Global satellite navigation positioning test method and system based on low-speed orbit

Abstract

The invention relates to a global satellite navigation positioning test method and system based on a low-speed orbit. The system comprises a test orbit, a rail car and a grating assembly. The grating assembly is arranged along the extension direction of the test track; the grating assembly comprises a plurality of grating test points; the rail car comprises an infrared receiving and transmitting assembly, an industrial personal computer and a GNSS suite. The infrared receiving and transmitting assembly and the GNSS suite are electrically connected with the industrial personal computer. The industrial personal computer is used for accessing the Ethernet; the GNSS suite is used for outputting positioning information to the industrial personal computer; when the rail car runs and passes through a grating test point of the grating assembly, infrared light of the infrared transceiving assembly generates a corresponding level signal and sends the level signal to the industrial personal computer, the industrial personal computer generates index parameters based on the corresponding level signal and generates a truth table according to the index parameters and the positioning information, and the truth table is used for positioning algorithm test comparison. The application has the effects of improving the application range of the truth value system of the positioning algorithm test and reducing the cost of the truth value system.

Description

Technical Field

[0001] The present application relates to the technical field of satellite navigation, and in particular to a global satellite navigation positioning test method and system based on a low-speed orbit. Background Art

[0002] The global satellite navigation and positioning system includes single-point positioning, RTK positioning, PPP positioning and other methods. In RTK mode, the base station transmits its observation values ​​and station coordinate information to the mobile station through a data radio or network. After receiving the data from the base station, the mobile station combines its own observation data collected from multiple satellite systems such as Beidou / GPS to perform real-time calculations to obtain a fixed solution and output real-time centimeter-level positioning results.

[0003] However, in actual use, it is easily affected by obstructions from objects, multipath problems, etc., which reduces the accuracy of positioning and makes it difficult to obtain a fixed solution. The positioning algorithm needs to be optimized. However, in the process of optimizing the algorithm to improve accuracy, it is necessary to test and use real coordinates to verify the effectiveness of the algorithm. Although professional instruments such as laser gyroscopes have high accuracy and reliable results, they are expensive and rarely used in low-speed systems. Therefore, the current true value system test has the problems of high cost and small application range, which needs to be improved. Summary of the invention

[0004] In order to increase the application scope of the truth value system for positioning algorithm testing and reduce the cost of the truth value system, the present application provides a global satellite navigation positioning test method and system based on a low-speed orbit.

[0005] The above-mentioned invention objective of the present application is achieved through the following technical solutions: A global satellite navigation and positioning test system based on a low-speed track, comprising a test track, a track vehicle and a grating assembly; The grating component is arranged along the extension direction of the test track; the grating component includes a plurality of grating test points; The rail vehicle includes an infrared transceiver component, an industrial computer and a GNSS kit, wherein the infrared transceiver component and the GNSS kit are both electrically connected to the industrial computer; the industrial computer is used to access Ethernet; and the GNSS kit is used to output positioning information to the industrial computer; When the rail vehicle runs through the grating test point of the grating component, the infrared light of the infrared transceiver component generates a corresponding level signal and sends it to the industrial computer. The industrial computer generates an index parameter based on the corresponding level signal and generates a truth table according to the index parameter and the positioning information. The truth table is used for positioning algorithm testing and comparison.

[0006] By adopting the above technical scheme, the rail vehicle is preset to move on the test track, and a physical grating component is further arranged in the middle of the test track. The infrared rays emitted by the infrared transceiver component when passing through the test point are used to feed back high and low levels to the industrial computer. The material cost is low, and the GNSS kit arranged on the rail vehicle provides and calculates the positioning information of the rail vehicle at each test position on the track. Finally, the positioning information and the index parameters that generate the corresponding level information are calibrated and associated by the industrial computer. The corresponding positioning information can be found through the factor of the grating component on the track, thereby reducing the influence of the complexity of the environment and the application system on the generation of the test truth table. The entire truth system is simple to use and flexible to build. The parameter calculation is simple and accurate, which improves the application scope of the truth system for positioning algorithm testing and reduces the cost of the truth system.

[0007] Optionally: the index parameter includes the number of grating test points currently passed by the rail vehicle, and the number is recorded as the grating number; The GNSS kit accesses the radio frequency signal of the satellite system to obtain the latitude and longitude coordinates and elevation of the preset position on the test track as the true value point, and connects to the industrial computer through the serial port to obtain the GNSS reference station differential information; the GNSS kit calculates the true value coordinates of the current true value point based on the current latitude and longitude coordinates, elevation and GNSS reference station differential information to obtain positioning information; The industrial computer calibrates and associates the grating number with the currently generated true value coordinates to generate a truth table.

[0008] By adopting the above technical solution, the number of grating test points passed by the rail vehicle can be recorded during its operation, and the true coordinates can be calculated in conjunction with the GNSS kit and the industrial computer. The preset position refers to an open position on the test track. The open position is not blocked by objects, and the positioning information is accurate. Finally, the grating number and the true coordinates are calibrated to obtain the positioning information of each position point on the test track, and the generation of the truth table is simple and accurate.

[0009] Optional: Measure the distance between the pseudo-truth point and the true point where the GNSS kit cannot enter the fixed solution by using a measuring instrument, calculate the pseudo-truth point coordinates of the pseudo-truth point, and associate the pseudo-truth point coordinates with the current raster number.

[0010] By adopting the above technical solution, when encountering a special environment that makes it impossible for the GNSS kit to enter a fixed solution, that is, when the calculated positioning information of the grating test point is inaccurate, in order to further improve the accuracy of the positioning information of each position on the test track, the distance to the remaining true value points is measured by a measuring tool to obtain the accurate positioning information of the pseudo true value point, thereby ensuring the accurate positioning of each position on the test track.

[0011] Optional: The coordinates of the remaining true value test points between two pseudo true value points or between two pseudo true value points are calculated by a linear interpolation algorithm. When there is an arc portion on the test track, the coordinates of the remaining true value test points on the arc portion are calculated by a triangular interpolation algorithm and generated in a truth table.

[0012] By adopting the above technical solution, in order to further save consumables and refine the test points on the test track, for the remaining test points that have not passed the grating test points, linear interpolation algorithms and triangular interpolation algorithms are used to deduce and fill in and enrich the test positions, which is simple and accurate to operate.

[0013] Optional: the grating assembly includes a plurality of metal strips of equal specifications, the plurality of metal strips are laid along the extension direction of the test track, each of the metal strips is provided with a through hole, and the plurality of through holes are arranged at equal intervals along the test track, the infrared transceiver assembly is fixed to the bottom of the rail car, the infrared transceiver assembly includes a first infrared transmitter and a first infrared receiver, the first infrared transmitter and the first infrared receiver are located on both sides of the metal strip, when the first infrared transmitter passes through the through hole, an infrared signal is sent to the first infrared receiver, the first infrared receiver sends a corresponding level signal to the industrial computer, the corresponding level information is a high level, the industrial computer records the current grating number plus 1, when the first infrared transmitter does not pass through the through hole, the first infrared receiver outputs a low level.

[0014] By adopting the above technical solution, the material cost of the test is reduced through physical detection methods such as the first infrared transmitter, the first infrared receiver and the through holes. The specifications of the metal strips are fixed and the through holes are equally spaced, which provides an accurate indexing basis and facilitates the calculation of pseudo-true value coordinates and other true value test points.

[0015] Optionally: the grating assembly also includes a plurality of reflective posts, which are arranged on one side of the metal strip; the infrared transceiver assembly also includes a second infrared transmitter and a second infrared receiver, which are both located between the metal strip and the reflective post; when the first infrared transmitter passes through the reflective post, the second infrared receiver receives and outputs a high level to the industrial computer, and the industrial computer resets the grating number to 0 and counts again; when the second infrared transmitter does not pass through the reflective post, the second infrared receiver outputs a low level.

[0016] By adopting the above technical solution, the reflective columns and metal strips are used at the same time, the perforated metal strips are used to count the number of gratings, and the reflective columns are used to clear the number of gratings, thereby achieving accurate calculation of the number of gratings.

[0017] Optionally: the test track is annular.

[0018] By adopting the above technical solution and setting up a circular runway, the occupied test site is reduced. During the process of counting the number of gratings, the industrial computer combines the shape of the runway and the metal strips with holes for numerical statistics and reset, thereby achieving accurate counting of the number of gratings.

[0019] Optionally, the test track is made of metal and is connected to a power supply. The rail car also includes a metal wheel assembly, a charging and discharging module, an electric motor and a cabin. The metal wheel assembly is electrically connected to the charging and discharging module to charge the charging and discharging module. The charging and discharging module is electrically connected to the electric motor. The electric motor is used to drive the metal wheel assembly to move on the test track. The cabin is made of insulating material and is fixed to the wheel assembly. The industrial computer and the GNSS kit are both fixed to the top of the cabin, and the infrared transceiver assembly is fixed to the bottom of the cabin.

[0020] By adopting the above technical solution, the metal test track and metal wheel assembly, in conjunction with the charging and discharging module, can achieve uninterrupted operation of the rail vehicle.

[0021] Optionally, the test track is connected to a 24V power supply, the test track includes two circular rails, the positive and negative poles of the 24V power supply are connected to two different rails in a one-to-one correspondence, and the two rails are electrically conductive through a rail car.

[0022] The second object of the invention is achieved by the following technical solutions: A global satellite navigation positioning test method based on a low-speed orbit is applied to a global satellite navigation positioning test system based on a low-speed orbit, comprising: When the rail vehicle runs on the test track, the first infrared transmitter emits infrared rays, and when the first infrared transmitter passes through the grating test point of the grating component, the first infrared receiver sends a high level to the industrial computer; When the industrial computer receives a high level, it triggers an I / O interrupt to update the grating number in real time, triggers the I / O interrupt through a PPS second pulse signal, and simultaneously obtains the positioning information at this time through the grating number index truth table, and generates a truth table for test comparison.

[0023] In summary, the present application includes at least one of the following beneficial technical effects: 1. The physical grating component is set in the middle of the test track, and the infrared light emitted by the infrared transceiver component when passing through the test point is used to feedback high and low levels to the industrial computer, with low material cost. The positioning information and the index parameters that generate the corresponding level information are calibrated and associated by the industrial computer, and the corresponding positioning information can be found through the grating component on the track, thereby reducing the impact of the environment and application system complexity on the generation of the test truth table. The entire truth system is simple to use and flexible to build.

[0024] 2. During the operation of the rail vehicle, the number of grating test points passed can be recorded, and the true value coordinates can be calculated in conjunction with the GNSS kit and the industrial computer. The preset position refers to an open position on the test track. The open position is not blocked by objects and the positioning information is accurate. Finally, the grating number and the true value coordinates are calibrated to obtain the positioning information of each position point on the test track. The generation of the truth table is simple and accurate. 3. In order to further save consumables and refine the test points on the test track, for the remaining test points that do not pass the grating test points, the linear interpolation algorithm and the triangular interpolation algorithm are used to deduce and fill in and enrich the test positions, which is simple and accurate to operate; 4. The reflective posts and metal strips are used at the same time. The metal strips with holes are used to count the number of gratings, and the reflective posts are used to clear the number of gratings. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a structural schematic diagram of an embodiment of a global satellite navigation and positioning test system based on a low-speed orbit of the present application; Figure 2 It is a structural schematic diagram of a rail vehicle in an embodiment of a global satellite navigation and positioning test system based on a low-speed track; Figure 3 The invention is a flow chart of an embodiment of a global satellite navigation and positioning test system based on a low-speed orbit.

[0026] Explanation of the reference numerals: 1. test track; 2. rail car; 21. cabin; 22. infrared transceiver assembly; 23. industrial computer; 24. GNSS kit; 25. metal wheel; 3. grating assembly; 31. metal strip; 32. reflective column. DETAILED DESCRIPTION

[0027] The following is combined with Figure 1-3 This application is described in further detail.

[0028] In one embodiment, if Figure 1 as well as Figure 2 As shown, the present application discloses a global satellite navigation positioning test system based on a low-speed track, including a circular test track 1, a track vehicle 2 and a grating assembly 3, wherein the grating assembly 3 is arranged along the extension direction of the track; the track vehicle 2 is used to run on the test track 1 after being powered on.

[0029] The test track 1 is made of metal and connected to a 24V power supply. The test track 1 includes two circular rails, which are composed of a plurality of straight rails and a plurality of curved rails that are detachably spliced. In other embodiments, the test track 1 can also be completed by welding. The positive and negative poles of the 24V power supply are connected one by one to two different rails, and the two rails are electrically conductive through the rail car 2.

[0030] The grating assembly 3 includes a plurality of metal strips 31 and reflective posts 32 of equal specifications. The metal strips 31 include but are not limited to full-tooth steel strips, and the reflective posts 32 include but are not limited to reflective materials such as copper strips and screws. The metal strips 31 are laid along the extension direction of the test track 1, and the reflective posts 32 are located on the right side of the metal strips 31. The metal strips 31 and the reflective posts 32 are both located between two rails, and the reflective posts 32 are located at any position point along the extension direction of the test track 1. The metal strips 31 are made of flexible material and are provided with through holes, and the through holes are arranged at equal intervals along the test track 1.

[0031] The rail vehicle 2 includes a metal wheel 25 assembly, a charging and discharging module (not shown in the figure), an electric motor (not shown in the figure), a cabin 21, an infrared transceiver assembly 22, an industrial computer 23 and a GNSS kit 24; the charging and discharging module includes a lithium battery and a voltage-stabilizing power supply module, and the metal wheel 25 assembly includes a metal wheel 25, a bearing (not shown in the figure) and a metal shrapnel (not shown in the figure).

[0032] The metal wheel 25 is slidably connected to the test track 1, the metal spring is fixed to the bearing and electrically connected to the charging and discharging module to charge the lithium battery, the lithium battery is electrically connected to the voltage-stabilizing power supply module to charge the electric motor, and the electric motor is used to drive the metal wheel 25 to move on the test track 1. The cabin 21 is made of insulating material and the cabin 21 is fixed on the wheel assembly. The industrial computer 23 and the GNSS kit 24 are both fixed on the top of the cabin 21, and the infrared transceiver assembly 22 is fixed on the bottom of the cabin 21.

[0033] The infrared transceiver component 22 and the GNSS kit 24 are electrically connected to the industrial computer 23 through UART serial port communication and PPS second pulse, and the industrial computer 23 is connected to Ethernet; the GNSS kit 24 accesses the radio frequency signal of the satellite system to obtain the latitude and longitude coordinates and elevation of the preset position on the test track 1 as the true point, and connects to the industrial computer 23 through the serial port to obtain the GNSS base station differential information. The GNSS kit 24 calculates the true coordinates of the current true point based on the current latitude and longitude coordinates, elevation and GNSS base station differential information, obtains the positioning information and sends it to the industrial computer 23. The preset position refers to the grating test point of the grating component 3 in the open area on the test track 1, that is, the unobstructed position, and the grating test point refers to the through-hole position of the metal bar 31.

[0034] When the rail vehicle 2 runs through the grating test point of the grating component 3, the infrared light of the infrared transceiver component 22 generates a corresponding level signal and sends it to the industrial computer 23 through the I / O port. The level signal includes a high level and a low level.

[0035] In this embodiment, the corresponding level information is a high level. The industrial computer 23 generates index parameters based on the corresponding level signal. The index parameters include the number of grating test points currently passed by the rail vehicle 2, recorded as the grating number, and a truth table for positioning algorithm testing and comparison is generated based on the grating number and positioning information.

[0036] The infrared transceiver assembly 22 includes a first infrared transmitter, a first infrared receiver, a second infrared transmitter and a second infrared receiver. The first infrared transmitter and the first infrared receiver are located on both sides of the metal strip 31, and the second infrared transmitter and the second infrared receiver are located between the metal strip 31 and the reflective column 32. When the first infrared transmitter passes through the through hole, it sends an infrared signal to the first infrared receiver, and the first infrared receiver outputs a high level to the industrial computer 23. The industrial computer 23 records the current grating number plus 1. When the first infrared transmitter does not pass through the through hole, the first infrared receiver outputs a low level.

[0037] When the second infrared transmitter passes the reflective column 32, the second infrared receiver receives and outputs a high level to the industrial computer 23, and the industrial computer 23 resets the grating number to 0 and counts again. When the second infrared transmitter does not pass the reflective column 32, the second infrared receiver outputs a low level.

[0038] The distance between the pseudo-truth point and the true point where the GNSS kit 24 cannot enter the fixed solution is measured by a measuring instrument, and the pseudo-truth point coordinates of the pseudo-truth point are calculated, and the pseudo-truth point coordinates are associated with the current grating number; the measuring instrument includes but is not limited to a tape measure, a laser rangefinder and a total station.

[0039] In order to further save consumables and refine the test points on the test track 1, for the remaining test points when not passing the grating test points, the coordinates of the remaining true value test points between two pseudo-true value points or between two pseudo-true value points are calculated by a linear interpolation algorithm. For the arc portion of the test track 1, the coordinates of the remaining true value test points located on the arc portion are calculated by a triangular interpolation algorithm and generated in the truth table.

[0040] In one embodiment, referring to Figure 3 The present application also discloses a global satellite navigation positioning test method based on a low-speed orbit, which is used to operate a global satellite navigation positioning test system based on a low-speed orbit, comprising the steps of: S10: When the railcar is powered and running on the test track, the first infrared transmitter emits infrared rays. When the first infrared transmitter passes through the grating test point of the grating component, the first infrared receiver sends a high level to the industrial computer; S20: When the industrial computer receives a high level, it triggers the I / O interrupt to update the grating number in real time. The PPS second pulse signal is used to trigger the I / O interrupt. At the same time, the grating number index truth table is used to obtain the positioning information at this time, and a truth table is generated for test comparison.

[0041] In this embodiment, the test track is powered on so that the rail car is powered on and runs. When the first infrared transmitter passes through the through hole on the metal strip 31 and the reflective column 32, the first infrared receiver sends a high level to the industrial computer. When the industrial computer receives the high level, it triggers the I / O interrupt and updates the grating number. At the same time, the PPS second pulse signal is used to trigger the I / O interrupt. The currently calculated grating number is used as the index parameter to obtain the positioning information of the grating test point at this time from the truth table.

[0042] It should be understood that the size of the serial numbers of the steps in the above embodiments 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.

[0043] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above.

[0044] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A global satellite navigation positioning test system based on a low-speed orbit, characterized in that: It comprises a test track (1), a track car (2) and a grating assembly (3); The grating component (3) is arranged along the extension direction of the test track; the grating component (3) comprises a plurality of grating test points; The rail vehicle (2) comprises an infrared transceiver component (22), an industrial computer (23) and a GNSS kit (24); the infrared transceiver component (22) and the GNSS kit (24) are both electrically connected to the industrial computer (23); the industrial computer (23) is used to access Ethernet; the GNSS kit (24) is used to output positioning information to the industrial computer (23); When the rail vehicle (2) runs through the grating test point of the grating component (3), the infrared light of the infrared transceiver component (22) generates a corresponding level signal which is sent to the industrial computer (23), and the industrial computer (23) generates an index parameter based on the corresponding level signal and generates a truth table according to the index parameter and the positioning information, and the truth table is used for positioning algorithm testing and comparison; The index parameter includes the number of grating test points currently passed by the rail vehicle (2), the number being recorded as the grating number; The GNSS kit (24) accesses the radio frequency signal of the satellite system to obtain the latitude and longitude coordinates and elevation of a preset position on the test track (1) as a true value point, and is connected to the industrial computer (23) via a serial port to obtain GNSS reference station differential information; The GNSS kit (24) calculates the true value coordinates of the current true value point based on the current latitude and longitude coordinates, elevation and GNSS reference station differential information to obtain positioning information; The industrial computer calibrates and associates the grating number with the currently generated true value coordinates to generate a truth table; The distance between the pseudo-truth point and the true point where the GNSS kit (24) cannot enter the fixed solution is measured by a measuring instrument, and the pseudo-truth point coordinates of the pseudo-truth point are calculated, and the pseudo-truth point coordinates are associated with the current raster number.

2. A global satellite navigation positioning test system based on a low-speed orbit according to claim 1, characterized in that: The coordinates of the remaining true value test points between two pseudo true value points or between two pseudo true value points are calculated by a linear interpolation algorithm; when the test track (1) has an arc portion, the coordinates of the remaining true value test points located on the arc portion are calculated by a triangular interpolation algorithm and generated in a truth table.

3. A global satellite navigation positioning test system based on a low-speed orbit according to claim 1, characterized in that: The grating assembly (3) comprises a plurality of metal strips (31) of equal specifications, the plurality of metal strips (31) are laid along the extension direction of the test track (1), each of the metal strips (31) is provided with a through hole, and the plurality of through holes are arranged at equal intervals along the test track (1), the infrared transceiver assembly (22) is fixed to the bottom of the rail vehicle (2), the infrared transceiver assembly (22) comprises a first infrared transmitter and a first infrared receiver, the first infrared transmitter and the first infrared receiver are located on both sides of the metal strip (31), when the first infrared transmitter passes through the through hole, an infrared signal is sent to the first infrared receiver, the first infrared receiver sends a corresponding level signal to the industrial computer (23), the corresponding level information is a high level, the industrial computer (23) records the current grating number plus 1, when the first infrared transmitter does not pass through the through hole, the first infrared receiver outputs a low level.

4. A global satellite navigation positioning test system based on a low-speed orbit according to claim 3, characterized in that: The grating assembly (3) further comprises a plurality of reflective columns (32), wherein the reflective columns (32) are arranged on one side of the metal strip (31). The infrared transceiver assembly (22) further comprises a second infrared transmitter and a second infrared receiver, wherein the second infrared transmitter and the second infrared receiver are both located between the metal strip (31) and the reflective columns (32). When the second infrared transmitter passes through the reflective columns (32), the second infrared receiver receives and outputs a high level to the industrial computer (23), and the industrial computer (23) resets the grating number to 0 and counts again. When the second infrared transmitter does not pass through the reflective columns (32), the second infrared receiver outputs a low level.

5. The global satellite navigation positioning test system based on a low-speed orbit according to claim 1, characterized in that: The test track (1) is annular.

6. The global satellite navigation positioning test system based on a low-speed orbit according to claim 1, characterized in that: The test track (1) is made of metal and is connected to a power source. The rail vehicle (2) further comprises a metal wheel (25) assembly, a charging and discharging module, an electric motor and a cabin (21). The metal wheel (25) assembly is electrically connected to the charging and discharging module to charge the charging and discharging module. The charging and discharging module is electrically connected to the electric motor. The electric motor is used to drive the metal wheel (25) assembly to move on the test track (1). The cabin (21) is made of an insulating material and is fixed to the wheel assembly. The industrial computer (23) and the GNSS kit (24) are both fixed to the top of the cabin (21). The infrared transceiver assembly (22) is fixed to the bottom of the cabin (21).

7. A global satellite navigation positioning test system based on a low-speed orbit according to claim 6, characterized in that: The test track (1) is connected to a 24V power supply, and the test track (1) comprises two annular rails. The positive pole and the negative pole of the 24V power supply are connected to two different rails in a one-to-one correspondence, and the two rails are electrically conductive via a rail car (2).

8. A global satellite navigation positioning test method based on a low-speed orbit, applied to a global satellite navigation positioning test system based on a low-speed orbit as claimed in claim 3 or 4, characterized in that: include: When the rail vehicle (2) runs on the test track (1), the first infrared transmitter emits infrared rays, and when the first infrared transmitter passes through the grating test point of the grating component (3), the first infrared receiver sends a high level to the industrial computer (23); When the industrial computer (23) receives a high level, it triggers an I / O interrupt to update the grating number in real time, triggers the I / O interrupt through a PPS pulse-per-second signal, and simultaneously obtains the positioning information at this time through a grating number index truth table, and generates a truth table for test comparison.

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