Beidou terminal inspection and detection service system

Abstract

The invention relates to the technical field of satellite navigation, in particular to a Beidou terminal inspection and detection service system which comprises a Beidou product wired detection platform, a Beidou product wireless detection platform, an over-the-sky static detection platform, an over-the-sky dynamic detection platform and a navigation comprehensive test evaluation platform. The Beidou product wired detection platform performs performance test on the navigation terminal in a wired environment; the Beidou product wireless detection platform performs performance test on the whole machine comprising the antenna; the to-the-sky static detection platform detects the static positioning performance of the detected navigation terminal under the real signal receiving condition; the sky dynamic detection platform tests the positioning performance of the tested navigation terminal under the real signal receiving condition; the navigation comprehensive test and evaluation system realizes test and identification of various dynamic performance parameters of the BDS chip and the navigation type terminal in a real environment, and solves the problem that performance indexes of the satellite navigation terminal are not enough to be tested by a single test method of the satellite navigation terminal.

Description

Technical Field

[0001] The present invention relates to the field of satellite navigation technology, and in particular to a Beidou terminal inspection and testing service system. Background Art

[0002] At present, the testing methods for satellite navigation terminals mainly include the following three methods: navigation signal simulation source simulation test, navigation signal acquisition and playback test, and sky test under real signal.

[0003] The navigation signal simulation source simulation test can use the simulation model of the satellite navigation system to simulate a variety of specific scenarios and high-dynamic simulation test signals. The disadvantage is that the generated signal is too ideal, which is different from the signal errors that vary greatly in the actual environment; the navigation signal acquisition and playback test can collect and store satellite navigation signals in typical scenarios in the real environment, and perform playback tests on the inspection and testing service platform. A unified real signal test environment can be built on the inspection and testing service platform. The disadvantage is that the scenes collected by the acquisition and playback method are limited, and the scenes are not easy to edit; the sky test under real signals is divided into two methods: static sky test and dynamic sky test. It can test the performance of satellite navigation terminals in real usage environments, but it has disadvantages such as benchmark data in dynamic conditions is not easy to obtain, and test scenarios are not easy to reproduce.

[0004] Therefore, it is not enough to use a single test method or to test the performance indicators of the satellite navigation terminal only under the condition of legal input signal. It is necessary to adopt a combination of the above-mentioned test methods. In addition, it is necessary to test the compatibility of the navigation signal spectrum with the spectrum of other legal signals, and it is necessary to test the working performance of the navigation terminal under the condition of inputting other legal signals. Summary of the invention

[0005] The purpose of the present invention is to provide a Beidou terminal inspection and testing service system, aiming to solve the problem that a single test method for a satellite navigation terminal is not enough to test the performance indicators of the satellite navigation terminal.

[0006] To achieve the above object, the present invention provides a Beidou terminal inspection and testing service system, including a Beidou product wired detection platform, a Beidou product wireless detection platform, a sky static detection platform, a sky dynamic detection platform and a navigation comprehensive test and evaluation platform, which are respectively connected through a main control computer;

[0007] The Beidou product wired testing platform is used to perform performance testing on navigation terminals in a wired environment;

[0008] The Beidou product wireless testing platform is used to perform performance testing on the entire device including the antenna;

[0009] The sky static detection platform is used to detect the static positioning performance of the navigation terminal under real signal reception conditions;

[0010] The sky dynamic detection platform is used to test the positioning performance of the navigation terminal under real signal reception conditions;

[0011] The navigation comprehensive test and evaluation system is used to test and identify various dynamic performance parameters of BDS chips and navigation terminals in a real environment.

[0012] Among them, the Beidou product wired detection platform adopts direct simulation to generate the navigation signal received by the navigation terminal, and performs wired testing on the navigation terminal without the antenna. Among them, the wired environment detection adopts a conductive detection method, which does not pass through the terminal antenna reception, and directly connects the detection signal to the RF entrance at the rear end of the navigation terminal antenna.

[0013] Among them, the Beidou product wireless detection platform adopts a method of directly simulating the navigation signal received by the navigation terminal or collecting the signal under real conditions for playback, and performs wireless testing on the navigation terminal including the antenna in a microwave darkroom.

[0014] Among them, the static sky detection platform can detect navigation type, geodetic type, positioning and orientation instruments and attitude positioning and orientation equipment.

[0015] The sky dynamic detection platform simulates actual application situations and uses actual navigation satellite signals to detect the dynamic characteristics of RTK receivers and the like.

[0016] Among them, the navigation comprehensive test and evaluation platform adopts synchronous position and attitude navigation technology, through the mutual complementation of BDS satellite navigation technology and INS inertial navigation technology, uses INS data to continuously obtain high-precision position, speed and attitude information, uses BDS data to correct the INS system, and continuously outputs high-precision position information and attitude information.

[0017] The present invention provides a Beidou terminal inspection and testing service system, wherein the Beidou product wired detection platform is used to perform performance tests on navigation terminals in a wired environment; the Beidou product wireless detection platform is used to perform performance tests on a complete machine including an antenna; the sky-based static detection platform is used to detect the static positioning performance of the tested navigation terminal under real signal reception conditions; the sky-based dynamic detection platform is used to test the positioning performance of the tested navigation terminal under real signal reception conditions; the navigation comprehensive test and evaluation system is used to implement the testing and identification of various dynamic performance parameters of BDS chips and navigation terminals in a real environment. Verify the dynamic positioning accuracy of BDS chips and navigation terminals in a real open environment, the dynamic positioning accuracy in a real sporadic occlusion environment, the dynamic positioning accuracy in a real severe occlusion environment, the dynamic positioning accuracy in a real complete occlusion environment, the dynamic speed measurement accuracy in a real open environment, the dynamic speed measurement accuracy in a real sporadic occlusion environment, the dynamic speed measurement accuracy in a real severe occlusion environment, the dynamic speed measurement accuracy in a real complete occlusion environment, the dynamic number of satellites received in a real open environment, the dynamic number of satellites received in a real sporadic occlusion environment, and the dynamic number of satellites received in a real severe occlusion environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 This is the schematic diagram of the Beidou product wired detection platform.

[0020] Figure 2 This is the schematic diagram of the Beidou product wireless detection platform.

[0021] Figure 3 This is a schematic diagram of the sky static detection platform.

[0022] Figure 4 This is a schematic diagram of the sky dynamic detection platform.

[0023] Figure 5 It is a navigation product detection flow chart of the combined navigation system.

[0024] Figure 6 It is a connection diagram of a Beidou terminal inspection and testing service system provided by the present invention.

[0025] In the picture: 1- Beidou product wired detection platform, 2- Beidou product wireless detection platform, 3- sky static detection platform, 4- sky dynamic detection platform, 5- navigation comprehensive test and evaluation platform. DETAILED DESCRIPTION

[0026] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0027] See also Figures 1 to 6 The present invention provides a Beidou terminal inspection and detection service system, which includes a Beidou product wired detection platform 1, a Beidou product wireless detection platform 2, a sky static detection platform 3, a sky dynamic detection platform 4 and a navigation comprehensive test and evaluation platform 5, which are respectively connected through a main control computer;

[0028] The Beidou product wired testing platform 1 is used to perform performance testing on the navigation terminal in a wired environment;

[0029] The Beidou product wireless testing platform 2 is used to perform performance testing on the entire device including the antenna;

[0030] The sky static detection platform 3 is used to detect the static positioning performance of the navigation terminal under real signal reception conditions;

[0031] The sky dynamic detection platform 4 is used to test the positioning performance of the navigation terminal under real signal reception conditions;

[0032] The navigation comprehensive test and evaluation system is used to test and identify various dynamic performance parameters of BDS chips and navigation terminals in a real environment.

[0033] In the embodiment of the present invention, the Beidou product wired detection platform 1 is used to perform performance testing on the navigation terminal in a wired environment; the Beidou product wireless detection platform 2 is used to perform performance testing on the whole machine including the antenna; the sky static detection platform 3 is used to detect the static positioning performance of the tested navigation terminal under real signal reception conditions; the sky dynamic detection platform 4 is used to test the positioning performance of the tested navigation terminal under real signal reception conditions; the navigation comprehensive test and evaluation system is used to implement the testing and identification of various dynamic performance parameters of BDS chips and navigation terminals in a real environment, and the system verifies BDS. The dynamic positioning accuracy of DS chips and navigation terminals in real open environments, the dynamic positioning accuracy in real sporadic occlusion environments, the dynamic positioning accuracy in real severe occlusion environments, the dynamic positioning accuracy in real complete occlusion environments, the dynamic speed measurement accuracy in real open environments, the dynamic speed measurement accuracy in real sporadic occlusion environments, the dynamic speed measurement accuracy in real severe occlusion environments, the dynamic speed measurement accuracy in real complete occlusion environments, the dynamic number of satellites received in real open environments, the dynamic number of satellites received in real sporadic occlusion environments, and the dynamic number of satellites received in real severe occlusion environments.

[0034] Furthermore, the Beidou product wired detection platform 1 uses direct simulation to generate the navigation signal received by the navigation terminal, and performs a wired test on the navigation terminal without the antenna, wherein the wired environment detection adopts a conductive detection method, and the detection signal is directly connected to the RF entrance at the rear end of the navigation terminal antenna without being received by the terminal antenna.

[0035] Furthermore, the Beidou product wireless detection platform 2 performs wireless testing on the entire navigation terminal including the antenna in a microwave darkroom by directly simulating and generating the navigation signal received by the navigation terminal or collecting the signal under real conditions for playback.

[0036] In the embodiment of the present invention, the Beidou product wireless detection platform 2 integrates a navigation signal simulation source and a navigation signal acquisition and playback device, and tests the device under test through a combination of the two methods. The navigation signal simulation source simulates the signal of the test scene under the control of the platform test and evaluation software, and tests the terminal's functions and performance indicators; the signal acquisition and playback device collects the actual sky signal under typical environmental conditions with the experimental vehicle, and after collecting the signal, it is played back in the station to perform dynamic test tests on the terminal under the real environment, so as to realize the actual sky performance test of the device under test that can be repeated indoors.

[0037] Furthermore, the sky static detection platform 3 can detect navigation type, geodetic type, positioning and orientation instruments and attitude positioning and orientation equipment.

[0038] In the embodiment of the present invention, the sky static detection platform 3 can detect navigation type, geodetic type, positioning and orientation instruments, and attitude positioning and orientation equipment. The system mainly performs double-difference positioning measurement on an ultra-short baseline of several meters in length, without considering the influence of tropospheric and ionospheric delay correction residuals, ephemeris, satellite clock errors and receiver clock errors. The difference between the double-difference results of the observation values ​​between each station and the baseline standard value over a sufficiently long period of time reflects the error and stability of each receiver pair.

[0039] Furthermore, the sky dynamic detection platform 4 simulates actual application conditions and uses actual navigation satellite signals to detect the dynamic characteristics of RTK receivers and the like.

[0040] In the embodiment of the present invention, the sky dynamic detection platform 4 simulates the actual application situation and uses the actual navigation satellite signal to detect the dynamic characteristics of the RTK receiver, etc. The machine under test and the differential machine are installed on a carrier (such as a car) at the same time, and a period of geometric precision factor GDOP≤4 is selected to perform uniform linear motion. The position and speed measurement values ​​of the two machines are aligned in time for comparison processing, and the dynamic characteristics of the navigation receiver are detected, so that the detection results are standardized and comparable.

[0041] Furthermore, the navigation comprehensive test and evaluation platform 5 adopts synchronous position and attitude navigation technology, and through the mutual complementation of BDS satellite navigation technology and INS inertial navigation technology, uses INS data to continuously obtain high-precision position, speed and attitude information, uses BDS data to correct the INS system, and continuously outputs high-precision position information and attitude information.

[0042] In the embodiment of the present invention, the navigation comprehensive test and evaluation system adopts (Synchronized Position and Attitude Navigation) technology, through the mutual complementation of BDS satellite navigation technology and INS inertial navigation technology, can not only ensure that when there are less than 4 satellite signals, the INS data can be used to continuously obtain high-precision position, speed and attitude information, but also ensure that when the INS system error becomes larger, the INS system can be corrected using BDS data. Whether in completely open (no tall buildings and trees environment), sporadic occlusion (lush trees environment), severe occlusion (under viaduct environment), complete occlusion (tunnel environment) and other complex environments, it can continuously output high-precision position information and attitude information.

[0043] While the vehicle-mounted integrated navigation system is operating, the base station equipment is set up in an open and interference-free environment to simultaneously collect BDS raw data. When the vehicle-mounted system is completed, the staff will import the data collected by the base station and the vehicle-mounted integrated navigation system into the data processing server, and run the NovAtel Inertial Explorer BDS+INS post-processing software to obtain high-precision position, speed, and attitude information.

[0044] In order to better understand the present technical solution, the following embodiments are provided for further explanation:

[0045] Example 1

[0046] Beidou product wired testing platform 1

[0047] The Beidou product wired detection platform 1 is used to test the performance of the navigation terminal in a wired environment. It uses a conductive detection method and directly connects the detection signal to the RF inlet at the rear end of the navigation terminal antenna without receiving it through the terminal antenna. There are three ways to perform the test:

[0048] 1. Test by analog signal mode: through the navigation signal simulator, the navigation signal received by the navigation terminal is directly simulated and generated, and wired tests are performed on various navigation products. Under wired conditions, a test environment for the BDS function and receiving performance of the tested terminal can be constructed to realize the detection and certification of the function and performance of Beidou navigation products.

[0049] 2. Through the navigation signal acquisition and playback equipment, the real multi-system navigation signals are collected statically or dynamically, and the conduction test is carried out in the high-fidelity satellite navigation signal environment within the inspection and testing service platform.

[0050] 3. Forward the real satellite navigation signal indoors for wired testing.

[0051] The Beidou product wired test platform composition schematic diagram is as follows Figure 1 As shown, specifically, the detection principle of the Beidou product wired detection platform 1 is: to perform performance detection in a wired environment on navigation products or modules that meet the detection conditions. The detection principle is: by directly simulating the navigation signal received by the navigation terminal, the navigation terminal is subjected to a wired test excluding the antenna. The wired environment detection system adopts a conductive detection method. The detection signal is directly connected to the RF inlet at the rear end of the navigation terminal antenna without being received by the terminal antenna. It is suitable for the detection and certification of various navigation products. Navigation performance is mainly completed by a signal simulator, a collection and playback instrument, and a satellite signal repeater.

[0052] Example 2

[0053] Beidou product wireless testing platform 2

[0054] The test principle of the Beidou product wireless detection platform 2 is similar to that of the Beidou wired detection platform. It mainly tests the whole machine including the antenna. There are three ways to test. The test equipment can be reused with the Beidou wired detection platform to reduce the construction cost of the inspection and testing service platform. The microwave darkroom is specially designed for missile-borne equipment and can realize the spin model. In addition, semi-physical and inertial navigation components are configured to realize semi-physical simulation and inertial navigation simulation.

[0055] 1. Use the navigation signal simulator to directly simulate and generate the navigation signal received by the navigation terminal, and perform static tests on the wireless performance of various navigation products in a microwave darkroom.

[0056] 2. Through the navigation signal acquisition and playback equipment, the real multi-system navigation signals are collected statically or dynamically, and played back in the microwave darkroom to conduct static or dynamic tests on the wireless performance of various navigation products.

[0057] 3. Test the wireless performance by forwarding real satellite navigation signals into a microwave darkroom.

[0058] The Beidou product wireless test platform composition schematic diagram is as follows Figure 2 As shown, specifically, the detection principle of the Beidou product wireless detection platform 2 is as follows:

[0059] Establishing the Beidou product wireless detection platform 2 can meet the performance test of navigation products or modules that meet the detection conditions in a wireless environment. The detection principle is: by directly simulating the navigation signal received by the navigation terminal or collecting the signal in the real situation for playback, the navigation terminal including the antenna is wirelessly tested in a microwave darkroom.

[0060] The wireless detection platform can meet the comprehensive testing of Beidou RDSS / RNSS signals; comprehensive testing of Beidou civil signals, GPS, and GLONASS civil signals; basic testing combined with simple interference testing, and navigation signal simulation combined with real signal acquisition and playback.

[0061] The platform is suitable for the development, testing and detection of all handheld, vehicle-mounted, ship-mounted and other navigation and timing terminals as well as some combined navigation terminals. The wireless detection platform integrates the navigation signal simulation source and the navigation signal acquisition and playback equipment. The navigation signal simulation source simulates the signal of the test scene under the control of the platform test and evaluation software to test the terminal's functions and performance indicators. At the same time, in order to reduce the cost of real dynamic signal testing, the signal acquisition and playback equipment is used with the experimental vehicle to collect actual sky signals under typical environmental conditions. After the signals are collected, they are played back in the station to conduct dynamic tests on the terminal under test in a real environment. This allows the actual sky performance test of the device under test to be repeated indoors. The device under test is tested by a combination of the two methods.

[0062] The wireless detection platform consists of signal simulation equipment (including BDS / GPS / GLONASS multi-system navigation signal source, RDSS closed-loop test equipment, interference signal simulator, data acquisition and playback equipment, etc.), platform control and data storage equipment (including industrial computers, network switches, serial port to network port equipment MOXA, etc.), monitoring station and related equipment (PC, printer), system calibration and guarantee equipment (including programmable power supply, time interval counter, etc.), platform control software (navigation signal simulation software, RDSS closed-loop test software, test evaluation software, acquisition and playback control software) and darkroom.

[0063] Signal simulation equipment includes BDS / GPS / GLONASS multi-system navigation signal source, RDSS closed-loop test equipment, interference signal simulator, data acquisition and playback equipment, etc. Under the control of the platform test and evaluation software, the BDS / GPS / GLONASS multi-system navigation signal source simulates and generates test signals of typical scenarios of Beidou RNSS, GPS, and GLONASS systems, and provides evaluation benchmark data for the control and evaluation software for evaluating the functions and performance of the terminal. The RDSS closed-loop test equipment simulates and simulates RDSS outbound signals, and completes the capture, tracking, analysis and parameter measurement of RDSS inbound signals, which can be used to test and evaluate the functional performance indicators of RDSS user terminals. The data acquisition and playback equipment can simultaneously collect signals including Beidou signals, GPS signals, GLONASS, and Galileo signals. Users only need to record the required RF signal once in a real environment, and then they can play it repeatedly in the inspection and testing service platform for an unlimited number of times to test the functions and performance of user equipment in a real environment. This function can avoid the need for field testing of each device under test during equipment acceptance testing by collecting and storing several typical field sports car test scenarios, saving a lot of manpower and material resources. The RF signal acquisition and playback device can also export the recorded signals to a computer for the user to perform software receiver algorithm analysis, and also allow user-defined data to be imported into the instrument to generate RF signals.

[0064] The server and data storage system includes servers, network switches, MOXA serial port to network port devices, etc. The server runs navigation signal simulation software, RDSS closed-loop test software, acquisition playback control software, test evaluation software and other platform control software. The network switch and MOXA serial port to network port device support data communication between the server and various test instruments, test support equipment and the equipment under test.

[0065] The monitoring station and related equipment are composed of a monitoring station, a PC, a printer, etc., providing a platform operation station for the platform operator to operate and control the system. The system calibration and assurance equipment consists of a programmable power supply, a time interval counter, etc. The programmable power supply is turned on and off under the remote control of the software, and is used to test the positioning time index of the test terminal; the time interval counter measures the phase difference between the 1PPS output by the device under test and the signal source to evaluate the timing accuracy and other indicators. The platform control software includes navigation signal simulation software, RDSS closed-loop test software, test evaluation software, acquisition playback control software, database application software, etc. The navigation signal simulation software simulates and generates the model parameters of the BDS RNSS / GPS / GLONASS system and controls the BDS / GPS / GLONASS multi-system navigation signal source. The RDSS closed-loop test software simulates the RDSS outbound model parameters and completes the processing of the RDSS inbound receiving signal parameters and information, which is used to test and evaluate the functional performance indicators of the RDSS user terminal. The equipment control module of the test evaluation software sets the scene parameters of the signal source and displays its working status; it also controls the test support equipment such as the programmable power supply, time interval counter and turntable, and sets the working status and parameters of the equipment under test, supporting the completion of complete testing of all test items. The database application software stores the received data in categories and supports data extraction and display according to various search conditions.

[0066] Example 3

[0067] Sky static detection platform 3

[0068] The static sky detection platform 3 is used to detect the static positioning performance of the tested navigation terminal under real signal receiving conditions, and can evaluate the precise positioning performance and differential positioning performance of the receiving terminal. The static sky test detection method includes three detection methods: outdoor sky detection, indoor forwarding signal detection, and differential detection.

[0069] Outdoor sky test: Through the use of various portable testing instruments and auxiliary facilities such as measurement antennas, reference points, RF signal multi-function processors, control test and evaluation laptops, etc., static sky test under real navigation satellite signals is realized.

[0070] Forwarding wireless test: forward and amplify the real navigation satellite signal and output it to the darkroom to perform performance test on the terminal under wireless conditions. The forwarding wireless test does not need to change the state of the terminal under test (i.e., it does not need to disconnect the interface between the antenna and the RF), and can better reflect the real performance of the terminal.

[0071] Differential test: According to the test requirements, the base station and mobile station receiver antennas are respectively set up at the preset positions (ultra-short baseline, short baseline, long baseline, ultra-long baseline), and the differential positioning application performance of the two terminals to be tested is tested while ensuring normal communication between the base station and mobile station receivers.

[0072] The schematic diagram of the sky static detection platform 3 is as follows Figure 3 As shown, specifically, the detection principle of the sky static detection platform 3 is as follows: the sky static detection platform 3 can detect navigation type, geodetic type, positioning and orientation instrument, attitude positioning and orientation equipment. The system mainly performs double difference positioning measurement on an ultra-short baseline of several meters, without considering the influence of troposphere and ionosphere delay correction residuals, ephemeris, star clock error and receiver clock error. The difference between the double difference results of each station observation value and the baseline standard value over a sufficiently long time reflects the error and stability of each receiver pair. The "zero baseline" measurement technology is used to measure the internal noise level. The receiver is placed on a known coordinate point in the baseline field, and the difference between the calculated coordinates and the known coordinates is used as the calibration result.

[0073] Example 4

[0074] Sky dynamic detection platform 4

[0075] The dynamic detection platform 4 is used to test the positioning performance of the navigation terminal under real signal receiving conditions, and can evaluate the precision positioning performance and differential positioning performance of the receiving terminal. The dynamic positioning accuracy of the navigation product under the conditions of the sky. Figure 4 As shown, specifically, the detection principle of the sky dynamic detection platform 4 is as follows: the sky dynamic detection platform 4 uses the BDS high-precision commercial dynamic differential positioning receiver as a benchmark, and can test the high-precision differential positioning receiver developed domestically. The sky dynamic detection system mainly simulates actual application conditions and uses actual navigation satellite signals to detect the dynamic characteristics of RTK receivers and the like. The machine under test and the differential machine are installed on a carrier (such as a car) at the same time, and a period of geometric precision factor GDOP≤4 is selected for uniform linear motion. The position and speed measurement values ​​of the two machines are aligned in time for comparison and processing, and the dynamic characteristics of the navigation receiver are detected to make the detection results standardized and comparable.

[0076] The detection equipment of the sky dynamic detection system adopts a small cabinet structure, which is easy to install on the test vehicle. The sky dynamic detection system consists of a server and application performance dynamic test verification software system, signal acquisition and playback equipment, RF signal integration and distribution unit, data transmission equipment (including network switches, MOXA, etc.), detection support equipment (including vehicle-mounted UPS, vehicle-mounted inverter power supply, etc.), the terminal to be tested and the reference receiver (external integration).

[0077] The server runs the application performance dynamic test verification software, which sets the working status and parameters of the reference receiver and the terminal to be tested through the terminal control module. The database application software transfers the instructions sent by the application performance dynamic test verification software and the observation data of the terminal to be tested to the server of the indoor simulation detection platform, ensuring the integrity of the data and facilitating unified analysis and comparison afterwards.

[0078] The data processing software obtains PVT solution results, parsed navigation messages, etc. by post-processing the observed quantities of the terminal under test in various modes, so as to evaluate the availability and continuity of the terminal under test; at the same time, the software can also count the number of available satellites, the elevation angle, azimuth angle, carrier-to-noise ratio, pseudo-range residual, etc. of visible satellites, and automatically generate a test report. The RF signal integrated distribution unit consists of an RF combiner and a power divider. Its function is to distribute the real satellite navigation signal received by the antenna to the terminal under test, the signal acquisition and playback equipment, and a reference receiver, and supports wired testing of dynamic application performance. The data transmission equipment consists of a network switch and MOXA, etc., which supports data communication between the server and various testing instruments and equipment, testing support equipment, and the equipment under test. The testing support equipment consists of a vehicle-mounted UPS, an inverter power supply, etc. The vehicle-mounted UPS provides a test power reserve. The inverter power supply can convert the DC power supply into an AC power supply for use by the testing equipment.

[0079] Equipment under test and reference receiver: The reference receiver consists of a base station receiver at a fixed position, a mobile station receiver installed on the actual sky dynamic performance test platform, and the RTK differential information transmission equipment between them. The position of the base station is precisely known, and the mobile station receiver calculates the position in real time through RTK as the basis for evaluation.

[0080] Example 5

[0081] Navigation comprehensive test and evaluation platform 5

[0082] The navigation comprehensive test and evaluation platform 5 adopts NovAtel SPAN-FSAS combined navigation system to help users complete the test and identification of various dynamic performance parameters of BDS chips and navigation terminals in a real environment. The entire Beidou identification system is to install a set of SPAN-FSAS combined navigation system and Beidou products to be tested on the test vehicle. Accurate three-dimensional position, speed and attitude information are obtained through professional BDS+INS post-processing software.

[0083] Specifically, the working principle of the integrated navigation system is as follows: NovAtel integrated navigation system adopts (Synchronized Position and Attitude Navigation) technology, through the mutual complementation of BDS satellite navigation technology and INS inertial navigation technology, can not only ensure that when there are less than 4 satellite signals, the INS data can be used to continuously obtain high-precision position, speed and attitude information, but also ensure that when the INS system error becomes larger, the INS system can be corrected using BDS data. Whether in completely open (no tall buildings and trees environment), sporadic occlusion (lush trees environment), severe occlusion (under viaduct environment), complete occlusion (tunnel environment) and other complex environments, it can continuously output high-precision position information and attitude information.

[0084] While the vehicle-mounted integrated navigation system is operating, the base station equipment is set up in an open and interference-free environment to simultaneously collect BDS raw data. When the vehicle-mounted system is completed, the staff will import the data collected by the base station and the vehicle-mounted integrated navigation system into the data processing server, and run the NovAtel Inertial Explorer BDS+INS post-processing software to obtain high-precision position, speed, and attitude information.

[0085] The navigation product testing process of the integrated navigation system is as follows: Figure 5 The specific description of the fixed base station construction is as follows: Based on the functional design and requirements of the comprehensive system and combined with the base station data of related projects, the following functional analysis and design are proposed:

[0086] The selection and performance of the main functional modules of the base station are described as follows:

[0087] (1) Choke coil receiving antenna

[0088] The base station uses a BDS choke measurement type full-frequency antenna, which is mainly used for geodetic measurement, earthquake prediction and atmospheric water vapor content research. It uses an aluminum isocircular 4-turn groove choke and a symmetrical multi-point polarized antenna plus a 43dB low-noise bandpass filter amplifier, and can work in a DC voltage of 3.3 to 12V. The antenna works and reduces the interference of low-elevation angle signals through advanced circuits. It has the ability to resist electromagnetic interference and multipath effects. The closed antenna cover can adapt to different weather and harsh working environments.

[0089] (2) BDS Receiver

[0090] The base station BDS receiver uses the NovAtel PwrPak7 receiver, which is a high-performance reference station receiver with multiple communication interfaces. It can work stably and continuously for a long time. It has a built-in 16G storage function, which can realize ultra-long-term data collection. The receiver adopts the latest hardware platform design and supports the full-frequency signal reception of all current satellite systems (GPS, BDS, Galileo, GLONASS).

[0091] (3)UPS / power supply

[0092] In order to ensure that the base station can be powered normally and operate continuously, while maintaining regular power supply, UPS equipment is also required. When the AC power is input normally, the UPS will stabilize the AC power and supply it to the load. At the same time, it will charge the battery inside the machine and store energy in the battery. When the AC power is interrupted (power outage due to accident) or input failure, the UPS will immediately convert the energy of the battery inside the machine into 220V AC to continue to supply the load, so that the load can maintain normal operation and protect the load software and hardware from damage.

[0093] Specifically, the method for using the navigation comprehensive test and evaluation platform 5 includes the following steps:

[0094] 1. Connect the two BDS antennas to the magnetic base and fix them on the roof, then install the FSAS in the car and connect the relevant cables;

[0095] 2. Use a total station to accurately measure the offset between the BDS antenna phase center and the FSAS navigation center in the three axes of X / Y / Z;

[0096] 3. After installing the combined navigation system as the test benchmark, install the product to be tested and accurately measure the distance between the BDS antenna and the navigation antenna of the product to be tested.

[0097] 4. After all equipment is installed, start dynamic testing according to the established driving route and record relevant raw data for subsequent processing.

[0098] 5. After the device under test is positioned in single BDS mode, it starts running along the established route (completely open environment, sporadic occlusion environment, severe occlusion environment, complete occlusion environment, etc.), and collects the positioning information and speed measurement information output by the device under test in real time.

[0099] 6. Set the device under test to switch to BDS+GPS positioning mode and repeat step ⑤.

[0100] 7. After the data collection is completed, the data collected by the base station and the vehicle-mounted integrated navigation system are imported into the data processing server. By running the NovAtel Inertial Explorer BDS+INS post-processing software, high-precision position and speed information can be obtained, and the positioning accuracy, positioning availability, and speed measurement accuracy of the product to be tested can be counted.

[0101] What is disclosed above is only a preferred embodiment of the Beidou terminal inspection and testing service system of the present invention. Of course, it cannot be used to limit the scope of rights of the present invention. Ordinary technicians in this field can understand that all or part of the processes of the above embodiments and equivalent changes made according to the claims of the present invention are still within the scope of the invention.

Claims

1. A Beidou terminal inspection and testing service system, characterized in that ； The Beidou product wired detection platform, Beidou product wireless detection platform, sky static detection platform, sky dynamic detection platform and navigation comprehensive test and evaluation platform are connected through the main control computer respectively; The Beidou product wired testing platform is used to perform performance testing on navigation terminals in a wired environment; The Beidou product wireless testing platform is used to perform performance testing on the entire device including the antenna; The sky static detection platform is used to detect the static positioning performance of the navigation terminal under real signal reception conditions; The sky dynamic detection platform is used to test the positioning performance of the navigation terminal under real signal reception conditions; The navigation comprehensive test and evaluation system is used to test and identify various dynamic performance parameters of BDS chips and navigation terminals in a real environment.

2. The Beidou terminal inspection and testing service system as claimed in claim 1, It is characterized by: The Beidou product wired detection platform uses direct simulation to generate the navigation signal received by the navigation terminal, and performs wired testing on the navigation terminal without the antenna. Among them, the wired environment detection adopts a conductive detection method, and the detection signal is directly connected to the RF entrance at the rear end of the navigation terminal antenna without being received by the terminal antenna.

3. The Beidou terminal inspection and testing service system as claimed in claim 1, It is characterized by: The Beidou product wireless detection platform uses a method of directly simulating and generating navigation signals received by the navigation terminal or collecting signals under real conditions for playback, and performs wireless testing on the entire navigation terminal including the antenna in a microwave darkroom.

4. The Beidou terminal inspection and detection service system as claimed in claim 1, characterized in that ； The sky static detection platform can detect navigation type, geodetic type, positioning and orientation instruments and attitude positioning and orientation equipment.

5. The Beidou terminal inspection and testing service system as claimed in claim 1, characterized in that ； The sky dynamic detection platform simulates actual application conditions and uses actual navigation satellite signals to detect the dynamic characteristics of RTK receivers and the like.

6. The Beidou terminal inspection and testing service system as claimed in claim 1, characterized in that ； The navigation comprehensive test and evaluation platform adopts synchronous position and attitude navigation technology, and through the mutual complementation of BDS satellite navigation technology and INS inertial navigation technology, uses INS data to continuously obtain high-precision position, speed and attitude information, uses BDS data to correct the INS system, and continuously outputs high-precision position information and attitude information.

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