Method and system for graded testing of working modes of GNSS (Global Navigation Satellite System) terminal

Abstract

The invention discloses a GNSS (Global Navigation Satellite System) terminal working mode grading test method and a GNSS terminal working mode grading test system. Only first GNSS system satellite signals and only second GNSS system satellite signals are broadcasted in sequence, three first GNSS system satellite signals or second GNSS system satellite signals and m other system satellite signals are broadcasted at the same time to execute a three-level positioning test process, and track consistency test judgment is carried out in a third-level positioning test. According to a 3 + m positioning test judgment result and a track consistency test judgment result, whether the tested terminal belongs to a single-system terminal or a multi-system terminal and which single-mode working mode, a priority resolving working mode or a combined resolving working mode are judged, so that misjudgment and missed judgment caused by incomplete evaluation factors can be avoided, and the accuracy of the test result is improved. And the accuracy and reliability of a detection result are improved. According to the invention, the working mode of the GNSS terminal can be accurately judged in an electric power operation site environment.

Description

Technical Field

[0001] The present invention belongs to the technical field of electric power digitization, and relates to a GNSS terminal working mode hierarchical testing method and system. Background Art

[0002] The Global Navigation Satellite System (GNSS) is a radio positioning navigation system that provides positioning, navigation, and timing services to ground users through navigation satellites running in fixed orbits on the surface of the earth. Currently, there are four major GNSS systems, including the United States' Global Positioning System (GPS), Russia's GLONASS, China's Beidou Satellite Navigation System (BDS), and the European Union's Galileo Satellite Navigation System (GALILEO). GNSS terminals are devices that can receive GNSS signals and parse them to obtain location information. The power industry is an important application area of ​​the Beidou system. Focusing on the core business of the power grid, the Beidou system can provide safe and reliable geographic location services for the power system. At present, a large number of Beidou terminal devices have been deployed and used in business scenarios such as safety control at the work site, autonomous drone inspections, and vehicle management. With the construction of new power systems and digital and intelligent strong power grids, the application scale of Beidou in power will be further expanded.

[0003] The basic principle of satellite positioning is to measure the time delay between the satellite signal and the reference signal of the terminal device, multiply it by the propagation speed of the electromagnetic wave to obtain the pseudo-range observation value, then calculate the known position of each satellite at the current moment in combination with the ephemeris, and then Figure 1The distance intersection principle shown in the figure calculates the three-dimensional position information. Considering the time error of the clock of the terminal device, it is generally necessary to use at least 4 satellites to solve the specific position. The GNSS terminal receives the navigation satellite signal through the antenna. The signal enters the signal processing unit after amplification and filtering by the radio frequency unit. The signal processing unit tracks and captures the signal to obtain the initial code, star sign and Doppler shift difference of the satellite. Then, the code phase and signal frequency are estimated first, and then demodulated, and the data in the navigation message is used to complete the synchronization. After synchronization, the navigation message is solved, and the pseudo code distance value is calculated from the phase offset. Finally, the accurate position of the terminal device is calculated based on the pseudo range. According to the satellite navigation system used by the GNSS terminal when working, it can be divided into: single system terminal and multi-system terminal. The single system terminal only performs positioning and solving according to the satellite signal of a single GNSS system. At present, the common single system terminals in China are Beidou single mode and GPS single mode. The multi-system terminal simultaneously receives any two or more satellite signals from GNSS systems such as Beidou, GPS, GLONASS, GALILEO, etc. for positioning and solving. Due to the widespread application and technical maturity of GPS, the most common multi-system terminals are currently a combination of GPS and other systems. Multi-system terminals can be mainly divided into three working modes: Beidou priority solution, GPS priority solution, and joint solution. The specific explanations of each working mode are as follows: Beidou single-mode: GNSS terminals only support positioning solutions based on navigation signals broadcast by the Beidou system; GPS single mode: GNSS terminals only support positioning solutions based on navigation signals broadcast by the GPS system; Beidou priority solution: The GNSS terminal supports both the Beidou system and other GNSS systems, but gives priority to receiving and processing the navigation signals broadcast by the Beidou system for positioning solution; GPS priority solution: GNSS terminals support both GPS and other GNSS systems, but give priority to receiving and processing signals broadcast by the GPS system for positioning solutions; Joint solution: The GNSS terminal supports both the Beidou system and other GNSS systems. The positioning result is obtained by jointly solving the signals broadcast by the supported GNSS systems.

[0004] Since the Beidou system is a satellite navigation system independently built by my country, power infrastructure is also an important infrastructure related to national energy security and people's livelihood. Therefore, GNSS terminals provide spatial location services for power infrastructure based on the autonomous and controllable Beidou system, which is very important for ensuring the safe and stable operation of the power grid, and also meets the national strategic security needs.

[0005] At present, there are relatively complete laboratory test methods for the function and performance detection of GNSS terminals, which generally include: using a satellite navigation signal simulator in a laboratory environment to simulate the satellite constellation information, atmospheric environment information, and user trajectory information of Beidou or other systems, generating navigation messages and observation data, connecting to the device under test via a radio frequency cable, and executing the test process with the test control evaluation software to obtain the test results of the performance parameters such as tracking sensitivity and positioning accuracy of the device under test. However, power GNSS terminals are generally used in exposed spaces such as substations and transmission line inspections. The terminals can receive satellite navigation signals broadcast in real time by systems such as Beidou, GPS, GLONASS, and GALILEO in the sky. The environmental signal conditions are complex, and testing the working mode of GNSS terminals in the field is of great significance to ensure the safe and reliable operation of GNSS terminals in power systems. Therefore, it is urgent to carry out research on the working mode test methods of GNSS terminals in the field to test and judge their working modes. Summary of the invention

[0006] The purpose of the present invention is to provide a GNSS terminal working mode classification test method and system to accurately determine the working mode of the GNSS terminal in an electric power operation site environment in order to solve the above-mentioned problems in the prior art.

[0007] In order to achieve the above object, the present invention has the following technical solutions: In a first aspect, a GNSS terminal working mode hierarchical testing method is provided, comprising: Only the first GNSS system satellite signal is broadcasted and other GNSS system satellite signals are turned off to perform the first level positioning test judgment on the terminal under test; If the first-level positioning test is successful, only other GNSS system satellite signals are broadcast and all first GNSS system satellite signals are turned off, and the second-level positioning test of the terminal under test is performed; if the corresponding second-level positioning test is successful, the trajectory consistency test in the third-level positioning test is performed; if the corresponding second-level positioning test is unsuccessful, 3 first GNSS system satellite signals and m other GNSS system satellite signals are broadcast at the same time, and the 3+m positioning test in the third-level positioning test is performed; If the first-level positioning test is unsuccessful, only the second GNSS system satellite signal is broadcast and other GNSS system satellite signals are turned off to perform the second-level positioning test on the terminal under test; if the corresponding second-level positioning test is successful, 3 second GNSS system satellite signals and m other GNSS system satellite signals are broadcast at the same time to perform the 3+m positioning test in the third-level positioning test; If the 3+m positioning test in the third-level positioning test is successful, the trajectory consistency test is performed. According to the judgment results of the 3+m positioning test in the third-level positioning test and the trajectory consistency test, it is determined whether the terminal under test belongs to a single-system terminal or a multi-system terminal, and whether it is a single-mode working mode, priority solution working mode or joint solution working mode.

[0008] As a preferred solution, it also includes the steps of equipment connection and initialization configuration. In the steps of equipment connection and initialization configuration, the terminal under test is placed in a signal shielding dark box, and the signal shielding dark box isolates the interference of various real GNSS signals existing in the air in the outdoor environment; the RF output port of the detector is connected to the RF input port of the shielding dark box using a RF cable, so that the simulated analog signal broadcast by the detector can be broadcast to the terminal under test through the signal transmitting antenna in the shielding dark box; the serial port data cable is used to connect the terminal under test and the data interface of the detector, so as to obtain the positioning data information reported by the terminal under test in real time.

[0009] As a preferred solution, in the step of broadcasting only the first GNSS system satellite signal and shutting down other GNSS system satellite signals to perform the first-level positioning test judgment on the terminal under test, the first GNSS system satellite signal is a Beidou satellite signal, and no less than 4 Beidou satellite signals are broadcast to simulate the motion trajectory, and all other GNSS system satellite signals are shut down. The duration M is set, and the simulation trajectory is expressed as ,in, express The position of the simulation at each moment, Respectively in The east, north and altitude coordinates of the simulation location at all times; The terminal under test calculates the Beidou satellite signal and generates and reports the trajectory expressed as ,in, express The location reported by the terminal under test at all times, Respectively in The east, north and altitude coordinates of the position reported by the terminal under test at all times; Complete the first-level positioning test judgment of the terminal under test. The first-level positioning test judgment is determined by the positioning status identification bit, positioning accuracy, and speed measurement accuracy reported by the terminal under test.

[0010] As a preferred solution, only other GNSS system satellite signals are broadcasted and all first GNSS system satellite signals are turned off. When performing the second-level positioning test judgment on the terminal under test, no less than 4 other GNSS system satellite signals are broadcasted and the motion trajectory is simulated, all Beidou satellite signals are turned off, and the duration M is set; the simulation trajectory is expressed as ,in, express The position of the simulation at each moment, Respectively in The east, north and altitude coordinates of the simulation location at all times; The terminal under test calculates the satellite signals of other GNSS systems and generates and reports the trajectory expressed as: ,in, express The location reported by the terminal under test at all times, Respectively in The east, north and altitude coordinates of the position reported by the terminal under test at all times; Complete the second-level positioning test judgment of the terminal under test. The second-level positioning test judgment is jointly determined by the positioning state identification bit, positioning accuracy, and speed measurement accuracy reported by the terminal under test; when the positioning state identification bit, positioning accuracy, and speed measurement accuracy of the terminal under test meet the requirements at the same time, the result of the second-level positioning test judgment is successful positioning, otherwise it is unsuccessful positioning; The method of only broadcasting the second GNSS system satellite signal and turning off other GNSS system satellite signals, and performing the second-level positioning test on the terminal under test, determines that the second GNSS system satellite signal is a GPS satellite signal, then broadcast no less than 4 GPS satellite signals and simulate the motion trajectory, turn off all other GNSS system satellite signals, set the duration M, and the rest of the process is the same as the above process.

[0011] As a preferred solution, the positioning status identification bit is used Indicates that if , indicating that the status reported by the terminal under test is positioning status. If , indicating that the status reported by the terminal under test is unpositioned.

[0012] As a preferred solution, the positioning accuracy is determined by the simulated motion trajectory and the trajectory generated and reported by the terminal under test; Determine the random window, which is divided into the simulation trajectory random window and the trajectory random window generated and reported by the terminal under test; fix the first and last sub-windows, and the range of the trajectory random sub-window generated and reported by the terminal under test is determined by the random number It is determined that the data in the random sub-window of the trajectory follows a Gaussian distribution; Initialize test random numbers , is an integer and ,in, is the window size; M is the set duration; The random window of the simulation trajectory is expressed as ,in, To simulate the motion trajectory, random sub-windows are created. Each sub-window contains The position information of the simulated motion trajectory at different times is expressed as follows:

[0013]

[0014]

[0015] The random window of the trajectory generated and reported by the tested terminal is expressed as ,in, The random sub-windows of the trajectory generated and reported by the terminal under test, each sub-window contains The position information of the trajectory generated and reported by the tested terminal at different times is selected to be consistent with the time point of the random sub-window of the simulation motion trajectory: The positioning accuracy of the terminal under test is determined by the cumulative positioning accuracy error and the positioning deviation with a confidence probability of 95%; The cumulative positioning accuracy error is calculated as follows: Calculate the root mean square value of the three-dimensional positioning accuracy error within the three random sub-windows respectively , the calculation formula is as follows:

[0016]

[0017]

[0018] Get the cumulative positioning accuracy error within the random window of the simulated motion trajectory and the trajectory random window generated and reported by the terminal under test ; The positioning deviation with a 95% confidence level is calculated as follows: The average deviation of the positioning accuracy between the trajectory generated and reported by the terminal under test and the simulated motion trajectory within the three random sub-windows is calculated as follows:

[0019] in, They are the average values ​​of the positioning accuracy deviation of the measured terminal in the east, north and high directions within the three random sub-windows respectively; the standard deviation of the positioning accuracy deviation is calculated according to the following formula :

[0020]

[0021]

[0022]

[0023] in, They are Always report the difference between the trajectory and the simulated trajectory in the east, north and altitude directions. are the components of the standard deviation of positioning accuracy in three directions respectively; Calculate the positioning deviation with a confidence probability of 95% as follows: :

[0024] Initialize the cumulative error threshold of positioning accuracy and positioning deviation threshold ; if and , it means that the positioning accuracy of the terminal under test is determined to meet the requirements, otherwise, it is determined that the positioning accuracy of the terminal under test does not meet the requirements.

[0025] As a preferred solution, the method for determining the speed measurement accuracy is as follows: according to and The position vector is obtained by the position information reported by the terminal under test at any time and , calculated by the following formula The speed calculated by the terminal under test at any moment :

[0026] in, is the sampling interval. According to the above formula, the speed of the terminal under test at each moment in each random sub-window of the reported trajectory is obtained. The speed values ​​obtained in the three random sub-windows are subtracted from the speed values ​​simulated at the corresponding moments. The average result is taken as the speed measurement accuracy error value of the terminal under test, which is expressed as , set the speed measurement accuracy error threshold to ; if , it means that the speed measurement accuracy of the terminal under test is judged to meet the requirements, otherwise, it is judged to fail to meet the requirements; When the positioning status identification bit, positioning accuracy and speed measurement accuracy of the terminal under test meet the requirements at the same time, the result of the positioning test process is determined to be successful positioning. The judgment expression is as follows: .

[0027] As a preferred solution, the step of simultaneously broadcasting three first GNSS system satellite signals and m other GNSS system satellite signals to perform a 3+m positioning test judgment in the third-level positioning test includes: Broadcast 3 BeiDou satellite signals and m other GNSS system satellite signals, and simulate the motion trajectory. The simulation trajectory is expressed as ,in, express The position of the simulation at each moment, Respectively in The east, north and altitude coordinates of the simulation location at all times; The terminal under test calculates the signals of three Beidou satellites and m other GNSS satellites, and generates and reports the trajectory expressed as: ,in, express The location reported by the terminal under test at all times, Respectively in The east, north and altitude coordinates of the position reported by the terminal under test at all times; Complete the 3+m positioning test judgment in the third-level positioning test of the terminal under test. The 3+m positioning test judgment is jointly determined by the positioning state identification bit, positioning accuracy, and speed measurement accuracy reported by the terminal under test. When the positioning state identification bit, positioning accuracy, and speed measurement accuracy of the terminal under test meet the requirements at the same time, the result of the third-level positioning test judgment is determined to be successful positioning, otherwise it is unsuccessful positioning. If the positioning is unsuccessful, the terminal under test is determined to be in Beidou single-mode working mode; The step of simultaneously broadcasting 3 second GNSS system satellite signals and m other GNSS system satellite signals to perform the 3+m positioning test judgment step in the third-level positioning test is to simultaneously broadcast 3 GPS satellite signals and m other GNSS system satellite signals. The rest of the process is the same as the above process. If the positioning is unsuccessful, it is determined that the terminal under test is in GPS single-mode working mode.

[0028] As a preferred solution, it is determined through a trajectory consistency test that the terminal under test is not a single-system terminal but a multi-system terminal; when the first GNSS system satellite signal is a Beidou satellite signal and the second GNSS system satellite signal is a GPS satellite signal, the steps of the trajectory consistency test include: Simultaneously broadcast mixed signals consisting of no less than 4 Beidou satellites and no less than 4 GPS satellites. The two signals simulate different trajectories and are set to last for a duration of M. The trajectory simulated according to the Beidou satellite signal is expressed as ,in, express The position of the Beidou track at the moment, are the specific east, north and altitude coordinates respectively; the trajectory simulated according to the GPS satellite signal is expressed as ,in, express GPS track location at all times, They are the specific east, north and height coordinates respectively; The terminal under test solves the mixed signal according to the broadcast, and the trajectory generated and reported is expressed as ,in, express The location reported by the terminal under test at all times, Respectively in The east, north and altitude coordinates of the position reported by the terminal under test at all times; The trajectory consistency judgment result of the terminal under test is determined by the trajectory consistency judgment model based on the correlation coefficient; The trajectory consistency discrimination model based on the correlation coefficient is: ; in, Represents the correlation coefficient between the reported trajectory and the simulated trajectory position vector, Represents the correlation coefficient between the reported trajectory and the simulated trajectory velocity vector, is the discriminant coefficient; The calculation process of the trajectory consistency discrimination model based on the correlation coefficient includes: Calculate the average value of the position vector of the trajectory reported by the terminal under test in the east direction as follows: :

[0029] Calculate the average value of the position vector of the simulated Beidou trajectory in the east direction by the following formula :

[0030] The correlation coefficient between the position vector of the reported trajectory and the simulated Beidou trajectory in the east direction is calculated as follows:

[0031] Calculate the correlation coefficient between the position vectors of the reported trajectory and the simulated Beidou trajectory in the north and high directions in the same way ; Calculate the average value of the correlation coefficient in the east, north and high directions to obtain the correlation coefficient between the reported trajectory and the simulated Beidou trajectory position vector :

[0032] The correlation coefficient between the reported trajectory and the simulated Beidou trajectory velocity vector is calculated according to the following formula :

[0033] in, The reported trajectories are The speed value at the moment and the average speed, The simulated Beidou trajectories are The speed value at the moment and the average speed; Calculate the correlation coefficient between the reported trajectory and the simulated GPS trajectory position vector in the same way Correlation coefficient between the velocity vector ; Calculate the consistency discrimination coefficient between the trajectory reported by the terminal under test and the simulated Beidou trajectory :

[0034] Calculate the consistency discriminant coefficient between the trajectory reported by the terminal under test and the simulated GPS trajectory :

[0035] Initialize trajectory consistency discrimination coefficient threshold And trajectory consistency identification bit , the trajectory consistency judgment results are as follows:

[0036] If the trajectory consistency flag , indicating that the trajectory reported by the terminal under test is consistent with the Beidou trajectory, but inconsistent with the GPS trajectory, then the working mode of the terminal under test is determined to be Beidou priority solution, and the test ends; If the trajectory consistency flag , indicating that the trajectory reported by the terminal under test is consistent with the GPS trajectory, but inconsistent with the Beidou trajectory, then the working mode of the terminal under test is determined to be GPS priority solution, and the test ends; If the trajectory consistency flag , indicating that the trajectory reported by the terminal under test is inconsistent with the Beidou trajectory and the GPS trajectory. In this case, the working mode of the terminal under test is determined to be joint solution, and the test ends.

[0037] In a second aspect, a GNSS terminal working mode classification test system is provided, comprising: The first-level positioning test judgment module is used to broadcast only the first GNSS system satellite signal and turn off other GNSS system satellite signals to perform the first-level positioning test judgment on the terminal under test; The second-level positioning test judgment module of the first GNSS system satellite signal is used to, if the first-level positioning test is successful, only broadcast other GNSS system satellite signals and turn off all first GNSS system satellite signals to perform the second-level positioning test judgment on the terminal under test; if the corresponding second-level positioning test is successful, perform the trajectory consistency test judgment in the third-level positioning test; if the corresponding second-level positioning test is unsuccessful, broadcast 3 first GNSS system satellite signals and m other GNSS system satellite signals at the same time, and perform the 3+m positioning test judgment in the third-level positioning test; The second-level positioning test judgment module of the second GNSS system satellite signal is used to broadcast only the second GNSS system satellite signal and turn off other GNSS system satellite signals to perform the second-level positioning test judgment on the terminal under test if the first-level positioning test judgment is unsuccessful; if the corresponding second-level positioning test judgment is successful, three second GNSS system satellite signals and m other GNSS system satellite signals are broadcast simultaneously to perform the 3+m positioning test judgment in the third-level positioning test; The judgment result analysis output module is used to perform a trajectory consistency test if the 3+m positioning test in the third-level positioning test is successful. According to the judgment results of the 3+m positioning test in the third-level positioning test and the trajectory consistency test, it is determined whether the terminal under test belongs to a single-system terminal or a multi-system terminal, and which single-mode working mode, priority solution working mode or joint solution working mode.

[0038] As a preferred solution, the first GNSS system satellite signal is a Beidou satellite signal, and at least 4 Beidou satellite signals are broadcast to simulate the motion trajectory, and all other GNSS system satellite signals are turned off. The duration M is set, and the simulation trajectory is expressed as ,in, express The position of the simulation at each moment, Respectively in The east, north and altitude coordinates of the simulation location at all times; The terminal under test calculates the Beidou satellite signal and generates and reports the trajectory expressed as ,in, express The location reported by the terminal under test at all times, Respectively in The east, north and altitude coordinates of the position reported by the terminal under test at all times; Complete the first-level positioning test judgment of the terminal under test. The first-level positioning test judgment is determined by the positioning status identification bit, positioning accuracy, and speed measurement accuracy reported by the terminal under test.

[0039] As a preferred solution, the second-level positioning test judgment module of the first GNSS system satellite signal broadcasts no less than 4 other GNSS system satellite signals and simulates the motion trajectory, turns off all Beidou satellite signals, and sets the duration M; the simulation trajectory is expressed as ,in, express The position of the simulation at each moment, Respectively in The east, north and altitude coordinates of the simulation location at all times; The terminal under test calculates the satellite signals of other GNSS systems and generates and reports the trajectory expressed as ,in, express The location reported by the terminal under test at all times, Respectively in The east, north and altitude coordinates of the position reported by the terminal under test at all times; Complete the second-level positioning test judgment of the terminal under test. The second-level positioning test judgment is jointly determined by the positioning state identification bit, positioning accuracy, and speed measurement accuracy reported by the terminal under test; when the positioning state identification bit, positioning accuracy, and speed measurement accuracy of the terminal under test meet the requirements at the same time, the result of the second-level positioning test judgment is successful positioning, otherwise it is unsuccessful positioning; The second GNSS system satellite signal is a GPS satellite signal. The second-level positioning test and judgment module of the second GNSS system satellite signal broadcasts no less than 4 GPS satellite signals and simulates the motion trajectory, turns off all other GNSS system satellite signals, sets the duration M, and the rest of the process is the same as the second-level positioning test and judgment module of the first GNSS system satellite signal.

[0040] As a preferred solution, in the first-level positioning judgment and the second-level positioning judgment of the terminal under test: Positioning status flag Indicates that if , indicating that the status reported by the terminal under test is positioning status. If , indicating that the status reported by the terminal under test is unpositioned; The positioning accuracy is determined by the simulated motion trajectory and the trajectory generated and reported by the terminal under test; Determine the random window, which is divided into the simulation trajectory random window and the trajectory random window generated and reported by the terminal under test; fix the first and last sub-windows, and the range of the trajectory random sub-window generated and reported by the terminal under test is determined by the random number It is determined that the data in the random sub-window of the trajectory follows a Gaussian distribution; Initialize test random numbers , is an integer and ,in, is the window size; M is the set duration; The random window of the simulation trajectory is expressed as ,in, To simulate the motion trajectory, random sub-windows are created. Each sub-window contains The position information of the simulated motion trajectory at different times is expressed as follows:

[0041]

[0042]

[0043] The random window of the trajectory generated and reported by the tested terminal is expressed as ,in, The random sub-windows of the trajectory generated and reported by the terminal under test, each sub-window contains The position information of the trajectory generated and reported by the tested terminal at different times is selected to be consistent with the time point of the random sub-window of the simulation motion trajectory: The positioning accuracy of the terminal under test is determined by the cumulative positioning accuracy error and the positioning deviation with a confidence probability of 95%; The cumulative positioning accuracy error is calculated as follows: Calculate the root mean square value of the three-dimensional positioning accuracy error within the three random sub-windows respectively , the calculation formula is as follows:

[0044]

[0045]

[0046] Get the cumulative positioning accuracy error within the random window of the simulated motion trajectory and the trajectory random window generated and reported by the terminal under test ; The positioning deviation with a 95% confidence level is calculated as follows: The average deviation of the positioning accuracy between the trajectory generated and reported by the terminal under test and the simulated motion trajectory within the three random sub-windows is calculated as follows:

[0047] in, They are the average values ​​of the positioning accuracy deviation of the measured terminal in the east, north and high directions within the three random sub-windows respectively; the standard deviation of the positioning accuracy deviation is calculated according to the following formula :

[0048]

[0049]

[0050]

[0051] in, They are Always report the difference between the trajectory and the simulated trajectory in the east, north and altitude directions. are the components of the standard deviation of positioning accuracy in three directions respectively; Calculate the positioning deviation with a confidence probability of 95% as follows: :

[0052] Initialize the cumulative error threshold of positioning accuracy and positioning deviation threshold ; if and , it means that the positioning accuracy of the terminal under test is determined to meet the requirements, otherwise, it is determined that the positioning accuracy of the terminal under test does not meet the requirements; The speed measurement accuracy is determined by the following method: according to and The position vector is obtained by the position information reported by the terminal under test at any time and , calculated by the following formula The speed calculated by the terminal under test at any moment :

[0053] in, is the sampling interval. According to the above formula, the speed of the terminal under test at each moment in each random sub-window of the reported trajectory is obtained. The speed values ​​obtained in the three random sub-windows are subtracted from the speed values ​​simulated at the corresponding moments. The average result is taken as the speed measurement accuracy error value of the terminal under test, which is expressed as , set the speed measurement accuracy error threshold to ; if , it means that the speed measurement accuracy of the terminal under test is judged to meet the requirements, otherwise, it is judged to fail to meet the requirements; When the positioning status identification bit, positioning accuracy and speed measurement accuracy of the terminal under test meet the requirements at the same time, the result of the positioning test process is determined to be successful positioning. The judgment expression is as follows: .

[0054] As a preferred solution, the second-level positioning test judgment module of the first GNSS system satellite signal simultaneously broadcasts 3 first GNSS system satellite signals and m other GNSS system satellite signals, and the steps of performing the 3+m positioning test judgment in the third-level positioning test include: Broadcast 3 BeiDou satellite signals and m other GNSS system satellite signals, and simulate the motion trajectory. The simulation trajectory is expressed as ,in, express The position of the simulation at each moment, Respectively in The east, north and altitude coordinates of the simulation location at all times; The terminal under test calculates the signals of three Beidou satellites and m other GNSS satellites, and generates and reports the trajectory expressed as: ,in, express The location reported by the terminal under test at all times, Respectively in The east, north and altitude coordinates of the position reported by the terminal under test at all times; Complete the 3+m positioning test judgment in the third-level positioning test of the terminal under test. The 3+m positioning test judgment is jointly determined by the positioning state identification bit, positioning accuracy, and speed measurement accuracy reported by the terminal under test. When the positioning state identification bit, positioning accuracy, and speed measurement accuracy of the terminal under test meet the requirements at the same time, the result of the third-level positioning test judgment is determined to be successful positioning, otherwise it is unsuccessful positioning. If the positioning is unsuccessful, the terminal under test is determined to be in Beidou single-mode working mode; The second-level positioning test judgment module of the second GNSS system satellite signal simultaneously broadcasts 3 second GNSS system satellite signals and m other GNSS system satellite signals, and performs the 3+m positioning test judgment steps in the third-level positioning test, and simultaneously broadcasts 3 GPS satellite signals and m other GNSS system satellite signals. The rest of the process is the same as the second-level positioning test judgment module of the first GNSS system satellite signal. If the positioning is unsuccessful, it is determined that the terminal under test is in GPS single-mode working mode.

[0055] As a preferred solution, the judgment result analysis output module determines that the terminal under test is not a single-system terminal but a multi-system terminal through a trajectory consistency test; when the first GNSS system satellite signal is a Beidou satellite signal and the second GNSS system satellite signal is a GPS satellite signal, the trajectory consistency test includes: Simultaneously broadcast mixed signals consisting of no less than 4 Beidou satellites and no less than 4 GPS satellites. The two signals simulate different trajectories and are set to last for a duration of M. The trajectory simulated according to the Beidou satellite signal is expressed as ,in, express The position of the Beidou track at the moment, are the specific east, north and altitude coordinates respectively; the trajectory simulated according to the GPS satellite signal is expressed as ,in, express GPS track location at all times, They are the specific east, north and height coordinates respectively; The terminal under test solves the mixed signal according to the broadcast, and the trajectory generated and reported is expressed as ,in, express The location reported by the terminal under test at all times, Respectively in The east, north and altitude coordinates of the position reported by the terminal under test at all times; The trajectory consistency judgment result of the terminal under test is determined by the trajectory consistency judgment model based on the correlation coefficient; The trajectory consistency discrimination model based on the correlation coefficient is: ; in, Represents the correlation coefficient between the reported trajectory and the simulated trajectory position vector, Represents the correlation coefficient between the reported trajectory and the simulated trajectory velocity vector, is the discriminant coefficient; The calculation process of the trajectory consistency discrimination model based on the correlation coefficient includes: Calculate the average value of the position vector of the trajectory reported by the terminal under test in the east direction as follows: :

[0056] Calculate the average value of the position vector of the simulated Beidou trajectory in the east direction by the following formula :

[0057] The correlation coefficient between the position vector of the reported trajectory and the simulated Beidou trajectory in the east direction is calculated as follows:

[0058] Calculate the correlation coefficient between the position vectors of the reported trajectory and the simulated Beidou trajectory in the north and high directions in the same way ; Calculate the average value of the correlation coefficient in the east, north and high directions to obtain the correlation coefficient between the reported trajectory and the simulated Beidou trajectory position vector :

[0059] The correlation coefficient between the reported trajectory and the simulated Beidou trajectory velocity vector is calculated according to the following formula :

[0060] in, The reported trajectories are The speed value at the moment and the average speed, The simulated Beidou trajectories are The speed value at the moment and the average speed; Calculate the correlation coefficient between the reported trajectory and the simulated GPS trajectory position vector in the same way Correlation coefficient between the velocity vector ; Calculate the consistency discrimination coefficient between the trajectory reported by the terminal under test and the simulated Beidou trajectory :

[0061] Calculate the consistency discriminant coefficient between the trajectory reported by the terminal under test and the simulated GPS trajectory :

[0062] Initialize trajectory consistency discrimination coefficient threshold And trajectory consistency identification bit , the trajectory consistency judgment results are as follows:

[0063] If the trajectory consistency flag , indicating that the trajectory reported by the terminal under test is consistent with the Beidou trajectory, but inconsistent with the GPS trajectory, then the working mode of the terminal under test is determined to be Beidou priority solution, and the test ends; If the trajectory consistency flag , indicating that the trajectory reported by the terminal under test is consistent with the GPS trajectory, but inconsistent with the Beidou trajectory, then the working mode of the terminal under test is determined to be GPS priority solution, and the test ends; If the trajectory consistency flag , indicating that the trajectory reported by the terminal under test is inconsistent with the Beidou trajectory and the GPS trajectory. In this case, the working mode of the terminal under test is determined to be joint solution, and the test ends.

[0064] In a third aspect, an electronic device is provided, comprising a processor and a memory, wherein the processor is used to execute a computer program stored in the memory to implement the GNSS terminal working mode classification test method.

[0065] In a fourth aspect, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores at least one instruction, and when the at least one instruction is executed by a processor, the GNSS terminal working mode classification test method is implemented.

[0066] Compared with the prior art, the first aspect of the present invention has at least the following beneficial effects: The hierarchical testing method for the working mode of the GNSS terminal of the present invention is applicable to the detection and determination requirements of the working mode of the power GNSS terminal in exposed space environments such as field detection bases and substations. The hierarchical testing method is used to determine the working mode of the GNSS terminal, and the three-level positioning test process is performed by broadcasting only the first GNSS system satellite signal, only the second GNSS system satellite signal, and simultaneously broadcasting 3 first GNSS system satellite signals / second GNSS system satellite signals and m other system satellite signals, and performing a trajectory consistency test. According to the judgment result of the third-level positioning test and the trajectory consistency test result, it is determined whether the tested terminal belongs to a single-system terminal or a multi-system terminal, and which single-mode working mode, priority solution working mode or joint solution working mode is used, which can avoid misjudgment and missed judgment caused by incomplete evaluation factors, improve the accuracy and reliability of the detection results, promote the application of GNSS terminals in power infrastructure, and ensure the safe and stable operation of the power grid.

[0067] Furthermore, in the first and second level positioning test processes of the GNSS terminal working mode hierarchical testing method of the present invention, a random window is introduced to process the trajectory sequence, and the cumulative error of the positioning accuracy and the positioning deviation with a confidence probability of 95% are calculated based on the data in the random window, and the threshold comparison results of the two are used to jointly determine whether the positioning accuracy meets the requirements. The introduction of a random window can improve the real-time performance of the calculation process, reduce the calculation complexity, and improve the test efficiency. By jointly determining the positioning accuracy based on the cumulative error and the positioning deviation with a confidence probability of 95%, random errors can be smoothed, and the interference of the jump abnormal points generated by the tested terminal during the solution process on the test results can be effectively solved, avoiding the misjudgment of the test results caused by accidental errors during the test process, and improving the accuracy of the test results.

[0068] Furthermore, in the trajectory consistency test of the GNSS terminal working mode grading test method of the present invention, a trajectory consistency discrimination model based on correlation coefficient is established, and the correlation coefficient between the reported trajectory and the simulated Beidou and GPS trajectory is solved according to the two-dimensional data of position and speed in the reported trajectory, and the trajectory consistency discrimination identification result is obtained by comparing with the threshold, so as to judge the working mode of the terminal under test, comprehensively analyze the static and dynamic characteristics of the terminal under test, and comprehensively evaluate the signal broadcast by the terminal under test according to which GNSS system is used to solve. At the same time, compared with judging the trajectory consistency only based on the positioning error result, the present invention has stronger robustness to random errors and local outliers, making the test results more stable and reliable.

[0069] It can be understood that the beneficial effects of the second to fourth aspects mentioned above can be found in the relevant description of the first aspect mentioned above, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0070] In order to more clearly illustrate the technical solutions in the embodiments of the present application, 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 application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0071] Figure 1 Satellite positioning is based on the distance intersection principle to calculate the 3D position diagram of the GNSS terminal; Figure 2 Schematic diagram of the device connection and initialization configuration process according to an embodiment of the present invention; Figure 3 Flow chart of the GNSS terminal working mode hierarchical testing method according to an embodiment of the present invention; Figure 4 A schematic diagram of the structure of a detector used in a GNSS terminal working mode classification test method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0072] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0073] GNSS terminals can be divided into single-system terminals and multi-system terminals according to the satellite navigation system used during operation. Multi-system terminals refer to terminals that simultaneously receive any two or more satellite signals from the Beidou Satellite Navigation System (Beidou System), the Global Positioning System (GPS), the GLONASS Satellite Navigation System (GLONASS), and the Galileo Satellite Navigation System (GALILEO) for positioning and solving. The embodiment of the present invention takes single-system terminals of Beidou single mode and GPS single mode as examples for explanation. Multi-system terminals can be divided into three working modes: Beidou priority solution, GPS priority solution, and joint solution.

[0074] See also Figure 3 The GNSS terminal working mode hierarchical testing method proposed in the embodiment of the present invention performs a three-level positioning test process by broadcasting only Beidou satellite signals, only GPS satellite signals, simultaneously broadcasting 3 Beidou / GPS satellites and m other system satellite signals, and mixed broadcasting Beidou and GPS satellite signals with different trajectories in sequence. According to the calculation and analysis results of indicators such as the positioning status identification bit, positioning accuracy, speed measurement accuracy, and reported trajectory consistency of the terminal under test, the working mode of the terminal under test is accurately determined. Specifically, the GNSS terminal working mode hierarchical testing method of the embodiment of the present invention includes the following steps: (1) Device connection and initial configuration The terminal under test is placed in a miniature signal shielding dark box to isolate the interference of satellite navigation signals broadcast by Beidou, GPS, GLONASS, GALILEO and other systems in the air in the outdoor environment, providing a pure test environment for the device under test.

[0075] Use an RF cable to connect the RF output port of the detector to the RF input port of the shielded dark box, so that the simulated signal broadcast by the detector can be broadcast to the terminal under test through the signal transmitting antenna in the shielded dark box. At the same time, use a serial port data cable to connect the terminal under test to the data interface of the detector to obtain the positioning data information reported by the terminal under test in real time. The test system topology connection is as follows: Figure 2 The structure of the detector of the embodiment of the present invention is as shown in FIG. Figure 4 shown.

[0076] Power on the tester and the terminal under test respectively, and complete the initialization settings: Initialization of the detector includes powering on the device and loading the test scenario file; Initialization of the terminal under test includes powering on the device and setting the positioning mode for 1Hz output.

[0077] (2) First level positioning test Only Beidou satellite signals are broadcast and all other system satellite signals are turned off to perform the first-level positioning test judgment of the terminal under test, including: The detector is controlled to broadcast signals of no less than 4 Beidou satellites to simulate the motion trajectory, and all other system satellite signals are turned off for 120 seconds. The simulation trajectory can be expressed as: ,in, express The position of the time detector simulation, Respectively in The east, north and altitude coordinates of the simulation location at all times; The terminal under test calculates the Beidou satellite signal broadcast by the detector, and generates and reports the trajectory to the detector, which can be expressed as: ,in, express The location reported by the terminal under test at all times, Respectively in The east, north and altitude coordinates of the position reported by the terminal under test at all times; Complete the first-level positioning judgment of the terminal under test. The positioning judgment is determined by the positioning status identification bit, positioning accuracy, and speed measurement accuracy reported by the terminal under test. The positioning judgment process is carried out on the detector; Positioning status flag Indicates that if , indicating that the status reported by the terminal under test is positioning status. If , indicating that the status reported by the terminal under test is unpositioned; The positioning accuracy is determined by the trajectory information simulated by the detector in the first-level positioning test process and the trajectory information generated and reported by the terminal under test. The specific process is as follows: First, determine the random window, which is divided into the first-level simulation trajectory random window and the first-level reporting trajectory random window. In order to avoid local errors caused by the trajectory random sub-window being concentrated in a certain local area during the positioning test, the first and last sub-windows are fixed, and the range of the other first-level positioning navigation trajectory random sub-window is determined by the random number. It is determined that, because the data in the random sub-window of the trajectory follows a Gaussian distribution, using a random window to process the trajectory can improve the computational efficiency while ensuring accuracy; Initialize test random numbers , is an integer and ,in, is the window size, which must be an odd number and less than 40.

[0078] The random window of the first-level simulation trajectory is expressed as ,in, is the first-level simulation trajectory random sub-window, each sub-window contains The position information of the first-level simulation trajectory at different times is expressed as follows: (1) (2) (3) The first-level reported trajectory random window is expressed as ,in, The first level of reporting trajectory random sub-window, each sub-window contains The position information of the first-level reported trajectory at different times is selected to keep consistent with the time point of the random sub-window of the first-level simulated trajectory: The positioning accuracy of the terminal under test is determined by the cumulative positioning accuracy error and the positioning deviation with a confidence probability of 95%; First, calculate the cumulative positioning accuracy error: Calculate the root mean square value of the three-dimensional positioning accuracy error within the three random sub-windows respectively , the calculation formula is as follows: (4) (5) (6) Get the cumulative positioning accuracy error within the first-level simulation trajectory random window and the first-level reported trajectory random window ; Next, calculate the positioning deviation with a confidence probability of 95%: Calculate the average deviation of positioning accuracy between the reported trajectory and the simulated trajectory within the three random sub-windows: (7) in, are the average values ​​of the positioning accuracy deviation of the measured terminal in the east, north and high directions within the three random sub-windows. Then, the standard deviation of the positioning accuracy deviation is calculated. : (8) (9) (10) (11) in, They are Always report the difference between the trajectory and the simulated trajectory in the east, north and altitude directions. are the components of the standard deviation of positioning accuracy in three directions respectively; Then calculate the positioning deviation with a confidence probability of 95% : (12) Initialize the cumulative error threshold of positioning accuracy and positioning deviation threshold ; if and , it means that the positioning accuracy of the terminal under test is judged to meet the requirements, otherwise, this judgment does not meet the requirements; The method for determining the speed measurement accuracy is as follows: against Time, according to and The position vector is obtained by the position information reported by the terminal under test at any time and , can be obtained from the following formula The speed calculated by the terminal under test at any moment : (13) in, is the sampling interval, and in this method, the value is 1. From the above formula, the speed of the terminal under test at each moment in each random subwindow of the reported trajectory can be obtained. The speed values ​​obtained in the three random subwindows are subtracted from the speed values ​​simulated by the detector at the corresponding moment, and the average result is taken as the speed measurement accuracy error value of the terminal under test, which is expressed as , set the speed measurement accuracy error threshold to ; if , it means that the speed measurement accuracy of the terminal under test is judged to meet the requirements, otherwise, this judgment does not meet the requirements; When the positioning status identification bit, positioning accuracy and speed measurement accuracy of the terminal under test meet the requirements at the same time, the result of the first-level positioning test process is judged to be successful positioning. The specific judgment expression is as follows: (14) If the result of the first-level positioning test process is that the positioning is unsuccessful, continue to execute the step of broadcasting only GPS satellite signals in the second-level positioning test process; if the result of the first-level positioning test process is that the positioning is successful, continue to execute the step of broadcasting only other system satellite signals in the second-level positioning test process.

[0079] (3) Second level positioning test 2.1. Only broadcast other system satellite signals and turn off all Beidou satellite signals, and perform the second-level positioning test judgment on the terminal under test, including: Control the detector to broadcast no less than 4 other system satellite signals and simulate the motion trajectory, turn off all Beidou satellite signals, and last for 120 seconds; the simulation trajectory can be expressed as ,in, express The position of the time detector simulation, Respectively in The east, north and altitude coordinates of the simulation location at all times; The terminal under test calculates the satellite signals of other systems broadcast by the detector, and generates and reports the trajectory to the detector, which can be expressed as: ,in, express The location reported by the terminal under test at all times, Respectively in The east, north and altitude coordinates of the position reported by the terminal under test at all times; Complete the second-level positioning judgment of the terminal under test. The positioning judgment is determined by the positioning status identification bit, positioning accuracy, and speed measurement accuracy reported by the terminal under test. The positioning judgment process is carried out on the detector, and the corresponding calculation process is the same as that in the first-level positioning judgment; When the positioning status identification bit, positioning accuracy and speed measurement accuracy of the terminal under test meet the requirements at the same time, the result of the second-level positioning test process is determined to be successful positioning, otherwise the positioning is determined to be unsuccessful. If the positioning is unsuccessful, the "3+m positioning test" in the third-level positioning test process is executed; if the positioning is successful, the "trajectory consistency test" in the third-level positioning test process is executed to make a final judgment on the working mode of the terminal under test.

[0080] 2.2. Only broadcast GPS satellite signals and turn off all other system satellite signals, and perform the second-level positioning test judgment of the terminal under test. The specific judgment process is the same as the steps in 2.1 above. If the corresponding second-level positioning test judgment is unsuccessful, verify whether the terminal under test is in other system single-mode working mode, and check whether the terminal is faulty; (4) Third-level positioning test 3.1、3+m positioning test When the GNSS terminal is performing positioning solution, it needs to track the signals of at least 4 visible satellites to obtain the position information. If the GNSS terminal is in Beidou single-mode working mode, when performing 3+m judgment, it cannot normally solve and output the positioning result because it cannot meet the minimum number of visible satellites required for positioning. This method can effectively detect whether the positioning solution logic of the terminal under test is indeed in Beidou single-mode working mode that only uses the signals broadcast by the Beidou system for solution. The specific process is as follows: The detector is controlled to broadcast 3 Beidou satellite signals and m (m is greater than 1) other system satellite signals, and simulate the motion trajectory. The simulation trajectory can be expressed as ,in, express The position of the time detector simulation, Respectively in The east, north and altitude coordinates of the simulation location at all times; The terminal under test calculates the 3+m satellite signals broadcast by the detector, and generates and reports the trajectory to the detector, which can be expressed as: ,in, express The location reported by the terminal under test at all times, Respectively in The east, north and altitude coordinates of the position reported by the terminal under test at all times; Complete the 3+m positioning judgment of the terminal under test. The positioning judgment is determined by the positioning status identification bit, positioning accuracy, and speed measurement accuracy reported by the terminal under test. The positioning judgment process is carried out on the detector, and the corresponding calculation process is the same as that in the first-level positioning judgment; When the positioning status identification bit, positioning accuracy and speed measurement accuracy of the terminal under test meet the requirements at the same time, the result of the 3+m test is determined to be successful positioning, otherwise the positioning is determined to be unsuccessful. If the positioning is unsuccessful, it proves that the terminal under test can only perform positioning and solution based on the signals broadcast by the Beidou system, but does not meet the conditions of the minimum 4 satellite signals required for positioning, and cannot obtain the positioning solution result, then the working mode of the terminal under test is determined to be Beidou single mode, and the test ends; if the positioning is successful, it indicates that although the terminal under test supports the use of Beidou signals for positioning and solution in the second-level positioning test process, when the number of visible Beidou satellites does not meet the minimum requirement, other system satellite signals will be introduced for joint solution, and the Beidou single-mode working mode is not met. Continue to execute the trajectory consistency test process to determine the specific positioning solution method.

[0081] Similarly, when determining the GPS single-mode working mode, the detector is controlled to broadcast 3 GPS satellite signals and m (m is greater than 1) other system satellite signals. The specific determination process is the same as the above steps.

[0082] (5) Trajectory consistency test Through the above judgment logic, it can be determined that the terminal under test is not a single-system terminal but a multi-system terminal. Through the trajectory consistency test process, it can be determined whether the terminal under test is in the Beidou priority solution, GPS priority solution or joint solution mode when performing positioning solution. The specific process is as follows: The control detector broadcasts a mixed signal consisting of no less than 4 Beidou satellites and no less than 4 GPS satellites at the same time, but the simulated trajectories of the two signals are different, which lasts for 120 seconds.

[0083] The trajectory simulated according to the Beidou satellite signal can be expressed as ,in, express The position of the Beidou track at the moment, are the specific east, north and altitude coordinates respectively; the trajectory simulated according to the GPS satellite signal can be expressed as ,in, express GPS track location at all times, The specific east, north and high coordinates are The terminal under test solves the mixed signal broadcast by the detector, and the trajectory generated and reported to the detector can be expressed as ,in, express The location reported by the terminal under test at all times, Respectively in The east, north and altitude coordinates of the position reported by the terminal under test at all times; The trajectory consistency judgment result of the terminal under test is determined by the trajectory consistency judgment model based on the correlation coefficient; Establish a trajectory consistency discrimination model based on correlation coefficient: ; in, Represents the correlation coefficient between the reported trajectory and the simulated trajectory position vector, Represents the correlation coefficient between the reported trajectory and the simulated trajectory velocity vector, is the discriminant coefficient; The calculation process of the trajectory consistency discrimination model based on correlation includes: Calculate the average value of the position vector of the trajectory reported by the terminal under test in the east direction , ; Calculate the average value of the position vector of the simulated Beidou trajectory in the east direction , ; Calculate the correlation coefficient between the position vector of the reported trajectory and the simulated Beidou trajectory in the east direction : Similarly, the correlation coefficient between the position vectors of the reported trajectory and the simulated Beidou trajectory in the north and high directions can be calculated ; Calculate the average value of the correlation coefficient in the east, north and high directions to obtain the correlation coefficient between the reported trajectory and the simulated Beidou trajectory position vector , ; The correlation coefficient between the reported trajectory and the simulated Beidou trajectory velocity vector is calculated according to the following formula : (15) in, The reported trajectories are The speed value at the moment and the average speed, The simulated Beidou trajectories are The speed value at the moment and the average speed.

[0084] Similarly, the correlation coefficient between the reported trajectory and the simulated GPS trajectory position vector can be calculated Correlation coefficient between the velocity vector ; Calculate the consistency discrimination coefficient between the trajectory reported by the terminal under test and the simulated Beidou trajectory : (16) Calculate the consistency discriminant coefficient between the trajectory reported by the terminal under test and the simulated GPS trajectory : (17) Initialize trajectory consistency discrimination coefficient threshold And trajectory consistency identification bit , the trajectory consistency judgment results are as follows: (18) If the trajectory consistency flag , indicating that the trajectory reported by the terminal under test is consistent with the Beidou trajectory, but inconsistent with the GPS trajectory, then the working mode of the terminal under test is determined to be Beidou priority solution, and the test ends; If the trajectory consistency flag , indicating that the trajectory reported by the terminal under test is consistent with the GPS trajectory, but inconsistent with the Beidou trajectory, then the working mode of the terminal under test is determined to be GPS priority solution, and the test ends; If the trajectory consistency flag , indicating that the trajectory reported by the terminal under test is inconsistent with the Beidou trajectory and the GPS trajectory. In this case, the working mode of the terminal under test is determined to be joint solution, and the test ends.

[0085] The hierarchical testing method for the working mode of the GNSS terminal of the embodiment of the present invention meets the requirements for detecting and judging the working mode of the power GNSS terminal in exposed space environments such as field detection bases and substations, and can test and judge the working mode of the GNSS terminal in the field environment of power operations. Among them, the hierarchical testing method is adopted to accurately judge the working mode of the terminal under test by calculating and analyzing the positioning state identification bit, positioning accuracy, speed measurement accuracy, and reported trajectory consistency of the terminal under test. At the same time, a random window is introduced in the calculation process to improve the efficiency of analysis and solution, and the consistency test results of the reported trajectory and the simulated trajectory are judged by the trajectory consistency discrimination model based on the correlation coefficient, thereby improving the reliability of the judgment result.

[0086] First, a hierarchical testing method was adopted: The embodiment of the present invention adopts a hierarchical testing method to inspect and determine the working mode of the GNSS terminal. The three-level positioning test process is performed by sequentially broadcasting only Beidou satellite signals, only GPS satellite signals, simultaneously broadcasting 3 Beidou / GPS satellites and m other system satellite signals, and mixed broadcasting Beidou and GPS satellite signals with different trajectories. The specific working mode of the terminal under test is determined by the calculation and analysis results of indicators such as the positioning state identification bit, positioning accuracy, speed measurement accuracy, and reported trajectory consistency. This can avoid misjudgment and missed judgment caused by incomplete evaluation factors in a single-level positioning test process or a single discrimination indicator. Through hierarchical testing, more accurate and reliable test results can be obtained.

[0087] Secondly, a random window is introduced to jointly determine the positioning accuracy result based on the cumulative positioning accuracy error and the positioning deviation with a confidence probability of 95%: Execute the first and second level positioning test processes. In the process of calculating the positioning accuracy using the simulated trajectory and the reported trajectory comparison results, introduce a random window to process the trajectory sequence of the entire process, and calculate the cumulative error of the positioning accuracy and the positioning deviation with a confidence probability of 95% based on the data in the random window. Compare the threshold results of the two to jointly determine whether the positioning accuracy meets the requirements. Introducing a random window for analysis and processing can improve the real-time performance of the calculation and processing, reduce the calculation complexity, and improve the test efficiency. The joint determination of the positioning accuracy based on the cumulative error and the positioning deviation with a confidence probability of 95% can smooth random errors, effectively solve the interference of jump abnormal points generated by the tested terminal during the solution process on the test results, avoid misjudgment of the test results due to accidental errors during the test process, and improve the accuracy of this solution.

[0088] Thirdly, a trajectory consistency discrimination model based on correlation coefficient was designed: A trajectory consistency discrimination model based on correlation coefficient is established. According to the two-dimensional data features of position and speed in the reported trajectory, the correlation coefficient between the reported trajectory and the simulated Beidou and GPS trajectories is solved. The trajectory consistency discrimination identification result is obtained by comparing with the threshold, so as to determine the working mode of the terminal under test. The trajectory consistency discrimination model based on the correlation coefficient determines the working mode of the terminal under test. By simultaneously analyzing the position and speed error sequences, the static and dynamic characteristics of the terminal under test can be comprehensively analyzed, and the signal broadcast by the terminal under test is comprehensively evaluated. At the same time, compared with determining trajectory consistency based only on positioning error results, the method of the embodiment of the present invention has stronger robustness to random errors and local outliers, making the test results more stable and reliable.

[0089] Another embodiment of the present invention further provides a GNSS terminal working mode classification test system, including: The first-level positioning test judgment module is used to broadcast only the first GNSS system satellite signal and turn off other GNSS system satellite signals to perform the first-level positioning test judgment on the terminal under test; The second-level positioning test judgment module of the first GNSS system satellite signal is used to, if the first-level positioning test is successful, only broadcast other GNSS system satellite signals and turn off all first GNSS system satellite signals to perform the second-level positioning test judgment on the terminal under test; if the corresponding second-level positioning test is successful, perform the trajectory consistency test judgment in the third-level positioning test; if the corresponding second-level positioning test is unsuccessful, broadcast 3 first GNSS system satellite signals and m other GNSS system satellite signals at the same time, and perform the 3+m positioning test judgment in the third-level positioning test; The second-level positioning test judgment module of the second GNSS system satellite signal is used to broadcast only the second GNSS system satellite signal and turn off other GNSS system satellite signals to perform the second-level positioning test judgment on the terminal under test if the first-level positioning test judgment is unsuccessful; if the corresponding second-level positioning test judgment is successful, three second GNSS system satellite signals and m other GNSS system satellite signals are broadcast simultaneously to perform the 3+m positioning test judgment in the third-level positioning test; The judgment result analysis output module is used to perform a trajectory consistency test if the 3+m positioning test in the third-level positioning test is successful. According to the judgment results of the 3+m positioning test in the third-level positioning test and the trajectory consistency test, it is determined whether the terminal under test belongs to a single-system terminal or a multi-system terminal, and which single-mode working mode, priority solution working mode or joint solution working mode.

[0090] Another embodiment of the present invention further provides an electronic device, including a processor and a memory, wherein the processor is used to execute a computer program stored in the memory to implement the GNSS terminal working mode classification test method.

[0091] Another embodiment of the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores at least one instruction, and when the at least one instruction is executed by a processor, the GNSS terminal working mode classification test method is implemented.

[0092] The computer program includes computer program code, which may be in source code form, object code form, executable file or some intermediate form. The computer-readable storage medium may include: any entity or device, medium, USB flash drive, mobile hard disk, disk, optical disk, computer memory, read-only memory, random access memory, electric carrier signal, telecommunication signal and software distribution medium, etc. that can carry the computer program code. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electric carrier signals and telecommunication signals. For ease of explanation, the above content only shows the part related to the embodiment of the present invention. For specific technical details not disclosed, please refer to the method part of the embodiment of the present invention. The computer-readable storage medium is non-temporary and can be stored in a storage device formed by various electronic devices, which can realize the execution process recorded in the method of the embodiment of the present invention.

[0093] It should be understood by those skilled in the art that the embodiments of the present invention may be provided as methods, systems or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment or an embodiment combining software and hardware aspects. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0094] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems) and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the process in the flowchart. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0095] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0096] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0097] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the relevant field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A GNSS terminal working mode hierarchical testing method, characterized in that: include: Only the first GNSS system satellite signal is broadcasted and other GNSS system satellite signals are turned off to perform the first level positioning test judgment on the terminal under test; If the first-level positioning test is successful, only other GNSS system satellite signals are broadcast and all first GNSS system satellite signals are turned off, and the second-level positioning test of the terminal under test is performed; if the corresponding second-level positioning test is successful, the trajectory consistency test in the third-level positioning test is performed; if the corresponding second-level positioning test is unsuccessful, 3 first GNSS system satellite signals and m other GNSS system satellite signals are broadcast at the same time, and the 3+m positioning test in the third-level positioning test is performed; If the first-level positioning test is unsuccessful, only the second GNSS system satellite signal is broadcast and other GNSS system satellite signals are turned off to perform the second-level positioning test on the terminal under test; if the corresponding second-level positioning test is successful, 3 second GNSS system satellite signals and m other GNSS system satellite signals are broadcast at the same time to perform the 3+m positioning test in the third-level positioning test; If the 3+m positioning test in the third-level positioning test is successful, the trajectory consistency test is performed. According to the judgment results of the 3+m positioning test in the third-level positioning test and the trajectory consistency test, it is determined whether the terminal under test belongs to a single-system terminal or a multi-system terminal, and whether it is a single-mode working mode, priority solution working mode or joint solution working mode.

2. The GNSS terminal working mode hierarchical testing method according to claim 1, characterized in that: The device is connected and initialized for configuration. In the device connection and initialization configuration steps, the terminal under test is placed in a signal shielding dark box, which isolates interference from real GNSS signals in the air in an outdoor environment. Use an RF cable to connect the RF output port of the detector to the RF input port of the shielded dark box, so that the simulated analog signal broadcast by the detector can be broadcast to the terminal under test through the signal transmitting antenna in the shielded dark box; use a serial data cable to connect the terminal under test with the data interface of the detector to obtain the positioning data information reported by the terminal under test in real time.

3. The GNSS terminal working mode hierarchical testing method according to claim 1, characterized in that: In the step of broadcasting only the first GNSS system satellite signal and turning off other GNSS system satellite signals to perform the first level positioning test judgment on the terminal under test, the first GNSS system satellite signal is a Beidou satellite signal, and no less than 4 Beidou satellite signals are broadcast to simulate the motion trajectory, and all other GNSS system satellite signals are turned off. The duration M is set, and the simulation trajectory is expressed as ,in, express The position of the simulation at each moment, Respectively in The east, north and altitude coordinates of the simulation location at all times; The terminal under test calculates the Beidou satellite signal and generates and reports the trajectory expressed as ,in, express The location reported by the terminal under test at all times, Respectively in The east, north and altitude coordinates of the position reported by the terminal under test at all times; Complete the first-level positioning test judgment of the terminal under test. The first-level positioning test judgment is determined by the positioning status identification bit, positioning accuracy, and speed measurement accuracy reported by the terminal under test.

4. The GNSS terminal working mode hierarchical testing method according to claim 1, characterized in that: When only broadcasting other GNSS system satellite signals and turning off all first GNSS system satellite signals, performing the second-level positioning test judgment on the terminal under test, broadcasting no less than 4 other GNSS system satellite signals and simulating the motion trajectory, turning off all Beidou satellite signals, and setting the duration M; the simulation trajectory is expressed as ,in, express The position of the simulation at each moment, Respectively in The east, north and altitude coordinates of the simulation location at all times; The terminal under test calculates the satellite signals of other GNSS systems and generates and reports the trajectory expressed as ,in, express The location reported by the terminal under test at all times, Respectively in The east, north and altitude coordinates of the position reported by the terminal under test at all times; Complete the second-level positioning test judgment of the terminal under test. The second-level positioning test judgment is jointly determined by the positioning state identification bit, positioning accuracy, and speed measurement accuracy reported by the terminal under test; when the positioning state identification bit, positioning accuracy, and speed measurement accuracy of the terminal under test meet the requirements at the same time, the result of the second-level positioning test judgment is successful positioning, otherwise it is unsuccessful positioning; The method of only broadcasting the second GNSS system satellite signal and turning off other GNSS system satellite signals, and performing the second-level positioning test on the terminal under test, determines that the second GNSS system satellite signal is a GPS satellite signal, then broadcast no less than 4 GPS satellite signals and simulate the motion trajectory, turn off all other GNSS system satellite signals, set the duration M, and the rest of the process is the same as the above process.

5. The GNSS terminal working mode hierarchical testing method according to claim 3 or 4, characterized in that: The positioning status identification bit is used Indicates that if , indicating that the status reported by the terminal under test is positioning status. If , indicating that the status reported by the terminal under test is unpositioned.

6. The GNSS terminal working mode hierarchical testing method according to claim 3 or 4, characterized in that: The positioning accuracy is determined by the simulated motion trajectory and the trajectory generated and reported by the terminal under test, including: Determine the random window, which is divided into the simulation trajectory random window and the trajectory random window generated and reported by the terminal under test; fix the first and last sub-windows, and the range of the trajectory random sub-window generated and reported by the terminal under test is determined by the random number It is determined that the data in the random sub-window of the trajectory follows a Gaussian distribution; Initialize test random numbers , is an integer and ,in, is the window size; M is the set duration; The random window of the simulation trajectory is expressed as ,in, To simulate the motion trajectory, random sub-windows are created. Each sub-window contains The position information of the simulated motion trajectory at different times is expressed as follows: The random window of the trajectory generated and reported by the terminal under test is expressed as ,in, The random sub-windows of the trajectory generated and reported by the terminal under test, each sub-window contains The position information of the trajectory generated and reported by the tested terminal at different times is selected to be consistent with the time point of the random sub-window of the simulation motion trajectory: The positioning accuracy of the terminal under test is determined by the cumulative positioning accuracy error and the positioning deviation with a confidence probability of 95%; The cumulative positioning accuracy error is calculated as follows: Calculate the root mean square value of the three-dimensional positioning accuracy error within the three random sub-windows respectively , the calculation formula is as follows: Get the cumulative error of positioning accuracy within the random window of the simulated motion trajectory and the trajectory random window generated and reported by the terminal under test ; The positioning deviation with a 95% confidence level is calculated as follows: The average deviation of the positioning accuracy between the trajectory generated and reported by the terminal under test and the simulated motion trajectory within the three random sub-windows is calculated as follows: in, They are the average values ​​of the positioning accuracy deviation of the measured terminal in the east, north and high directions within the three random sub-windows respectively; the standard deviation of the positioning accuracy deviation is calculated according to the following formula : in, They are Always report the difference between the trajectory and the simulated trajectory in the east, north and altitude directions. are the components of the standard deviation of positioning accuracy in three directions respectively; Calculate the positioning deviation with a confidence probability of 95% as follows: : Initialize the cumulative error threshold of positioning accuracy and positioning deviation threshold ; if and , it means that the positioning accuracy of the terminal under test is determined to meet the requirements, otherwise, it is determined that the positioning accuracy of the terminal under test does not meet the requirements.

7. The GNSS terminal working mode hierarchical testing method according to claim 3 or 4, characterized in that: The method for determining the speed measurement accuracy is as follows: according to and The position vector is obtained by the position information reported by the terminal under test at any time and , calculated by the following formula The speed calculated by the terminal under test at any moment : in, is the sampling interval. According to the above formula, the speed of the terminal under test at each moment in each random sub-window of the reported trajectory is obtained. The speed values ​​obtained in the three random sub-windows are subtracted from the speed values ​​simulated at the corresponding moments. The average result is taken as the speed measurement accuracy error value of the terminal under test, which is expressed as , set the speed measurement accuracy error threshold to ; if , it means that the speed measurement accuracy of the terminal under test is judged to meet the requirements, otherwise, it is judged to fail to meet the requirements; When the positioning status identification bit, positioning accuracy and speed measurement accuracy of the terminal under test meet the requirements at the same time, the result of the positioning test process is determined to be successful positioning. The judgment expression is as follows: 。 8. The GNSS terminal working mode hierarchical testing method according to claim 1, characterized in that: The step of simultaneously broadcasting three first GNSS system satellite signals and m other GNSS system satellite signals to perform a 3+m positioning test judgment in the third-level positioning test includes: Broadcast 3 BeiDou satellite signals and m other GNSS system satellite signals, and simulate the motion trajectory. The simulation trajectory is expressed as ,in, express The position of the simulation at each moment, Respectively in The east, north and altitude coordinates of the simulation location at all times; The terminal under test calculates the signals of three Beidou satellites and m other GNSS satellites, and generates and reports the trajectory expressed as: ,in, express The location reported by the terminal under test at all times, Respectively in The east, north and altitude coordinates of the position reported by the terminal under test at all times; Complete the 3+m positioning test judgment in the third-level positioning test of the terminal under test. The 3+m positioning test judgment is jointly determined by the positioning state identification bit, positioning accuracy, and speed measurement accuracy reported by the terminal under test. When the positioning state identification bit, positioning accuracy, and speed measurement accuracy of the terminal under test meet the requirements at the same time, the result of the third-level positioning test judgment is determined to be successful positioning, otherwise it is unsuccessful positioning. If the positioning is unsuccessful, the terminal under test is determined to be in Beidou single-mode working mode; The step of simultaneously broadcasting 3 second GNSS system satellite signals and m other GNSS system satellite signals to perform the 3+m positioning test judgment step in the third-level positioning test is to simultaneously broadcast 3 GPS satellite signals and m other GNSS system satellite signals. The rest of the process is the same as the above process. If the positioning is unsuccessful, it is determined that the terminal under test is in GPS single-mode working mode.

9. The GNSS terminal working mode hierarchical testing method according to claim 1, characterized in that: Through the trajectory consistency test, it is determined that the terminal under test is not a single-system terminal but a multi-system terminal; When the first GNSS system satellite signal is a Beidou satellite signal and the second GNSS system satellite signal is a GPS satellite signal, the trajectory consistency test steps include: Simultaneously broadcast mixed signals consisting of no less than 4 Beidou satellites and no less than 4 GPS satellites. The two signals simulate different trajectories and are set to last for a duration of M. The trajectory simulated according to the Beidou satellite signal is expressed as ,in, express The position of the Beidou track at the moment, are the specific east, north and altitude coordinates respectively; the trajectory simulated according to the GPS satellite signal is expressed as ,in, express GPS track location at all times, They are the specific east, north and height coordinates respectively; The terminal under test solves the mixed signal according to the broadcast, and the trajectory generated and reported is expressed as ,in, express The location reported by the terminal under test at all times, Respectively in The east, north and altitude coordinates of the position reported by the terminal under test at all times; The trajectory consistency judgment result of the terminal under test is determined by the trajectory consistency judgment model based on the correlation coefficient; The trajectory consistency discrimination model based on the correlation coefficient is: ; in, Represents the correlation coefficient between the reported trajectory and the simulated trajectory position vector, Represents the correlation coefficient between the reported trajectory and the simulated trajectory velocity vector, is the discriminant coefficient; The calculation process of the trajectory consistency discrimination model based on the correlation coefficient includes: Calculate the average value of the position vector of the trajectory reported by the terminal under test in the east direction as follows: : Calculate the average value of the position vector of the simulated Beidou trajectory in the east direction by the following formula : The correlation coefficient between the position vector of the reported trajectory and the simulated Beidou trajectory in the east direction is calculated as follows: Calculate the correlation coefficient between the position vectors of the reported trajectory and the simulated Beidou trajectory in the north and high directions in the same way ; Calculate the average value of the correlation coefficient in the east, north and high directions to obtain the correlation coefficient between the reported trajectory and the simulated Beidou trajectory position vector : The correlation coefficient between the reported trajectory and the simulated Beidou trajectory velocity vector is calculated according to the following formula : in, The reported trajectories are The speed value at the moment and the average speed, The simulated Beidou trajectories are The speed value at the moment and the average speed; Calculate the correlation coefficient between the reported trajectory and the simulated GPS trajectory position vector in the same way Correlation coefficient between the velocity vector ; Calculate the consistency discrimination coefficient between the trajectory reported by the terminal under test and the simulated Beidou trajectory : Calculate the consistency discriminant coefficient between the trajectory reported by the terminal under test and the simulated GPS trajectory : Initialize trajectory consistency discrimination coefficient threshold And trajectory consistency identification bit , the trajectory consistency judgment results are as follows: If the trajectory consistency flag , indicating that the trajectory reported by the terminal under test is consistent with the Beidou trajectory, but inconsistent with the GPS trajectory, then the working mode of the terminal under test is determined to be Beidou priority solution, and the test ends; If the trajectory consistency flag , indicating that the trajectory reported by the terminal under test is consistent with the GPS trajectory, but inconsistent with the Beidou trajectory, then the working mode of the terminal under test is determined to be GPS priority solution, and the test ends; If the trajectory consistency flag , indicating that the trajectory reported by the terminal under test is inconsistent with the Beidou trajectory and the GPS trajectory. In this case, the working mode of the terminal under test is determined to be joint solution, and the test ends.

10. A GNSS terminal working mode classification test system, characterized in that: include: The first-level positioning test judgment module is used to broadcast only the first GNSS system satellite signal and turn off other GNSS system satellite signals to perform the first-level positioning test judgment on the terminal under test; The second-level positioning test judgment module of the first GNSS system satellite signal is used to, if the first-level positioning test is successful, only broadcast other GNSS system satellite signals and turn off all first GNSS system satellite signals to perform the second-level positioning test judgment on the terminal under test; if the corresponding second-level positioning test is successful, perform the trajectory consistency test judgment in the third-level positioning test; if the corresponding second-level positioning test is unsuccessful, broadcast 3 first GNSS system satellite signals and m other GNSS system satellite signals at the same time, and perform the 3+m positioning test judgment in the third-level positioning test; The second-level positioning test judgment module of the second GNSS system satellite signal is used to broadcast only the second GNSS system satellite signal and turn off other GNSS system satellite signals to perform the second-level positioning test judgment on the terminal under test if the first-level positioning test judgment is unsuccessful; if the corresponding second-level positioning test judgment is successful, three second GNSS system satellite signals and m other GNSS system satellite signals are broadcast simultaneously to perform the 3+m positioning test judgment in the third-level positioning test; The judgment result analysis output module is used to perform a trajectory consistency test if the 3+m positioning test in the third-level positioning test is successful. According to the judgment results of the 3+m positioning test in the third-level positioning test and the trajectory consistency test, it is determined whether the terminal under test belongs to a single-system terminal or a multi-system terminal, and which single-mode working mode, priority solution working mode or joint solution working mode.

11. The GNSS terminal working mode classification test system according to claim 10, characterized in that: The first GNSS system satellite signal is a Beidou satellite signal, and at least 4 Beidou satellite signals are broadcast to simulate the motion trajectory, and all other GNSS system satellite signals are turned off. The duration M is set, and the simulation trajectory is expressed as: ,in, express The position of the simulation at each moment, Respectively in The east, north and altitude coordinates of the simulation location at all times; The terminal under test calculates the Beidou satellite signal and generates and reports the trajectory expressed as ,in, express The location reported by the terminal under test at all times, Respectively in The east, north and altitude coordinates of the position reported by the terminal under test at all times; Complete the first-level positioning test judgment of the terminal under test. The first-level positioning test judgment is determined by the positioning status identification bit, positioning accuracy, and speed measurement accuracy reported by the terminal under test.

12. The GNSS terminal working mode classification test system according to claim 10, characterized in that: The second-level positioning test judgment module of the first GNSS system satellite signal broadcasts no less than 4 other GNSS system satellite signals and simulates the motion trajectory, turns off all Beidou satellite signals, and sets the duration M; the simulation trajectory is expressed as ,in, express The position of the simulation at each moment, Respectively in The east, north and altitude coordinates of the simulation location at all times; The terminal under test calculates the satellite signals of other GNSS systems and generates and reports the trajectory expressed as ,in, express The location reported by the terminal under test at all times, Respectively in The east, north and altitude coordinates of the position reported by the terminal under test at all times; Complete the second-level positioning test judgment of the terminal under test. The second-level positioning test judgment is jointly determined by the positioning state identification bit, positioning accuracy, and speed measurement accuracy reported by the terminal under test; when the positioning state identification bit, positioning accuracy, and speed measurement accuracy of the terminal under test meet the requirements at the same time, the result of the second-level positioning test judgment is successful positioning, otherwise it is unsuccessful positioning; The second GNSS system satellite signal is a GPS satellite signal. The second-level positioning test and judgment module of the second GNSS system satellite signal broadcasts no less than 4 GPS satellite signals and simulates the motion trajectory, turns off all other GNSS system satellite signals, sets the duration M, and the rest of the process is the same as the second-level positioning test and judgment module of the first GNSS system satellite signal.

13. The GNSS terminal working mode classification test system according to claim 11 or 12, characterized in that: In the first-level positioning judgment and the second-level positioning judgment of the terminal under test: Positioning status flag Indicates that if , indicating that the status reported by the terminal under test is positioning status. If , indicating that the status reported by the terminal under test is unpositioned; The positioning accuracy is determined by the simulated motion trajectory and the trajectory generated and reported by the terminal under test; Determine the random window, which is divided into the simulation trajectory random window and the trajectory random window generated and reported by the terminal under test; fix the first and last sub-windows, and the range of the trajectory random sub-window generated and reported by the terminal under test is determined by the random number It is determined that the data in the random sub-window of the trajectory follows a Gaussian distribution; Initialize test random numbers , is an integer and ,in, is the window size; M is the set duration; The random window of the simulation trajectory is expressed as ,in, To simulate the motion trajectory, random sub-windows are created. Each sub-window contains The position information of the simulated motion trajectory at different times is expressed as follows: The random window of the trajectory generated and reported by the terminal under test is expressed as ,in, The random sub-windows of the trajectory generated and reported by the terminal under test, each sub-window contains The position information of the trajectory generated and reported by the tested terminal at different times is selected to be consistent with the time point of the random sub-window of the simulation motion trajectory: The positioning accuracy of the terminal under test is determined by the cumulative positioning accuracy error and the positioning deviation with a confidence probability of 95%; The cumulative positioning accuracy error is calculated as follows: Calculate the root mean square value of the three-dimensional positioning accuracy error within the three random sub-windows respectively , the calculation formula is as follows: Get the cumulative error of positioning accuracy within the random window of the simulated motion trajectory and the trajectory random window generated and reported by the terminal under test ; The positioning deviation with a 95% confidence level is calculated as follows: The average deviation of the positioning accuracy between the trajectory generated and reported by the terminal under test and the simulated motion trajectory within the three random sub-windows is calculated as follows: in, They are the average values ​​of the positioning accuracy deviation of the measured terminal in the east, north and high directions within the three random sub-windows respectively; the standard deviation of the positioning accuracy deviation is calculated according to the following formula : in, They are Always report the difference between the trajectory and the simulated trajectory in the east, north and altitude directions. are the components of the standard deviation of positioning accuracy in three directions respectively; Calculate the positioning deviation with a confidence probability of 95% as follows: : Initialize the cumulative error threshold of positioning accuracy and positioning deviation threshold ; if and , it means that the positioning accuracy of the terminal under test is determined to meet the requirements, otherwise, it is determined that the positioning accuracy of the terminal under test does not meet the requirements; The speed measurement accuracy is determined by the following method: according to and The position vector is obtained by the position information reported by the terminal under test at any time and , calculated by the following formula The speed calculated by the terminal under test at any moment : in, is the sampling interval. According to the above formula, the speed of the terminal under test at each moment in each random sub-window of the reported trajectory is obtained. The speed values ​​obtained in the three random sub-windows are subtracted from the speed values ​​simulated at the corresponding moments. The average result is taken as the speed measurement accuracy error value of the terminal under test, which is expressed as , set the speed measurement accuracy error threshold to ; if , it means that the speed measurement accuracy of the terminal under test is judged to meet the requirements, otherwise, it is judged to fail to meet the requirements; When the positioning status identification bit, positioning accuracy and speed measurement accuracy of the terminal under test meet the requirements at the same time, the result of the positioning test process is determined to be successful positioning. The judgment expression is as follows: 。 14. The GNSS terminal working mode classification test system according to claim 10, characterized in that: The second-level positioning test judgment module of the first GNSS system satellite signal simultaneously broadcasts three first GNSS system satellite signals and m other GNSS system satellite signals, and the steps of performing the 3+m positioning test judgment in the third-level positioning test include: Broadcast 3 BeiDou satellite signals and m other GNSS system satellite signals, and simulate the motion trajectory. The simulation trajectory is expressed as ,in, express The position of the simulation at each moment, Respectively in The east, north and altitude coordinates of the simulation location at all times; The terminal under test calculates the signals of three Beidou satellites and m other GNSS satellites, and generates and reports the trajectory expressed as: ,in, express The location reported by the terminal under test at all times, Respectively in The east, north and altitude coordinates of the position reported by the terminal under test at all times; Complete the 3+m positioning test judgment in the third-level positioning test of the terminal under test. The 3+m positioning test judgment is jointly determined by the positioning state identification bit, positioning accuracy, and speed measurement accuracy reported by the terminal under test. When the positioning state identification bit, positioning accuracy, and speed measurement accuracy of the terminal under test meet the requirements at the same time, the result of the third-level positioning test judgment is determined to be successful positioning, otherwise it is unsuccessful positioning. If the positioning is unsuccessful, the terminal under test is determined to be in Beidou single-mode working mode; The second-level positioning test judgment module of the second GNSS system satellite signal simultaneously broadcasts 3 second GNSS system satellite signals and m other GNSS system satellite signals, and performs the 3+m positioning test judgment steps in the third-level positioning test, and simultaneously broadcasts 3 GPS satellite signals and m other GNSS system satellite signals. The rest of the process is the same as the second-level positioning test judgment module of the first GNSS system satellite signal. If the positioning is unsuccessful, it is determined that the terminal under test is in GPS single-mode working mode.

15. The GNSS terminal working mode classification test system according to claim 10, characterized in that: The judgment result analysis and output module determines through a trajectory consistency test that the tested terminal is not a single-system terminal but a multi-system terminal; When the first GNSS system satellite signal is a Beidou satellite signal and the second GNSS system satellite signal is a GPS satellite signal, the trajectory consistency test steps include: Simultaneously broadcast mixed signals consisting of no less than 4 Beidou satellites and no less than 4 GPS satellites. The two signals simulate different trajectories and are set to last for a duration of M. The trajectory simulated according to the Beidou satellite signal is expressed as ,in, express The position of the Beidou track at the moment, are the specific east, north and altitude coordinates respectively; the trajectory simulated according to the GPS satellite signal is expressed as ,in, express GPS track location at all times, They are the specific east, north and height coordinates respectively; The terminal under test solves the mixed signal according to the broadcast, and the trajectory generated and reported is expressed as ,in, express The location reported by the terminal under test at all times, Respectively in The east, north and altitude coordinates of the position reported by the terminal under test at all times; The trajectory consistency judgment result of the terminal under test is determined by the trajectory consistency judgment model based on the correlation coefficient; The trajectory consistency discrimination model based on the correlation coefficient is: ; in, Represents the correlation coefficient between the reported trajectory and the simulated trajectory position vector, Represents the correlation coefficient between the reported trajectory and the simulated trajectory velocity vector, is the discriminant coefficient; The calculation process of the trajectory consistency discrimination model based on the correlation coefficient includes: Calculate the average value of the position vector of the trajectory reported by the terminal under test in the east direction as follows: : Calculate the average value of the position vector of the simulated Beidou trajectory in the east direction by the following formula : The correlation coefficient between the position vector of the reported trajectory and the simulated Beidou trajectory in the east direction is calculated as follows: Calculate the correlation coefficient between the position vectors of the reported trajectory and the simulated Beidou trajectory in the north and high directions in the same way ; Calculate the average value of the correlation coefficient in the east, north and high directions to obtain the correlation coefficient between the reported trajectory and the simulated Beidou trajectory position vector : The correlation coefficient between the reported trajectory and the simulated Beidou trajectory velocity vector is calculated according to the following formula : in, The reported trajectories are The speed value at the moment and the average speed, The simulated Beidou trajectories are The speed value at the moment and the average speed; Calculate the correlation coefficient between the reported trajectory and the simulated GPS trajectory position vector in the same way Correlation coefficient between the velocity vector ; Calculate the consistency discrimination coefficient between the trajectory reported by the terminal under test and the simulated Beidou trajectory : Calculate the consistency discriminant coefficient between the trajectory reported by the terminal under test and the simulated GPS trajectory : Initialize trajectory consistency discrimination coefficient threshold And trajectory consistency identification bit , the trajectory consistency judgment results are as follows: If the trajectory consistency flag , indicating that the trajectory reported by the terminal under test is consistent with the Beidou trajectory, but inconsistent with the GPS trajectory, then the working mode of the terminal under test is determined to be Beidou priority solution, and the test ends; If the trajectory consistency flag , indicating that the trajectory reported by the terminal under test is consistent with the GPS trajectory, but inconsistent with the Beidou trajectory, then the working mode of the terminal under test is determined to be GPS priority solution, and the test ends; If the trajectory consistency flag , indicating that the trajectory reported by the terminal under test is inconsistent with the Beidou trajectory and the GPS trajectory. In this case, the working mode of the terminal under test is determined to be joint solution, and the test ends.

16. An electronic device, characterized in that: The invention comprises a processor and a memory, wherein the processor is used to execute a computer program stored in the memory to implement the GNSS terminal working mode classification test method as described in any one of claims 1 to 9.

17. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores at least one instruction, and when the at least one instruction is executed by the processor, the GNSS terminal working mode classification test method according to any one of claims 1 to 9 is implemented.

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