning-real-time kinematic measurement PPP-RTK positioning algorithm and a precise point positioning ambiguity fixed PPP-AR positioning algorithm, and the processing unit is used to: if the type of SSR correction parameters includes satellite clock error correction parameters, satellite orbit correction parameters, phase deviation correction parameters and code chip correction parameters, then select the PPP-AR positioning algorithm as the second positioning algorithm from the multiple positioning algorithms; if the type of SSR correction parameters includes satellite clock error correction parameters, satellite orbit correction parameters, phase deviation correction parameters, code chip correction parameters and tropospheric delay correction parameters, then select the PPP-RTK positioning algorithm as the second positioning algorithm from the multiple positioning algorithms.
[0091] In some implementations, the electronic device is provided with a global navigation satellite system GNSS board, and the processing unit is used to: obtain virtual observation values from a virtual reference station VRS; receive GNSS observation values through the GNSS board; input the virtual observation values and the GNSS observation values into a first positioning algorithm to obtain a first positioning result of the target device.
[0092] In some implementations, the first positioning algorithm is a real-time kinematic RTK positioning algorithm.
[0093] In an optional embodiment, the processing unit 610 may be a processor 720, and the electronic device may further include an input / output interface 730 and a memory 710. Figure 7 shown.
[0094] Figure 7 It is a schematic block diagram of an electronic device according to another embodiment of the present application. Figure 7 The electronic device 700 shown may include: a memory 710, a processor 720, and an input / output interface 730. The memory 710, the processor 720, and the input / output interface 730 are connected via an internal connection path, the memory 710 is used to store instructions, and the processor 720 is used to execute the instructions stored in the memory 720 to control the input / output interface 730 to receive input data and information, and output data such as operation results.
[0095] It should be understood that in the embodiment of the present application, the processor 720 can adopt a general central processing unit (CPU), a microprocessor, an application specific integrated circuit (ASIC), or one or more integrated circuits to execute relevant programs to implement the technical solution provided in the embodiment of the present application.
[0096] The memory 710 may include a read-only memory and a random access memory, and provides instructions and data to the processor 720. A portion of the processor 720 may also include a nonvolatile random access memory. For example, the processor 720 may also store information on the device type.
[0097] In the implementation process, each step of the above method can be completed by an integrated logic circuit of hardware in the processor 720 or an instruction in the form of software. The method for requesting uplink transmission resources disclosed in the embodiment of the present application can be directly embodied as a hardware processor for execution, or a combination of hardware and software modules in the processor for execution. The software module can be located in a mature storage medium in the art such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory or an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory 710, and the processor 720 reads the information in the memory 710 and completes the steps of the above method in combination with its hardware. To avoid repetition, it will not be described in detail here.
[0098] It should be understood that in the embodiments of the present application, the processor may be a central processing unit (CPU), and the processor may also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.
[0099] It should be understood that in the embodiment of the present application, "B corresponding to A" means that B is associated with A, and B can be determined according to A. However, it should also be understood that determining B according to A does not mean determining B only according to A, and B can also be determined according to A and / or other information.
[0100] It should be understood that the term "and / or" in this article is only a description of the association relationship of the associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.
[0101] It should be understood that in the various embodiments of the present application, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.
[0102] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as 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 mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.
[0103] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
[0104] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.
[0105] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be transmitted from a website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (digital subscriber line, DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The computer-readable storage medium may be any available medium that can be read by a computer or a data storage device such as a server or data center that includes one or more available media integrated. The available medium may be a magnetic medium (eg, a floppy disk, a hard disk, a magnetic tape), an optical medium (eg, a digital video disc (DVD)), or a semiconductor medium (eg, a solid state disk (SSD)).
[0106] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.
Claims
1. An evaluation method, characterized in that: include: The electronic device obtains a first positioning result of the target device by using a first positioning algorithm, where the first positioning algorithm is a positioning algorithm not based on the state space representation SSR correction parameter; The electronic device selects a second positioning algorithm from a plurality of positioning algorithms, wherein the plurality of positioning algorithms include a plurality of positioning algorithms based on the SSR correction parameters for positioning; The electronic device obtains a second positioning result of the target device by using the second positioning algorithm; The electronic device evaluates the positioning accuracy of positioning based on the SSR correction parameters according to the difference between the first positioning result and the second positioning result.
2. The method according to claim 1, characterized in that The electronic device selects a second positioning algorithm from a plurality of positioning algorithms for positioning based on the SSR correction parameters, including: The electronic device selects the second positioning algorithm from the multiple positioning algorithms based on the type of the received SSR correction parameters, and different positioning algorithms among the multiple positioning algorithms require different types of SSR correction parameters to run.
3. The method according to claim 2, characterized in that The multiple positioning algorithms include a precise point positioning-real-time kinematic measurement PPP-RTK positioning algorithm and a precise point positioning ambiguity fixed PPP-AR positioning algorithm. The electronic device selects the second positioning algorithm from the multiple positioning algorithms based on the type of the received SSR correction parameter, including: If the types of the SSR correction parameters include satellite clock correction parameters, satellite orbit correction parameters, phase deviation correction parameters and chip correction parameters, the electronic device selects the PPP-AR positioning algorithm as the second positioning algorithm from the multiple positioning algorithms; If the types of the SSR correction parameters include satellite clock correction parameters, satellite orbit correction parameters, phase deviation correction parameters, code chip correction parameters and tropospheric delay correction parameters, the electronic device selects the PPP-RTK positioning algorithm as the second positioning algorithm from the multiple positioning algorithms.
4. The method according to claim 1, characterized in that The electronic device is provided with a global navigation satellite system GNSS board, and the electronic device uses a first positioning algorithm to obtain a first positioning result of the target device, including: The electronic device obtains virtual observation values from a virtual reference station VRS; The electronic device receives GNSS observation values through the GNSS board; The electronic device inputs the virtual observation value and the GNSS observation value into the first positioning algorithm to obtain a first positioning result of the target device.
5. The method according to claim 1, characterized in that The first positioning algorithm is a real-time kinematic RTK positioning algorithm.
6. An evaluation device, characterized in that include: A processing unit, configured to obtain a first positioning result of the target device by using a first positioning algorithm, wherein the first positioning algorithm is a positioning algorithm not based on a state space representation SSR correction parameter; The processing unit is used to select a second positioning algorithm from a plurality of positioning algorithms, wherein the plurality of positioning algorithms include a plurality of positioning algorithms for positioning based on the SSR correction parameters; The processing unit is configured to obtain a second positioning result of the target device by using the second positioning algorithm; The processing unit is used to evaluate the positioning accuracy of positioning based on the SSR correction parameters according to the difference between the first positioning result and the second positioning result.
7. The method according to claim 6, characterized in that The processing unit is used for: The second positioning algorithm is selected from the multiple positioning algorithms based on the type of the received SSR correction parameters, and different positioning algorithms among the multiple positioning algorithms require different types of SSR correction parameters to run.
8. The method according to claim 7, characterized in that The multiple positioning algorithms include a precise point positioning-real-time kinematic measurement PPP-RTK positioning algorithm and a precise point positioning ambiguity fixed PPP-AR positioning algorithm, and the processing unit is used to: If the types of the SSR correction parameters include satellite clock correction parameters, satellite orbit correction parameters, phase deviation correction parameters and chip correction parameters, then selecting the PPP-AR positioning algorithm as the second positioning algorithm from the multiple positioning algorithms; If the types of the SSR correction parameters include satellite clock correction parameters, satellite orbit correction parameters, phase deviation correction parameters, code chip correction parameters and tropospheric delay correction parameters, the PPP-RTK positioning algorithm is selected as the second positioning algorithm from the multiple positioning algorithms.
9. The method according to claim 6, characterized in that The electronic device is provided with a global navigation satellite system GNSS board, and the processing unit is used for: Get virtual observation values from virtual reference station VRS; Receiving GNSS observations via the GNSS board; The virtual observation value and the GNSS observation value are input into the first positioning algorithm to obtain a first positioning result of the target device.
10. The method according to claim 6, characterized in that The first positioning algorithm is a real-time kinematic RTK positioning algorithm.