Performance evaluation method and system for GNSS receiving equipment

Abstract

The invention discloses a performance evaluation method and system of GNSS receiving equipment, the GNSS receiving equipment receives RTK signals through a communication network and receives GNSS signals through a GNSS system, and the method comprises the following steps: controlling the signal intensity of the real-time communication network through signal intensity program control equipment, and outputting communication network signals with different signal intensities; simulating various satellite scenes through a GNSS simulator, and outputting GNSS signals of the various satellite scenes; the GNSS receiving device receives the communication network signal and the GNSS signal, carries out positioning according to the received RTK signal and GNSS signal, and outputs a positioning result; and evaluating the positioning performance of the GNSS receiving equipment according to the positioning result and the signal strength of the communication network signal corresponding to the positioning result. While the signal intensity of the communication network is controlled by the program control equipment, the real-time GNSS signal is simulated by the GNSS simulator, and the positioning performance of the GNSS receiving equipment when receiving the communication network signals with different intensities is comprehensively evaluated.

Description

Technical Field

[0001] The present application relates to the field of navigation and positioning technology, and in particular to a performance evaluation technology for a GNSS receiving device. Background Art

[0002] The actual positioning performance of the GNSS receiving device will vary with the strength of the mobile communication signal. Especially in weak network scenarios, because the communication network signal is weak, the positioning performance of the GNSS receiving device may affect customer use.

[0003] In the prior art, when evaluating the positioning performance of a GNSS receiving device, the influence of the signal strength of the communication network is usually not taken into account. Therefore, no real-time analysis is performed on the signal strength of the communication network and the actual positioning performance of the GNSS receiving device.

[0004] During the research and development of GNSS receiving equipment, it is necessary to test the GNSS receiving equipment in different network scenarios, especially the performance of the GNSS receiving equipment in weak network conditions.

[0005] Therefore, there is an urgent need for a performance evaluation method for GNSS receiving equipment that can determine the impact of real-time communication network conditions on the actual positioning performance of the GNSS receiving equipment and the extent of the impact. Summary of the invention

[0006] The purpose of this application is to provide a performance evaluation method for a GNSS receiving device, which controls the strength of the communication network signal through a programmable device, simulates the real-time GNSS signal through a GNSS simulator, and comprehensively evaluates the positioning performance of the GNSS receiving device when receiving communication network signals of different strengths.

[0007] In order to solve the above technical problems, the embodiments of the present application disclose a performance evaluation method for a GNSS receiving device, wherein the GNSS receiving device receives RTK signals through a communication network and receives GNSS signals through a GNSS system, and the method comprises the following steps:

[0008] Control the signal strength of the real-time communication network through the signal strength programmable control device, and output communication network signals with different signal strengths;

[0009] Simulating various satellite scenarios through a GNSS simulator and outputting GNSS signals of the various satellite scenarios;

[0010] The GNSS receiving device receives the communication network signal output by the signal strength program control device and the GNSS signal output by the GNSS simulator, performs positioning according to the received RTK signal and GNSS signal, and outputs the positioning result;

[0011] The positioning performance of the GNSS receiving device is evaluated based on the positioning result and the signal strength of the communication network signal corresponding to the positioning result.

[0012] In an optional embodiment, before the step of the GNSS receiving device receiving the communication network signal output by the signal strength program control device and the GNSS signal output by the GNSS simulator, the following steps are also included:

[0013] The GNSS receiving device is placed in a signal shielding box, wherein a communication network signal antenna and a GNSS antenna are also installed inside the signal shielding box;

[0014] The output end of the signal strength programmable control device is connected to the communication network signal antenna, and the output end of the GNSS simulator is connected to the GNSS antenna.

[0015] In an optional embodiment, the signal strength programmable control device and the GNSS simulator are both located outside the signal shielding box.

[0016] In an optional embodiment, the step of evaluating the positioning performance of the GNSS receiving device according to the positioning result and the signal strength of the communication network signal corresponding to the positioning result further includes the following sub-steps:

[0017] A positioning performance curve of the GNSS receiving device is outputted according to the positioning result and the signal strength of the communication network signal corresponding to the positioning result.

[0018] In an optional embodiment, the GNSS simulator is a LabSat GNSS signal acquisition and playback device.

[0019] In an optional embodiment, the positioning performance evaluation parameters include: position accuracy and fixation rate.

[0020] In an optional embodiment, the communication network includes: a telecommunications network, a mobile network and a Unicom network, and the communication network signals include: 4G and 5G mobile signals.

[0021] The embodiment of the present application further discloses a performance evaluation system for a GNSS receiving device, wherein the GNSS receiving device receives RTK signals through a communication network and receives GNSS signals through a GNSS system, and the system comprises:

[0022] A signal shielding box, used to accommodate the GNSS receiving device, wherein a communication network signal antenna and a GNSS antenna are also installed inside the shielding box;

[0023] A signal strength programmable control device, wherein the input end of the signal strength programmable control device is connected to the communication network, and the output end of the signal strength programmable control device is connected to the communication network signal antenna, for controlling the signal strength of the real-time communication network and outputting communication network signals with different signal strengths;

[0024] A GNSS simulator, the output end of which is connected to the GNSS antenna, for simulating various satellite scenarios and outputting GNSS signals of the various satellite scenarios;

[0025] The GNSS receiving device is used to receive the communication network signal output by the signal strength programmable control device through the communication network signal antenna, receive the GNSS signal output by the GNSS simulator through the GNSS antenna, perform positioning according to the received RTK signal and GNSS signal, and output the positioning result;

[0026] The server is connected to the signal strength programmable control device, the GNSS simulator and the GNSS receiving device respectively, and is used to control the signal strength programmable control device and the GNSS simulator respectively, and evaluate the positioning performance of the GNSS receiving device according to the positioning result and the signal strength of the communication network signal corresponding to the positioning result.

[0027] The embodiment of the present application further discloses a performance evaluation device for a GNSS receiving device, comprising:

[0028] a memory for storing computer executable instructions; and,

[0029] A processor is used to implement the steps in the above method when executing the computer executable instructions.

[0030] The embodiments of the present application further disclose a computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions implement the steps in the above method when executed by a processor.

[0031] The embodiments of the present application also disclose a computer program product, including computer executable instructions, which implement the steps in the above method when executed by a processor.

[0032] Compared with the prior art, the main differences and effects of the embodiments of the present application are:

[0033] The performance evaluation method of the GNSS receiving device disclosed in the embodiment of the present application controls the strength of the communication network signal through a programmable device, simulates the real-time GNSS signal through a GNSS simulator, and comprehensively evaluates the positioning performance of the GNSS receiving device when receiving communication network signals of different strengths.

[0034] Furthermore, the communication network signal of the actual network is connected to the signal strength programmable control device, and the strength of the communication network signal is controlled by the programmable control device to generate the required communication network signals of different strengths.

[0035] Furthermore, the signal strength of the real-time communication network is controlled by the signal strength programmable control device, ensuring that the signal strength of the communication network signal received by the GNSS receiving device changes dynamically.

[0036] Furthermore, the real-time satellite signals are simulated through the GNSS simulator, various satellite scenarios are simulated, and the required satellite signals are automatically broadcast.

[0037] Furthermore, the control of the strength of the communication network signal is combined with the simulation of various satellite scenarios to automatically broadcast the required satellite signals and communication network signals of different strengths.

[0038] Furthermore, placing the GNSS receiving device in a signal shielding box can shield external interference signals and ensure that the signal data received by the GNSS receiving device all belong to the signal input designed by the present solution.

[0039] Furthermore, affected by the strength of the communication network signal, the positioning performance of the GNSS receiving device changes dynamically. Therefore, the performance evaluation method of the GNSS receiving device can reflect the strength of the communication network signal.

[0040] A large number of technical features are recorded in the specification of this application, which are distributed in various technical solutions. If all possible combinations of technical features of this application (i.e., technical solutions) are to be listed, the specification will be too long. In order to avoid this problem, the various technical features disclosed in the above-mentioned invention content of this application, the various technical features disclosed in the various embodiments and examples below, and the various technical features disclosed in the accompanying drawings can be freely combined with each other to form various new technical solutions (these technical solutions are all deemed to have been recorded in this specification), unless the combination of such technical features is technically infeasible. For example, in one example, feature A+B+C is disclosed, and in another example, feature A+B+D+E is disclosed, and features C and D are equivalent technical means that play the same role. Technically, only one can be used, and it is impossible to use them at the same time. Feature E can be combined with feature C technically. Then, the solution of A+B+C+D should not be deemed to have been recorded because it is technically infeasible, and the solution of A+B+C+E should be deemed to have been recorded. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 It is a flowchart of a performance evaluation method for a GNSS receiving device in the first embodiment of the present application;

[0042] Figure 2 It is an overall design topology diagram in the first embodiment of the present application;

[0043] Figure 3 This is a control schematic diagram of a signal strength program-controlled device in the first embodiment of the present application;

[0044] Figure 4 is a control schematic diagram of a GNSS simulator in the first embodiment of the present application;

[0045] Figure 5 is a schematic diagram of a platform server control output performance curve in the first embodiment of the present application;

[0046] Figure 6 It is a timing control diagram in the first embodiment of the present application;

[0047] Figure 7 It is a structural diagram of a performance evaluation system for a GNSS receiving device in the second embodiment of the present application. DETAILED DESCRIPTION

[0048] In the following description, many technical details are provided to help readers better understand the present application. However, those skilled in the art can understand that even without these technical details and various changes and modifications based on the following embodiments, the technical solutions claimed in the claims of the present application can be implemented.

[0049] Description of some concepts:

[0050] RTK: Real-time kinematic, real-time dynamic carrier phase differential technology;

[0051] Communication networks include: communication networks of operators such as China Mobile, China Unicom and China Telecom;

[0052] Signal strength program-controlled equipment: communication network signal strength adjustment equipment;

[0053] LabSat: Satellite data simulation device (can collect data stored in GNSS RF I&Q or IF data files in any real scenario, and the device can directly convert it into GNSS signals for playback).

[0054] Signal shielding box: shields external signal interference.

[0055] Weak network scenario: also known as a weak network environment, refers to a situation where the communication network signal strength is weak. In a weak network scenario, the communication network bandwidth will be low, the latency will be high, and the signal will be weak, resulting in poor communication network quality, which in turn will cause the positioning performance of the GNSS receiving device to deteriorate.

[0056] In addition, it should be noted that in each embodiment of the present invention, the GNSS receiving device, the GNSS receiver, the GNSS terminal and the RTK terminal have the same meaning; the PC terminal, the PC computer and the platform server have the same meaning.

[0057] In order to make the objectives, technical solutions and advantages of the present application clearer, the implementation methods of the present application will be further described in detail below in conjunction with the accompanying drawings.

[0058] A first embodiment of the present application relates to a performance evaluation method for a GNSS receiving device, wherein the GNSS receiving device receives RTK signals through a communication network and receives GNSS signals through a GNSS system. Figure 1 It is a flowchart of the performance evaluation method of the GNSS receiving device.

[0059] Specifically, if Figure 1 As shown, the performance evaluation method of the GNSS receiving device includes the following steps:

[0060] In step 101, the signal strength of the real-time communication network is controlled by a signal strength programmable control device, and communication network signals with different signal strengths are output.

[0061] In step 101, the communication network signal of the actual network is connected to the signal strength programmable control device, and the strength of the communication network signal is controlled by the programmable control device to generate the required communication network signals of different strengths.

[0062] That is, in step 101, the signal strength of the real-time communication network is controlled by the signal strength programmable control device to ensure that the signal strength of the communication network signal received by the GNSS receiving device changes dynamically.

[0063] The communication network includes but is not limited to: telecommunications network, mobile network and Unicom network, and the communication network signals include but are not limited to: 4G and 5G mobile signals.

[0064] Then, the process proceeds to step 102 , in which various satellite scenarios are simulated by a GNSS simulator, and GNSS signals of the various satellite scenarios are output.

[0065] In step 102, real-time satellite signals are simulated by a GNSS simulator, various satellite scenarios are simulated, and required satellite signals are automatically broadcast.

[0066] In this embodiment, preferably, the GNSS simulator is a LabSat GNSS signal acquisition and playback device.

[0067] It should be noted that there is no order of precedence between step 101 and step 102. Step 101 may be performed first, and then step 102; step 102 may be performed first, and then step 101; or step 101 and step 102 may be performed simultaneously.

[0068] In this embodiment, the control of the strength of the communication network signal is combined with the simulation of various satellite scenarios to automatically broadcast the required satellite signals and communication network signals of different strengths.

[0069] Then, the process proceeds to step 103, wherein the GNSS receiving device receives the communication network signal output by the signal strength programmable control device and the GNSS signal output by the GNSS simulator, performs positioning according to the received RTK signal and GNSS signal, and outputs the positioning result.

[0070] The GNSS receiving device receives the RTK signal via a communication network signal. That is, the communication network signal received by the GNSS receiving device includes the RTK signal.

[0071] In step 103, the GNSS receiving device outputs high-precision positioning results under different communication network signal strengths.

[0072] In this implementation, preferably, before the above step 103, the following steps may also be included:

[0073] The GNSS receiving device is placed in a signal shielding box, wherein a communication network signal antenna and a GNSS antenna are also installed inside the signal shielding box;

[0074] The output end of the signal strength programmable control device is connected to the communication network signal antenna, and the output end of the GNSS simulator is connected to the GNSS antenna.

[0075] Placing the GNSS receiving device into a signal shielding box can shield external interference signals and ensure that the signal data received by the GNSS receiving device all belong to the signal input designed by this solution.

[0076] Furthermore, preferably, the signal strength programmable control device and the GNSS simulator are both located outside the signal shielding box.

[0077] Thereafter, the process proceeds to step 104 to evaluate the positioning performance of the GNSS receiving device according to the positioning result and the signal strength of the communication network signal corresponding to the positioning result.

[0078] In step 104, the high-precision positioning performance results of the GNSS receiving device under different communication network signal strengths are evaluated.

[0079] Here, the positioning performance evaluation parameters include: position accuracy and fixation rate. The position accuracy includes: horizontal accuracy and elevation accuracy.

[0080] In this implementation, preferably, in the above step 104, the following steps may also be included:

[0081] A positioning performance curve of the GNSS receiving device is outputted according to the positioning result and the signal strength of the communication network signal corresponding to the positioning result.

[0082] Furthermore, in the above step 104, the positioning performance of the GNSS receiving device is obtained according to the positioning result, and the comparison results between the communication network signals of different strengths and the positioning performance are analyzed.

[0083] This process ends thereafter.

[0084] In summary, the performance evaluation method of the GNSS receiving device controls the strength of the communication network signal through the programmable device, simulates the real-time GNSS signal through the GNSS simulator, and comprehensively evaluates the positioning performance of the GNSS receiving device when receiving communication network signals of different strengths.

[0085] Correspondingly, affected by the strength of the communication network signal, the positioning performance of the GNSS receiving device changes dynamically. Therefore, the performance evaluation method of the GNSS receiving device can also dynamically reflect the strength of the communication network signal.

[0086] In order to better understand the technical solution of this specification, it is described below in conjunction with a preferred embodiment. The details listed in the preferred embodiment are mainly for ease of understanding and are not intended to limit the scope of protection of this application.

[0087] The overall topological structure of the preferred embodiment is as follows Figure 2 As shown, the technical solution of this preferred embodiment includes the following steps:

[0088]

[01] Place the GNSS receiver to be tested into a signal shielding box, in which a communication network signal antenna (mobile network signal antenna) and a GNSS antenna are installed; wherein the signal shielding box is used to shield external interference signals to ensure that the signal data received by the RTK terminal belongs to the signal input designed by this scheme;

[0089]

[02] The mobile communication network signal of the actual network is connected to the signal strength program-controlled device (located outside the signal shielding box), and the signal output end of the signal strength program-controlled device is connected to the communication network signal antenna;

[0090]

[03] The signal strength program control device is connected to a PC (platform server, located outside the signal shielding box), and the signal strength program control device controls the strength level of the external communication network signal input through a program;

[0091]

[04] Connect the GNSS receiver inside the signal shielding box to a PC;

[0092]

[05] Connect the GNSS antenna inside the signal shielding box to an external GNSS simulator (LabSat GNSS signal acquisition and playback device);

[0093]

[06] Connect the GNSS simulator to a PC for control.

[0094] The PC side (platform server) controls the signal strength programmable control device through automated scripts, and controls the strength of the communication network signal through the signal strength programmable control device; the PC side controls LabSat to simulate the playback of GNSS data signals; the GNSS receiver receives the RTK signal through the communication network signal and outputs high-precision positioning results; through automated analysis tools, the PC side outputs high-precision positioning performance results under different communication network strengths.

[0095] like Figure 3 As shown, the technical solution of this preferred embodiment introduces a signal strength programmable control device to automatically control the strength of the communication network signal.

[0096] For example Figure 4 As shown, the technical solution of this preferred embodiment adopts the simulation device LabSat to simulate real-time satellite signals and various satellite scenes.

[0097] In the technical solution of this preferred embodiment, by adopting automation technology, the signal strength of the communication network signal is combined with the satellite signal simulation, and the required satellite signal and communication network signals of different strengths are automatically broadcast.

[0098] For example Figure 5 As shown, the platform server receives the positioning results of the GNSS terminal, automatically outputs the positioning performance, and outputs the data and performance comparison results of different signal strengths. Finally, according to the different communication network signal strengths (levels), different performance (perform, abbreviated as; perfm) curves of the RTK terminal are output.

[0099] The performance evaluation method of this preferred embodiment is used to evaluate the performance fluctuation caused by the RTK terminal receiving communication network signals of different strengths. Figure 6As shown, the platform server controls the signal strength programmable control device, and the signal strength programmable control device controls the signal strength of the communication network signal (including: 4G and 5G signals); the platform server controls LabSat, and LabSat simulates and outputs satellite signals; the RTK terminal receives the signal difference data (RTK data) between the satellite signal and the communication network signal, and uploads the positioning result; the RTK terminal outputs the positioning result to the platform server; and the platform server automatically outputs the positioning performance.

[0100] In summary, the technical solution of this preferred embodiment controls the strength of the communication network signal through a signal strength programmable control device; simulates various satellite scenarios through LabSat; automatically controls the strength of the communication network signal through an automated method; and automatically analyzes the positioning performance output by the GNSS terminal.

[0101] The various method implementations of the present invention can be implemented in software, hardware, firmware, etc. Regardless of whether the present invention is implemented in software, hardware, or firmware, the instruction code can be stored in any type of computer-accessible memory (e.g., permanent or modifiable, volatile or non-volatile, solid or non-solid, fixed or replaceable media, etc.). Similarly, the memory can be, for example, a programmable array logic (PAL), a random access memory (RAM), a programmable read-only memory (PROM), a read-only memory (ROM), an electrically erasable programmable read-only memory (EEPROM), a magnetic disk, an optical disk, a digital versatile disc (DVD), etc.

[0102] The second embodiment of the present application relates to a performance evaluation system for a GNSS receiving device, wherein the GNSS receiving device receives RTK signals through a communication network and receives GNSS signals through a GNSS system. Figure 7 It is a structural diagram of the performance evaluation system of the GNSS receiving equipment.

[0103] Specifically, if Figure 7 As shown, the performance evaluation system of the GNSS receiving device includes:

[0104] A signal shielding box, used to accommodate the GNSS receiving device, wherein a communication network signal antenna and a GNSS antenna are also installed inside the shielding box;

[0105] A signal strength programmable control device, wherein the input end of the signal strength programmable control device is connected to the communication network, and the output end of the signal strength programmable control device is connected to the communication network signal antenna, for controlling the signal strength of the real-time communication network and outputting communication network signals with different signal strengths;

[0106] A GNSS simulator, the output end of which is connected to the GNSS antenna, for simulating various satellite scenarios and outputting GNSS signals of the various satellite scenarios;

[0107] The GNSS receiving device is used to receive the communication network signal output by the signal strength programmable control device through the communication network signal antenna, receive the GNSS signal output by the GNSS simulator through the GNSS antenna, perform positioning according to the received RTK signal and GNSS signal, and output the positioning result;

[0108] The server is connected to the signal strength programmable control device, the GNSS simulator and the GNSS receiving device respectively, and is used to control the signal strength programmable control device and the GNSS simulator respectively, and evaluate the positioning performance of the GNSS receiving device according to the positioning result and the signal strength of the communication network signal corresponding to the positioning result.

[0109] It should be noted that, in this embodiment, preferably, the signal strength programmable control device, the GNSS simulator and the server are all located outside the signal shielding box.

[0110] The server executes automated scripts to automatically control the signal strength programmable control equipment, and controls the strength of the communication network signal through the signal strength programmable control equipment; the server controls the LabSat equipment to simulate real-time GNSS signals; the GNSS receiver inside the shielding box outputs high-precision positioning results to the server after obtaining RTK signals and GNSS signals through the communication network; after receiving the high-precision positioning results from the GNSS receiver, the server automatically outputs the high-precision positioning performance results of the GNSS receiver under the corresponding strength of the communication network signal in real time through script automation.

[0111] This embodiment is a system implementation method corresponding to the first embodiment, and this embodiment can be implemented in conjunction with the first embodiment. The relevant technical details mentioned in the first embodiment are still valid in this embodiment, and in order to reduce repetition, they are not repeated here. Accordingly, the relevant technical details mentioned in this embodiment can also be applied in the first embodiment.

[0112] It should be noted that the various devices mentioned in the above system implementation of the present application are all logic modules. Physically, a logic module can be a physical module, or a part of a physical module, or can be implemented as a combination of multiple physical modules. The physical implementation of these logic modules themselves is not the most important. The combination of functions implemented by these logic modules is the key to solving the technical problems proposed by the present invention. In addition, in order to highlight the innovative part of the present invention, the above system implementation of the present invention does not introduce modules that are not closely related to solving the technical problems proposed by the present invention, which does not mean that there are no other modules in the above device implementation.

[0113] It should be noted that those skilled in the art should understand that the implementation functions of each module shown in the above-mentioned device implementation method can be understood with reference to the relevant description of the above-mentioned corresponding method. The functions of each module shown in the above-mentioned device implementation method can be implemented by a program (executable instruction) running on a processor, or can be implemented by a specific logic circuit. If the above-mentioned device of the embodiment of the present application is implemented in the form of a software function module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the embodiment of this specification can be essentially or partly reflected in the form of a software product, which is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the methods described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a U disk, a mobile hard disk, a read-only memory (ROM, Read Only Memory), a disk or an optical disk. In this way, the embodiment of the present application is not limited to any specific combination of hardware and software.

[0114] In addition, the embodiment of the present application also provides a performance evaluation device for a GNSS receiving device, which includes a memory for storing computer executable instructions, and a processor; the processor is used to implement the steps in the above method implementation when executing the computer executable instructions in the memory. Among them, the processor can be a central processing unit (Central Processing Unit, referred to as "CPU"), or other general-purpose processors, digital signal processors (Digital Signal Processor, referred to as "DSP"), Application Specific Integrated Circuit (Application Specific Integrated Circuit, referred to as "ASIC"), etc. The aforementioned memory can be a read-only memory (read-only memory, referred to as "ROM"), a random access memory (random access memory, referred to as "RAM"), a flash memory (Flash), a hard disk or a solid-state hard disk, etc. The steps of the method disclosed in each embodiment of the present invention can be directly embodied as being executed by a hardware processor, or executed by a combination of hardware and software modules in the processor.

[0115] Accordingly, the embodiments of the present application also provide a computer-readable storage medium, in which computer executable instructions are stored, and when the computer executable instructions are executed by the processor, the various method embodiments of the present application are implemented. Computer-readable storage media include permanent and non-permanent, removable and non-removable media, and information storage can be implemented by any method or technology. Information can be a computer-readable instruction, a data structure, a module of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, read-only compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable storage media does not include temporary computer-readable media (transitory media), such as modulated data signals and carriers.

[0116] In addition, an embodiment of the present application further provides a computer program product, which includes computer executable instructions, and when the computer executable instructions are executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0117] It should be noted that in the application documents of this patent, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "including one" do not exclude the existence of other identical elements in the process, method, article or device including the elements. In the application documents of this patent, if it is mentioned that an action is performed according to an element, it means that the action is performed at least according to the element, which includes two situations: performing the action only according to the element, and performing the action according to the element and other elements. Expressions such as multiple, multiple, and multiple include 2, 2 times, 2 kinds, and more than 2, more than 2 times, and more than 2 kinds.

[0118] Although the present application has been illustrated and described with reference to certain preferred embodiments thereof, it will be apparent to those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the present application.

Claims

1. A performance evaluation method for a GNSS receiving device, characterized in that: The GNSS receiving device receives RTK signals through a communication network and receives GNSS signals through a GNSS system. The method comprises the following steps: Control the signal strength of the real-time communication network through the signal strength programmable control device, and output communication network signals with different signal strengths; Simulating various satellite scenarios through a GNSS simulator and outputting GNSS signals of the various satellite scenarios; The GNSS receiving device receives the communication network signal output by the signal strength program control device and the GNSS signal output by the GNSS simulator, performs positioning according to the received RTK signal and GNSS signal, and outputs the positioning result; The positioning performance of the GNSS receiving device is evaluated based on the positioning result and the signal strength of the communication network signal corresponding to the positioning result.

2. The performance evaluation method of a GNSS receiving device according to claim 1, characterized in that: Before the step of the GNSS receiving device receiving the communication network signal output by the signal strength program control device and the GNSS signal output by the GNSS simulator, the following steps are also included: The GNSS receiving device is placed in a signal shielding box, wherein a communication network signal antenna and a GNSS antenna are also installed inside the signal shielding box; The output end of the signal strength programmable control device is connected to the communication network signal antenna, and the output end of the GNSS simulator is connected to the GNSS antenna.

3. The performance evaluation method of a GNSS receiving device according to claim 2, characterized in that: The signal strength programmable control device and the GNSS simulator are both located outside the signal shielding box.

4. The performance evaluation method of a GNSS receiving device according to claim 1, characterized in that: The step of evaluating the positioning performance of the GNSS receiving device according to the positioning result and the signal strength of the communication network signal corresponding to the positioning result further includes the following sub-steps: A positioning performance curve of the GNSS receiving device is outputted according to the positioning result and the signal strength of the communication network signal corresponding to the positioning result.

5. The performance evaluation method of a GNSS receiving device according to claim 1, characterized in that: The GNSS simulator is a LabSat GNSS signal acquisition and playback device.

6. The performance evaluation method of a GNSS receiving device according to claim 1, characterized in that: The positioning performance evaluation parameters include: position accuracy and fixation rate.

7. A performance evaluation system for a GNSS receiving device, characterized in that: The GNSS receiving device receives RTK signals through a communication network and receives GNSS signals through a GNSS system, and the system includes: A signal shielding box, used to accommodate the GNSS receiving device, wherein a communication network signal antenna and a GNSS antenna are also installed inside the shielding box; A signal strength programmable control device, wherein the input end of the signal strength programmable control device is connected to the communication network, and the output end of the signal strength programmable control device is connected to the communication network signal antenna, for controlling the signal strength of the real-time communication network and outputting communication network signals with different signal strengths; A GNSS simulator, the output end of which is connected to the GNSS antenna, for simulating various satellite scenarios and outputting GNSS signals of the various satellite scenarios; The GNSS receiving device is used to receive the communication network signal output by the signal strength programmable control device through the communication network signal antenna, receive the GNSS signal output by the GNSS simulator through the GNSS antenna, perform positioning according to the received RTK signal and GNSS signal, and output the positioning result; The server is connected to the signal strength programmable control device, the GNSS simulator and the GNSS receiving device respectively, and is used to control the signal strength programmable control device and the GNSS simulator respectively, and evaluate the positioning performance of the GNSS receiving device according to the positioning result and the signal strength of the communication network signal corresponding to the positioning result.

8. A performance evaluation device for a GNSS receiving device, characterized in that: include: A memory for storing computer executable instructions; as well as, A processor, configured to implement the steps in the method according to any one of claims 1 to 6 when executing the computer executable instructions.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed by a processor, the steps in the method according to any one of claims 1 to 6 are implemented.

10. A computer program product comprising computer executable instructions, characterized in that: When the computer executable instructions are executed by a processor, the steps in the method described in any one of claims 1 to 6 are implemented.

Images