A GNSS terminal working mode hierarchical testing method and system

Abstract

A hierarchical testing method and system for GNSS terminal operating modes uses a hierarchical testing method to determine the operating mode of a GNSS terminal. A three-level positioning test process is performed by sequentially broadcasting only the first GNSS system satellite signal, only the second GNSS system satellite signal, or simultaneously broadcasting three first GNSS system satellite signals or two second GNSS system satellite signals and m other system satellite signals. A trajectory consistency test is performed in the third-level positioning test. Based on the results of the 3+m positioning test and the trajectory consistency test, it is determined whether the tested terminal belongs to a single-system terminal or a multi-system terminal, and whether it is in a single-mode operating mode, a priority solution operating mode, or a joint solution operating mode. This method can avoid misjudgments and missed judgments caused by incomplete evaluation factors, thereby improving the accuracy and reliability of the test results. The present invention can accurately determine the operating mode of a GNSS terminal in a field environment of power operations.

Description

Technical Field

[0001] The present invention belongs to the technical field of 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-based navigation system that uses navigation satellites orbiting in fixed orbits above the Earth to provide positioning, navigation, and timing services to users on the ground. Currently, there are four major GNSS systems: the United States' Global Positioning System (GPS), Russia's GLONASS, China's BeiDou Navigation Satellite System (BDS), and the European Union's Galileo. GNSS terminals are devices that receive and interpret GNSS signals to obtain location information. The power industry is a key application area for the BeiDou system. Focusing on core power grid operations, the BeiDou system provides secure and reliable geolocation services for power systems. Currently, a large number of BeiDou terminals have been deployed in scenarios such as worksite safety control, autonomous drone inspections, and vehicle management. With the development of new power systems and a digitally robust power grid, the application of BeiDou in the power sector is expected to expand further.

[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, and then calculate the known position of each satellite at the current moment in combination with the ephemeris, and then calculate the position of the satellite according to the time delay. Figure 1The range intersection principle shown in the figure calculates three-dimensional position information. Considering the time error of the terminal device's clock, it generally requires at least four satellites to determine the specific position. A GNSS terminal receives navigation satellite signals through an antenna. The signals are amplified and filtered by the radio frequency unit before entering the signal processing unit. The signal processing unit tracks and captures the signals, obtaining the satellite's initial code, star sign, and Doppler shift difference. The code phase and signal frequency are then estimated, demodulated, and synchronization is achieved using data from the navigation message. After synchronization, the navigation message is decoded, and the pseudocode range is calculated from the phase offset. Finally, the terminal device's exact position is calculated based on the pseudorange. GNSS terminals can be categorized as single-system or multi-system based on the satellite navigation system they use. Single-system terminals perform positioning based on satellite signals from a single GNSS system. Currently, the most common single-system terminals in China are Beidou single-mode and GPS single-mode. Multi-system terminals simultaneously receive satellite signals from any two or more GNSS systems, such as Beidou, GPS, GLONASS, and GALILEO, for positioning. Due to the widespread application and technological maturity of GPS, the most common multi-system terminals currently use a combination of GPS and other systems. Multi-system terminals can be divided into three main operating modes: Beidou priority solution, GPS priority solution, and joint solution. The specific explanations of each operating mode are as follows:

[0004] Beidou single-mode: The GNSS terminal only supports positioning solutions based on navigation signals broadcast by the Beidou system;

[0005] GPS single mode: The GNSS terminal only supports positioning based on the navigation signals broadcast by the GPS system;

[0006] Beidou priority solution: The GNSS terminal supports both the Beidou system and other GNSS systems, but prioritizes receiving and processing navigation signals broadcast by the Beidou system for positioning solution;

[0007] GPS priority solution: GNSS terminals support both GPS and other GNSS systems, but prioritize receiving and processing signals broadcast by the GPS system for positioning solutions.

[0008] Joint solution: GNSS terminals support both the BeiDou system and other GNSS systems. Positioning results are obtained by jointly solving the signals broadcast by the supported GNSS systems.

[0009] 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 positioning services for power infrastructure based on the independent 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.

[0010] Currently, there are relatively comprehensive laboratory testing methods for functional and performance testing of GNSS terminals. These generally involve 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 them to the device under test via an RF cable, and executing the test process with test control and evaluation software to obtain test results for performance parameters such as the device's tracking sensitivity and positioning accuracy. However, power GNSS terminals are generally used in exposed spaces such as substations and transmission line inspections. The terminals receive real-time satellite navigation signals broadcast from the sky by systems such as Beidou, GPS, GLONASS, and GALILEO. The signal conditions in these environments are complex, and testing the GNSS terminal's operating mode in the field is crucial for ensuring the safe and reliable operation of GNSS terminals in power systems. Therefore, there is an urgent need to conduct research on field-specific testing methods for GNSS terminal operating modes to verify and determine their operating modes. Summary of the Invention

[0011] The purpose of the present invention is to address the above-mentioned problems in the prior art and provide a GNSS terminal working mode classification testing method and system to accurately determine the working mode of the GNSS terminal in an electric power operation field environment.

[0012] In order to achieve the above object, the present invention has the following technical solutions:

[0013] In a first aspect, a method for hierarchical testing of GNSS terminal operating modes is provided, comprising:

[0014] Only the first GNSS system satellite signal is broadcast and other GNSS system satellite signals are turned off to perform the first level positioning test judgment on the terminal under test;

[0015] If the first-level positioning test is successful, only the satellite signals of other GNSS systems are broadcast and all the satellite signals of the first GNSS system are turned off, and the second-level positioning test is performed on the terminal under test; 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 simultaneously, and the 3+m positioning test in the third-level positioning test is performed;

[0016] If the first-level positioning test is unsuccessful, only the second GNSS system satellite signal is broadcast and the other GNSS system satellite signals are turned off, and the second-level positioning test judgment of the terminal under test is performed; 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, and the 3+m positioning test judgment in the third-level positioning test is performed;

[0017] If the 3+m positioning test in the third-level positioning test is successful, the trajectory consistency test is performed. Based on the results of the 3+m positioning test and the trajectory consistency test in the third-level positioning test, it is determined whether the terminal under test belongs to a single-system terminal or a multi-system terminal, and whether it is in single-mode working mode, priority solution working mode, or joint solution working mode.

[0018] 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, which isolates the interference of various GNSS real signals in the air in the outdoor environment; a radio frequency cable is used to connect the radio frequency output port of the detector to the radio frequency input port of the shielding 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 shielding dark box; a serial data cable is used to connect the terminal under test and the data interface of the detector for real-time acquisition of positioning data information reported by the terminal under test.

[0019] As a preferred solution, 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 the simulation trajectory of no less than 4 Beidou satellite signals is broadcast, 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 each moment;

[0020] The terminal under test calculates the BeiDou satellite signal and generates and reports the trajectory expressed as ,in, express The position 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;

[0021] 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.

[0022] As a preferred solution, when only other GNSS system satellite signals are broadcast and all first GNSS system satellite signals are turned off, when performing the second-level positioning test judgment of the terminal under test, at least four other GNSS system satellite signals are broadcast and the simulated motion trajectory is simulated, all Beidou satellite signals are turned off, and the duration M is set; the simulated 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 each moment;

[0023] The terminal under test calculates the trajectory generated and reported based on the broadcasted satellite signals of other GNSS systems as follows: ,in, express The position 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;

[0024] Complete the second-level positioning test judgment of the terminal under test. The second-level positioning test judgment is determined by the positioning status flag, positioning accuracy, and speed measurement accuracy reported by the terminal under test. When the positioning status flag, positioning accuracy, and speed measurement accuracy of the terminal under test meet the requirements, the result of the second-level positioning test judgment is successful positioning, otherwise it is unsuccessful positioning;

[0025] When only the second GNSS system satellite signal is broadcast and other GNSS system satellite signals are turned off, and the second-level positioning test of the terminal under test is performed, if the second GNSS system satellite signal is a GPS satellite signal, no less than 4 GPS satellite signals are broadcast and the simulated motion trajectory is simulated, all other GNSS system satellite signals are turned off, and the duration M is set. The rest of the process is the same as the above process.

[0026] 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.

[0027] 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;

[0028] 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 Determine that the data within the random sub-window of the trajectory follows a Gaussian distribution;

[0029] Initialize test random numbers , is an integer and ,in, is the window size; M is the set duration;

[0030] The random window of the simulation trajectory is expressed as ,in, To simulate the motion trajectory of random sub-windows, each sub-window contains The position information of the simulated motion trajectory at different times is expressed as follows:

[0031]

[0032]

[0033]

[0034] The trajectory random window generated and reported by the tested terminal is expressed as ,in, The trajectory random sub-windows 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 trajectory:

[0035] 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%;

[0036] The cumulative positioning accuracy error is calculated as follows:

[0037] 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:

[0038]

[0039]

[0040]

[0041] 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 tested terminal ;

[0042] The positioning deviation with a 95% confidence level is calculated as follows:

[0043] 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:

[0044]

[0045] 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; the standard deviation of the positioning accuracy deviation is calculated according to the following formula :

[0046]

[0047]

[0048]

[0049]

[0050] 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;

[0051] Calculate the positioning deviation with a confidence probability of 95% according to the following formula: :

[0052]

[0053] Initialize the cumulative error threshold of positioning accuracy and positioning deviation threshold ;

[0054] if and , it indicates 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.

[0055] As a preferred solution, the method for determining the speed measurement accuracy is as follows:

[0056] according to and The position vector is obtained by the position information reported by the terminal under test at any moment and , calculated by the following formula The speed calculated by the terminal being tested at any moment :

[0057]

[0058] 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 simulated speed values ​​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 ;

[0059] if , it means that the speed measurement accuracy of the tested terminal is judged to meet the requirements; otherwise, it is judged to not meet the requirements;

[0060] 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 positioning success. The discriminant expression is as follows:

[0061] .

[0062] 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:

[0063] 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 each moment;

[0064] The terminal under test calculates the signals of three BeiDou satellites and m other GNSS satellites and reports the trajectory expressed as follows: ,in, express The position 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;

[0065] Complete the 3+m positioning test judgment in the third-level positioning test of the tested terminal. The 3+m positioning test judgment is determined by the positioning status flag, positioning accuracy, and speed measurement accuracy reported by the tested terminal. When the positioning status flag, positioning accuracy, and speed measurement accuracy of the tested terminal meet the requirements at the same time, the result of the third-level positioning test judgment is determined to be positioning successful, otherwise it is positioning unsuccessful. If positioning is unsuccessful, the tested terminal is determined to be in Beidou single-mode working mode;

[0066] The step of simultaneously broadcasting three second GNSS system satellite signals and m other GNSS system satellite signals to perform the 3+m positioning test judgment in the third-level positioning test is to simultaneously broadcast three 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.

[0067] As a preferred solution, a trajectory consistency test is performed to determine 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 includes the following steps:

[0068] 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.

[0069] The trajectory simulated according to the Beidou satellite signal is expressed as ,in, express The position of the Beidou track at all times, 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;

[0070] The terminal under test solves the mixed signal according to the broadcast, and the trajectory generated and reported is expressed as ,in, express The position 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;

[0071] The trajectory consistency judgment result of the tested terminal is determined by the trajectory consistency discrimination model based on the correlation coefficient;

[0072] The trajectory consistency discrimination model based on correlation coefficient is: ;

[0073] 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 discrimination coefficient;

[0074] The calculation process of the trajectory consistency discrimination model based on the correlation coefficient includes:

[0075] Calculate the average value of the position vector in the east direction of the trajectory reported by the terminal under test by the following formula: :

[0076]

[0077] Calculate the average value of the position vector of the Beidou track simulated by the detector in the east direction as follows: :

[0078]

[0079] The correlation coefficient between the position vectors of the reported trajectory and the simulated BeiDou trajectory in the east direction is calculated as follows:

[0080]

[0081] Calculate the correlation coefficient between the position vectors of the reported trajectory and the simulated Beidou trajectory in the north and altitude directions in the same way ;

[0082] 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 :

[0083]

[0084] The correlation coefficient between the reported trajectory and the simulated BeiDou trajectory velocity vector is calculated according to the following formula: :

[0085]

[0086] in, Report the trajectory in 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;

[0087] Calculate the correlation coefficient between the reported trajectory and the simulated GPS trajectory position vector in the same way and the correlation coefficient between the velocity vector ;

[0088] Calculate the consistency discrimination coefficient between the trajectory reported by the tested terminal and the simulated Beidou trajectory :

[0089]

[0090] Calculate the consistency discrimination coefficient between the trajectory reported by the tested terminal and the simulated GPS trajectory :

[0091]

[0092] Initialize trajectory consistency discrimination coefficient threshold and trajectory consistency identification bit , the trajectory consistency judgment results are as follows:

[0093]

[0094] If the trajectory consistency flag , indicating that the trajectory reported by the tested terminal is consistent with the Beidou trajectory, but inconsistent with the GPS trajectory. In this case, the working mode of the tested terminal is determined to be Beidou priority solution, and the test ends;

[0095] If the trajectory consistency flag , indicating that the trajectory reported by the tested terminal is consistent with the GPS trajectory, but inconsistent with the Beidou trajectory, then the working mode of the tested terminal is determined to be GPS priority solution, and the test ends;

[0096] If the trajectory consistency flag , indicating that the trajectory reported by the tested terminal is inconsistent with the Beidou trajectory and the GPS trajectory, then the working mode of the tested terminal is determined to be joint solution, and the test ends.

[0097] In a second aspect, a GNSS terminal operating mode hierarchical testing system is provided, comprising:

[0098] A 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;

[0099] The second-level positioning test judgment module for the first GNSS system satellite signal is configured to, if the first-level positioning test is successful, broadcast only the satellite signals of other GNSS systems and disable all satellite signals of the first GNSS system 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, simultaneously broadcast three first GNSS system satellite signals and m other GNSS system satellite signals to perform the 3+m positioning test judgment in the third-level positioning test;

[0100] A second-level positioning test judgment module for the second GNSS system satellite signal is configured to, if the first-level positioning test judgment is unsuccessful, broadcast only the second GNSS system satellite signal and disable other GNSS system satellite signals to perform the second-level positioning test judgment on the terminal under test; if the corresponding second-level positioning test judgment is successful, simultaneously broadcast three second GNSS system satellite signals and m other GNSS system satellite signals to perform the 3+m positioning test judgment in the third-level positioning test;

[0101] The judgment result analysis and output module is used to perform a trajectory consistency test if the 3+m positioning test in the third-level positioning test is successful. Based on the judgment results of the 3+m positioning test and the trajectory consistency test in the third-level positioning test, it is determined whether the terminal under test belongs to a single-system terminal or a multi-system terminal, and whether it is in a single-mode working mode, a priority solution working mode, or a joint solution working mode.

[0102] As a preferred solution, the first GNSS system satellite signal is a Beidou satellite signal, and the simulation trajectory of the Beidou satellite signals of no less than 4 is broadcast, 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 each moment;

[0103] The terminal under test calculates the BeiDou satellite signal and generates and reports the trajectory expressed as ,in, express The position 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;

[0104] 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.

[0105] 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 each moment;

[0106] The terminal under test calculates the trajectory generated and reported based on the broadcasted satellite signals of other GNSS systems as follows: ,in, express The position 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;

[0107] Complete the second-level positioning test judgment of the terminal under test. The second-level positioning test judgment is determined by the positioning status flag, positioning accuracy, and speed measurement accuracy reported by the terminal under test. When the positioning status flag, positioning accuracy, and speed measurement accuracy of the terminal under test meet the requirements, the result of the second-level positioning test judgment is successful positioning, otherwise it is unsuccessful positioning;

[0108] 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.

[0109] As a preferred solution, in the first-level positioning determination and the second-level positioning determination of the terminal under test:

[0110] 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;

[0111] Positioning accuracy is determined by both the simulated motion trajectory and the trajectory generated and reported by the terminal under test;

[0112] 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 Determine that the data within the random sub-window of the trajectory follows a Gaussian distribution;

[0113] Initialize test random numbers , is an integer and ,in, is the window size; M is the set duration;

[0114] The random window of the simulation trajectory is expressed as ,in, To simulate the motion trajectory of random sub-windows, each sub-window contains The position information of the simulated motion trajectory at different times is expressed as follows:

[0115]

[0116]

[0117]

[0118] The trajectory random window generated and reported by the tested terminal is expressed as ,in, The trajectory random sub-windows 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 trajectory:

[0119] 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%;

[0120] The cumulative positioning accuracy error is calculated as follows:

[0121] 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:

[0122]

[0123]

[0124]

[0125] 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 tested terminal ;

[0126] The positioning deviation with a 95% confidence level is calculated as follows:

[0127] 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:

[0128]

[0129] 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; the standard deviation of the positioning accuracy deviation is calculated according to the following formula :

[0130]

[0131]

[0132]

[0133]

[0134] 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;

[0135] Calculate the positioning deviation with a confidence probability of 95% according to the following formula: :

[0136]

[0137] Initialize the cumulative error threshold of positioning accuracy and positioning deviation threshold ;

[0138] if and , it indicates 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;

[0139] The speed measurement accuracy is determined by the following method:

[0140] according to and The position vector is obtained by the position information reported by the terminal under test at any moment and , calculated by the following formula The speed calculated by the terminal being tested at any moment :

[0141]

[0142] 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 simulated speed values ​​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 ;

[0143] if , it means that the speed measurement accuracy of the tested terminal is judged to meet the requirements; otherwise, it is judged to not meet the requirements;

[0144] 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 positioning success. The discriminant expression is as follows:

[0145] .

[0146] As a preferred solution, 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:

[0147] 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 each moment;

[0148] The terminal under test calculates the signals of three BeiDou satellites and m other GNSS satellites and reports the trajectory expressed as follows: ,in, express The position 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;

[0149] Complete the 3+m positioning test judgment in the third-level positioning test of the tested terminal. The 3+m positioning test judgment is determined by the positioning status flag, positioning accuracy, and speed measurement accuracy reported by the tested terminal. When the positioning status flag, positioning accuracy, and speed measurement accuracy of the tested terminal meet the requirements at the same time, the result of the third-level positioning test judgment is determined to be positioning successful, otherwise it is positioning unsuccessful. If positioning is unsuccessful, the tested terminal is determined to be in Beidou single-mode working mode;

[0150] 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.

[0151] As a preferred solution, the judgment result analysis and 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:

[0152] 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.

[0153] The trajectory simulated according to the Beidou satellite signal is expressed as ,in, express The position of the Beidou track at all times, 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;

[0154] The terminal under test solves the mixed signal according to the broadcast, and the trajectory generated and reported is expressed as ,in, express The position 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;

[0155] The trajectory consistency judgment result of the tested terminal is determined by the trajectory consistency discrimination model based on the correlation coefficient;

[0156] The trajectory consistency discrimination model based on correlation coefficient is: ;

[0157] 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 discrimination coefficient;

[0158] The calculation process of the trajectory consistency discrimination model based on the correlation coefficient includes:

[0159] Calculate the average value of the position vector in the east direction of the trajectory reported by the terminal under test by the following formula: :

[0160]

[0161] Calculate the average value of the position vector of the Beidou track simulated by the detector in the east direction as follows: :

[0162]

[0163] The correlation coefficient between the position vectors of the reported trajectory and the simulated BeiDou trajectory in the east direction is calculated as follows:

[0164]

[0165] Calculate the correlation coefficient between the position vectors of the reported trajectory and the simulated Beidou trajectory in the north and altitude directions in the same way ;

[0166] 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 :

[0167]

[0168] The correlation coefficient between the reported trajectory and the simulated BeiDou trajectory velocity vector is calculated according to the following formula: :

[0169]

[0170] in, Report the trajectory in 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;

[0171] Calculate the correlation coefficient between the reported trajectory and the simulated GPS trajectory position vector in the same way and the correlation coefficient between the velocity vector ;

[0172] Calculate the consistency discrimination coefficient between the trajectory reported by the tested terminal and the simulated Beidou trajectory :

[0173]

[0174] Calculate the consistency discrimination coefficient between the trajectory reported by the tested terminal and the simulated GPS trajectory :

[0175]

[0176] Initialize trajectory consistency discrimination coefficient threshold and trajectory consistency identification bit , the trajectory consistency judgment results are as follows:

[0177]

[0178] If the trajectory consistency flag , indicating that the trajectory reported by the tested terminal is consistent with the Beidou trajectory, but inconsistent with the GPS trajectory. In this case, the working mode of the tested terminal is determined to be Beidou priority solution, and the test ends;

[0179] If the trajectory consistency flag , indicating that the trajectory reported by the tested terminal is consistent with the GPS trajectory, but inconsistent with the Beidou trajectory, then the working mode of the tested terminal is determined to be GPS priority solution, and the test ends;

[0180] If the trajectory consistency flag , indicating that the trajectory reported by the tested terminal is inconsistent with the Beidou trajectory and the GPS trajectory, then the working mode of the tested terminal is determined to be joint solution, and the test ends.

[0181] In a third aspect, an electronic device is provided, comprising a processor and a memory, wherein the processor is configured to execute a computer program stored in the memory to implement the GNSS terminal operating mode hierarchical testing method.

[0182] 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.

[0183] Compared with the prior art, the first aspect of the present invention has at least the following beneficial effects:

[0184] The hierarchical testing method for GNSS terminal working modes of the present invention is applicable to the detection and determination requirements of the working modes of power GNSS terminals 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. A three-level positioning test process is performed by sequentially broadcasting only the first GNSS system satellite signal, only the second GNSS system satellite signal, and simultaneously broadcasting three first GNSS system satellite signals / second GNSS system satellite signals and m other system satellite signals. A trajectory consistency test is also performed. Based on the judgment results of the third-level positioning test and the trajectory consistency test results, 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. This can avoid misjudgments and missed judgments 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.

[0185] 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. The threshold comparison results of the two are used to jointly determine whether the positioning accuracy meets the requirements. The introduction of the random window can improve the real-time performance of the calculation 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 anomalies 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 the test results.

[0186] Furthermore, the GNSS terminal operating mode hierarchical testing method of the present invention establishes a trajectory consistency discrimination model based on the correlation coefficient in the trajectory consistency test. Based on the two dimensional data 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, thereby determining the operating mode of the tested terminal. The static and dynamic characteristics of the tested terminal can be comprehensively analyzed to comprehensively evaluate the signal broadcast by the tested terminal based on which GNSS system. At the same time, compared with determining trajectory consistency based solely on positioning error results, the present invention has stronger robustness to random errors and local outliers, making the test results more stable and reliable.

[0187] 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

[0188] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. 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 any creative work.

[0189] Figure 1 Satellite positioning calculates the 3D position of the GNSS terminal based on the distance intersection principle;

[0190] Figure 2 Schematic diagram of the device connection and initialization configuration process according to an embodiment of the present invention;

[0191] Figure 3 Flowchart of a method for hierarchical testing of GNSS terminal operating modes according to an embodiment of the present invention;

[0192] Figure 4 A schematic diagram of the structure of a detector used in a method for hierarchical testing of GNSS terminal operating modes according to an embodiment of the present invention. DETAILED DESCRIPTION

[0193] In the following description, specific details such as specific system structures and techniques are provided for purposes of illustration rather than limitation to facilitate a thorough understanding of the embodiments of the present application. However, it will be apparent to those skilled in the art that the present application may 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 avoid obscuring the description of the present application with unnecessary detail.

[0194] GNSS terminals can be categorized as single-system or multi-system terminals based on the satellite navigation system they use. A multi-system terminal is one that simultaneously receives signals from any two or more satellites from the Beidou Satellite Navigation System (Beidou), the Global Positioning System (GPS), the GLONASS Satellite Navigation System (GLONASS), and the Galileo Satellite Navigation System (GALILEO) for positioning. This embodiment of the present invention uses single-system terminals, such as Beidou single-mode and GPS single-mode, as examples. Multi-system terminals can operate in three modes: Beidou-first, GPS-first, and combined positioning.

[0195] See also Figure 3The GNSS terminal working mode hierarchical testing method proposed in the embodiment of the present invention performs a three-level positioning test process 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. Based on 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 tested terminal, the working mode of the tested terminal is accurately determined. Specifically, the GNSS terminal working mode hierarchical testing method of the embodiment of the present invention includes the following steps:

[0196] (1) Device connection and initial configuration

[0197] 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.

[0198] 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. At the same time, use a serial 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. Figure 4 shown.

[0199] Power on the tester and the terminal under test respectively and complete the initialization settings:

[0200] Detector initialization includes powering on the device and loading the test scenario file;

[0201] Initialization of the terminal under test includes powering on the device and setting the positioning mode for 1Hz output.

[0202] (2) First-level positioning test

[0203] Only BeiDou satellite signals are broadcast and all other system satellite signals are turned off. The first-level positioning test judgment of the terminal under test is performed, including:

[0204] Control the detector to broadcast the signals of no less than 4 Beidou satellites to simulate the motion trajectory, turn off all other system satellite signals, and continue 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 each moment;

[0205] 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 position 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;

[0206] 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;

[0207] 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;

[0208] 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:

[0209] 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 the trajectory random sub-window being concentrated in a certain local area during the positioning test and causing local errors, 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 obeys the Gaussian distribution, using random windows to process the trajectory can improve the computational efficiency while ensuring accuracy;

[0210] Initialize test random numbers , is an integer and ,in, The window size must be an odd number and less than 40.

[0211] The random window of the first-level simulation trajectory is expressed as ,in, 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:

[0212] (1)

[0213] (2)

[0214] (3)

[0215] The first-level reported trajectory random window is expressed as ,in, The first level of trajectory reporting random sub-window, each sub-window contains The position information of the first-level reported trajectory at different times is selected, and the selected time points are consistent with the time points of the random sub-window of the first-level simulated trajectory:

[0216] 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%;

[0217] First, calculate the cumulative positioning accuracy error:

[0218] 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:

[0219] (4)

[0220] (5)

[0221] (6)

[0222] Get the cumulative positioning accuracy error within the first-level simulation trajectory random window and the first-level reported trajectory random window ;

[0223] Next, calculate the positioning deviation with a confidence probability of 95%:

[0224] Calculate the average deviation of positioning accuracy between the reported trajectory and the simulated trajectory within the three random sub-windows:

[0225] (7)

[0226] 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. :

[0227] (8)

[0228] (9)

[0229] (10)

[0230] (11)

[0231] 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;

[0232] Then calculate the positioning deviation with a confidence probability of 95% :

[0233] (12)

[0234] Initialize the cumulative error threshold of positioning accuracy and positioning deviation threshold ;

[0235] 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;

[0236] The method for determining speed measurement accuracy is as follows:

[0237] against Time, according to and The position vector is obtained by the position information reported by the terminal under test at any moment and , can be obtained from the following formula The speed calculated by the terminal being tested at any moment :

[0238] (13)

[0239] in, is the sampling interval, which is 1 in this method. Based on the above formula, the speed of the terminal under test at each moment in each random sub-window of the reported trajectory can be obtained. The speed values ​​obtained in the three random sub-windows 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 ;

[0240] if , it means that the speed measurement accuracy of the tested terminal meets the requirements; otherwise, it does not meet the requirements;

[0241] 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 determined to be positioning success. The specific discriminant expression is as follows:

[0242] (14)

[0243] If the result of the first-level positioning test process is that the positioning is unsuccessful, continue to execute the second-level positioning test process's step of only broadcasting GPS satellite signals; if the result of the first-level positioning test process is that the positioning is successful, continue to execute the second-level positioning test process's step of only broadcasting other system satellite signals.

[0244] (3) Second level positioning test

[0245] 2.1. Broadcast only other system satellite signals and disable all BeiDou satellite signals to perform the second-level positioning test judgment of the terminal under test, including:

[0246] 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 each moment;

[0247] The terminal under test calculates the trajectory generated and reported to the detector based on the satellite signals of other systems broadcast by the detector, which can be expressed as ,in, express The position 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;

[0248] Complete the second-level positioning judgment of the terminal under test. The positioning judgment is determined by the positioning status flag, positioning accuracy, and speed measurement accuracy reported by the terminal under test. The positioning judgment process is performed on the detector, and the corresponding calculation process is the same as that in the first-level positioning judgment;

[0249] If the positioning status flag, positioning accuracy, and speed measurement accuracy of the terminal under test all meet the requirements, the result of the second-level positioning test process is determined to be successful positioning; otherwise, the positioning is determined to be unsuccessful. If positioning is unsuccessful, the "3+m positioning test" in the third-level positioning test process is executed; if positioning is successful, the "trajectory consistency test" in the third-level positioning test process is executed to make a final judgment on the operating mode of the terminal under test.

[0250] 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 the single-mode working mode of other systems and check whether the terminal is faulty;

[0251] (4) Third-level positioning test

[0252] 3.1 3+m positioning test

[0253] When performing positioning calculations, a GNSS terminal needs to track signals from at least four visible satellites to obtain position information. If the GNSS terminal is operating in Beidou single-mode, it will not be able to properly calculate and output positioning results when performing the 3+m determination because it cannot meet the minimum number of visible satellites required for positioning. This method can effectively detect whether the positioning calculation logic of the terminal under test is indeed in Beidou single-mode operating mode, using only signals broadcast by the Beidou system for calculations. The specific process is as follows:

[0254] The control detector broadcasts 3 BeiDou satellite signals and m (m is greater than 1) other system satellite signals, and simulates 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 each moment;

[0255] 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 position 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;

[0256] Complete the 3+m positioning judgment of the terminal under test. The positioning judgment is determined by the positioning status flag, positioning accuracy, and speed measurement accuracy reported by the terminal under test. The positioning judgment process is performed on the detector, and the corresponding calculation process is the same as that in the first-level positioning judgment;

[0257] When the positioning status flag, positioning accuracy, and velocity measurement accuracy of the terminal under test all meet the requirements, the result of the 3+m test is determined to be successful positioning; otherwise, the positioning is determined to be unsuccessful. If positioning is unsuccessful, it proves that the terminal under test can only perform positioning based on the signals broadcast by the Beidou system, but does not meet the minimum positioning requirement of four satellite signals, and cannot obtain a positioning result. The operating mode of the terminal under test is determined to be Beidou single-mode, and the test ends. If positioning is successful, it indicates that although the terminal under test supports the use of Beidou signals for positioning in the second-level positioning test process, when the minimum number of visible Beidou satellites is not met, it will introduce satellite signals from other systems for joint positioning, and does not meet the Beidou single-mode working mode. The trajectory consistency test process continues to determine the specific positioning solution method.

[0258] 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.

[0259] (5) Trajectory consistency test

[0260] 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:

[0261] The control detector simultaneously broadcasts a mixed signal consisting of no less than 4 Beidou satellites and no less than 4 GPS satellites, but the simulated trajectories of the two signals are different, which lasts for 120 seconds.

[0262] The trajectory simulated according to the Beidou satellite signal can be expressed as ,in, express The position of the Beidou track at all times, 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 respectively

[0263] The terminal under test calculates the mixed signal broadcast by the detector, and generates and reports the trajectory to the detector, which can be expressed as ,in, express The position 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;

[0264] The trajectory consistency judgment result of the tested terminal is determined by the trajectory consistency discrimination model based on the correlation coefficient;

[0265] Establish a trajectory consistency discrimination model based on correlation coefficient: ;

[0266] 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 discrimination coefficient;

[0267] The calculation process of the correlation-based trajectory consistency discrimination model includes:

[0268] Calculate the average value of the position vector in the east direction of the trajectory reported by the terminal under test , ;

[0269] Calculate the average value of the position vector of the Beidou trajectory simulated by the detector in the east direction , ;

[0270] Calculate the correlation coefficient between the position vector of the reported trajectory and the simulated Beidou trajectory in the east direction :

[0271] 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 ;

[0272] 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 , ;

[0273] The correlation coefficient between the reported trajectory and the simulated BeiDou trajectory velocity vector is calculated according to the following formula: :

[0274] (15)

[0275] in, Report the trajectory in 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.

[0276] Similarly, the correlation coefficient between the reported trajectory and the simulated GPS trajectory position vector can be calculated and the correlation coefficient between the velocity vector ;

[0277] Calculate the consistency discrimination coefficient between the trajectory reported by the tested terminal and the simulated Beidou trajectory :

[0278] (16)

[0279] Calculate the consistency discrimination coefficient between the trajectory reported by the tested terminal and the simulated GPS trajectory :

[0280] (17)

[0281] Initialize trajectory consistency discrimination coefficient threshold and trajectory consistency identification bit , the trajectory consistency judgment results are as follows:

[0282] (18)

[0283] If the trajectory consistency flag , indicating that the trajectory reported by the tested terminal is consistent with the Beidou trajectory, but inconsistent with the GPS trajectory. In this case, the working mode of the tested terminal is determined to be Beidou priority solution, and the test ends;

[0284] If the trajectory consistency flag , indicating that the trajectory reported by the tested terminal is consistent with the GPS trajectory, but inconsistent with the Beidou trajectory, then the working mode of the tested terminal is determined to be GPS priority solution, and the test ends;

[0285] If the trajectory consistency flag , indicating that the trajectory reported by the tested terminal is inconsistent with the Beidou trajectory and the GPS trajectory, then the working mode of the tested terminal is determined to be joint solution, and the test ends.

[0286] The hierarchical testing method for the working mode of a GNSS terminal according to an embodiment of the present invention meets the requirements for detecting and determining the working mode of a power GNSS terminal in exposed space environments such as an outdoor testing base and a substation, and can be used to test and determine the working mode of a GNSS terminal in a field environment of power operations. A hierarchical testing method is used to accurately determine the working mode of the terminal under test by calculating and analyzing indicators such as the positioning status 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 into the calculation process to improve the efficiency of the analysis and solution, and the consistency test results of the reported trajectory and the simulated trajectory are determined by a trajectory consistency discrimination model based on a correlation coefficient, thereby improving the reliability of the determination results.

[0287] First, a hierarchical testing approach was adopted:

[0288] The embodiment of the present invention adopts a hierarchical testing method to test 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 positioning status identification bit, positioning accuracy, speed measurement accuracy, and reported trajectory consistency. This can avoid misjudgments and missed judgments 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.

[0289] Secondly, a random window is introduced and the positioning accuracy result is jointly determined based on the cumulative positioning accuracy error and the positioning deviation with a confidence probability of 95%.

[0290] During the first and second-level positioning test processes, when comparing the simulated and reported trajectories to calculate positioning accuracy, a random window is introduced to process the entire trajectory sequence. The cumulative positioning accuracy error and the positioning deviation with a 95% confidence probability are calculated based on the data within the random window. The threshold comparison results of the two are then used 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 calculations, reduce computational complexity, and increase test efficiency. Determining positioning accuracy based on the cumulative error and the positioning deviation with a 95% confidence probability can smooth random errors, effectively addressing the interference of jump anomalies generated by the terminal under test during the solution process on the test results, and avoiding misjudgment of test results due to accidental errors during the test process, thereby improving the accuracy of this solution.

[0291] Thirdly, a trajectory consistency discrimination model based on correlation coefficient was designed:

[0292] 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, thereby determining the working mode of the terminal under test. The trajectory consistency discrimination model based on 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 can be 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.

[0293] Another embodiment of the present invention further provides a GNSS terminal operating mode hierarchical testing system, comprising:

[0294] A 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;

[0295] The second-level positioning test judgment module for the first GNSS system satellite signal is configured to, if the first-level positioning test is successful, broadcast only the satellite signals of other GNSS systems and disable all satellite signals of the first GNSS system 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, simultaneously broadcast three first GNSS system satellite signals and m other GNSS system satellite signals to perform the 3+m positioning test judgment in the third-level positioning test;

[0296] A second-level positioning test judgment module for the second GNSS system satellite signal is configured to, if the first-level positioning test judgment is unsuccessful, broadcast only the second GNSS system satellite signal and disable other GNSS system satellite signals to perform the second-level positioning test judgment on the terminal under test; if the corresponding second-level positioning test judgment is successful, simultaneously broadcast three second GNSS system satellite signals and m other GNSS system satellite signals to perform the 3+m positioning test judgment in the third-level positioning test;

[0297] The judgment result analysis and output module is used to perform a trajectory consistency test if the 3+m positioning test in the third-level positioning test is successful. Based on the judgment results of the 3+m positioning test and the trajectory consistency test in the third-level positioning test, it is determined whether the terminal under test belongs to a single-system terminal or a multi-system terminal, and whether it is in a single-mode working mode, a priority solution working mode, or a joint solution working mode.

[0298] Another embodiment of the present invention further provides an electronic device, including a processor and a memory, wherein the processor is configured to execute a computer program stored in the memory to implement the GNSS terminal operating mode hierarchical testing method.

[0299] 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 operating mode hierarchical testing method is implemented.

[0300] 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, magnetic disk, optical disk, computer memory, read-only memory, random access memory, electric carrier signal, telecommunication signal and software distribution medium 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-transitory and can be stored in a storage device formed by various electronic devices, and can implement the execution process recorded in the method of the embodiment of the present invention.

[0301] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Thus, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, 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 magnetic disk storage, CD-ROMs, optical storage, etc.) containing computer-usable program code.

[0302] 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 flowcharts and / or block diagrams, as well as combinations of processes and / or blocks in the flowcharts and / or block diagrams, 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 processes in the flowcharts and / or block diagrams. 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.

[0303] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work 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 The function specified in one or more boxes.

[0304] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0305] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the 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 by 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 broadcast 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 the satellite signals of other GNSS systems are broadcast and all the satellite signals of the first GNSS system are turned off, and the second-level positioning test is performed on the terminal under test; 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 simultaneously, 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 the other GNSS system satellite signals are turned off, and the second-level positioning test judgment of the terminal under test is performed; 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, and the 3+m positioning test judgment in the third-level positioning test is performed; If the 3+m positioning test in the third-level positioning test is successful, the trajectory consistency test is performed. Based on the results of the 3+m positioning test and the trajectory consistency test in the third-level positioning test, it is determined whether the terminal under test belongs to a single-system terminal or a multi-system terminal, and whether it is in single-mode working mode, priority solution working mode, or joint solution working mode.

2. The GNSS terminal operating mode hierarchical testing method according to claim 1, characterized in that: The device is connected and initially configured. During 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 to 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 operating 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 each moment; The terminal under test calculates the BeiDou satellite signal and generates and reports the trajectory expressed as ,in, express The position 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 operating 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 each moment; The terminal under test calculates the trajectory generated and reported based on the broadcasted satellite signals of other GNSS systems as follows: ,in, express The position 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 determined by the positioning status flag, positioning accuracy, and speed measurement accuracy reported by the terminal under test. When the positioning status flag, positioning accuracy, and speed measurement accuracy of the terminal under test meet the requirements, the result of the second-level positioning test judgment is successful positioning, otherwise it is unsuccessful positioning; When only the second GNSS system satellite signal is broadcast and other GNSS system satellite signals are turned off, and the second-level positioning test of the terminal under test is performed, if the second GNSS system satellite signal is a GPS satellite signal, no less than 4 GPS satellite signals are broadcast and the simulated motion trajectory is simulated, all other GNSS system satellite signals are turned off, and the duration M is set. The rest of the process is the same as the above process.

5. The GNSS terminal operating 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 operating 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 Determine that the data within 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 of random sub-windows, each sub-window contains The position information of the simulated motion trajectory at different times is expressed as follows: The trajectory random window generated and reported by the tested terminal is expressed as ,in, The trajectory random sub-windows 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 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 tested terminal ; 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; 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% according to the following formula: : 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 operating 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 moment and , calculated by the following formula The speed calculated by the terminal being tested 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 simulated speed values ​​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 tested terminal is judged to meet the requirements; otherwise, it is judged to 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 positioning test process is determined to be positioning success. The discriminant expression is as follows: 。 8. The GNSS terminal operating 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 each moment; The terminal under test calculates the signals of three BeiDou satellites and m other GNSS satellites and reports the trajectory expressed as follows: ,in, express The position 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 tested terminal. The 3+m positioning test judgment is determined by the positioning status flag, positioning accuracy, and speed measurement accuracy reported by the tested terminal. When the positioning status flag, positioning accuracy, and speed measurement accuracy of the tested terminal meet the requirements at the same time, the result of the third-level positioning test judgment is determined to be positioning successful, otherwise it is positioning unsuccessful. If positioning is unsuccessful, the tested terminal is determined to be in Beidou single-mode working mode; The step of simultaneously broadcasting three second GNSS system satellite signals and m other GNSS system satellite signals to perform the 3+m positioning test judgment in the third-level positioning test is to simultaneously broadcast three 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 operating 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; If 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 all times, 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 position 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 tested terminal is determined by the trajectory consistency discrimination model based on the correlation coefficient; The trajectory consistency discrimination model based on 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 discrimination coefficient; The calculation process of the trajectory consistency discrimination model based on the correlation coefficient includes: Calculate the average value of the position vector in the east direction of the trajectory reported by the terminal under test by the following formula: : Calculate the average value of the position vector of the Beidou track simulated by the detector in the east direction as follows: : The correlation coefficient between the position vectors 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 altitude 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, Report the trajectory in 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 and the correlation coefficient between the velocity vector ; Calculate the consistency discrimination coefficient between the trajectory reported by the tested terminal and the simulated Beidou trajectory : Calculate the consistency discrimination coefficient between the trajectory reported by the tested terminal 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 tested terminal is consistent with the Beidou trajectory, but inconsistent with the GPS trajectory. In this case, the working mode of the tested terminal is determined to be Beidou priority solution, and the test ends; If the trajectory consistency flag , indicating that the trajectory reported by the tested terminal is consistent with the GPS trajectory, but inconsistent with the Beidou trajectory, then the working mode of the tested terminal is determined to be GPS priority solution, and the test ends; If the trajectory consistency flag , indicating that the trajectory reported by the tested terminal is inconsistent with the Beidou trajectory and the GPS trajectory, then the working mode of the tested terminal is determined to be joint solution, and the test ends.

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

11. The GNSS terminal operating mode hierarchical testing system according to claim 10, characterized in that: The first GNSS system satellite signal is a BeiDou satellite signal. No less than four BeiDou satellite signals are broadcast to simulate the motion trajectory. All other GNSS system satellite signals are turned off. 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 each moment; The terminal under test calculates the BeiDou satellite signal and generates and reports the trajectory expressed as ,in, express The position 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 operating mode hierarchical testing 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 each moment; The terminal under test calculates the trajectory generated and reported based on the broadcasted satellite signals of other GNSS systems as follows: ,in, express The position 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 determined by the positioning status flag, positioning accuracy, and speed measurement accuracy reported by the terminal under test. When the positioning status flag, positioning accuracy, and speed measurement accuracy of the terminal under test meet the requirements, 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 operating mode hierarchical testing 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; Positioning accuracy is determined by both 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 Determine that the data within 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 of random sub-windows, each sub-window contains The position information of the simulated motion trajectory at different times is expressed as follows: The trajectory random window generated and reported by the tested terminal is expressed as ,in, The trajectory random sub-windows 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 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 tested terminal ; 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; 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% according to the following formula: : Initialize the cumulative error threshold of positioning accuracy and positioning deviation threshold ; if and , it indicates 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 moment and , calculated by the following formula The speed calculated by the terminal being tested 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 simulated speed values ​​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 tested terminal is judged to meet the requirements; otherwise, it is judged to 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 positioning test process is determined to be positioning success. The discriminant expression is as follows: 。 14. The GNSS terminal operating mode hierarchical testing 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 each moment; The terminal under test calculates the signals of three BeiDou satellites and m other GNSS satellites and reports the trajectory expressed as follows: ,in, express The position 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 tested terminal. The 3+m positioning test judgment is determined by the positioning status flag, positioning accuracy, and speed measurement accuracy reported by the tested terminal. When the positioning status flag, positioning accuracy, and speed measurement accuracy of the tested terminal meet the requirements at the same time, the result of the third-level positioning test judgment is determined to be positioning successful, otherwise it is positioning unsuccessful. If positioning is unsuccessful, the tested terminal 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 hierarchical testing system according to claim 10, characterized in that: The judgment result analysis and output module determines that the terminal under test is not a single-system terminal but a multi-system terminal through a trajectory consistency test; If 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 all times, 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 position 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 tested terminal is determined by the trajectory consistency discrimination model based on the correlation coefficient; The trajectory consistency discrimination model based on 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 discrimination coefficient; The calculation process of the trajectory consistency discrimination model based on the correlation coefficient includes: Calculate the average value of the position vector in the east direction of the trajectory reported by the terminal under test by the following formula: : Calculate the average value of the position vector of the Beidou track simulated by the detector in the east direction as follows: : The correlation coefficient between the position vectors 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 altitude 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, Report the trajectory in 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 and the correlation coefficient between the velocity vector ; Calculate the consistency discrimination coefficient between the trajectory reported by the tested terminal and the simulated Beidou trajectory : Calculate the consistency discrimination coefficient between the trajectory reported by the tested terminal 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 tested terminal is consistent with the Beidou trajectory, but inconsistent with the GPS trajectory. In this case, the working mode of the tested terminal is determined to be Beidou priority solution, and the test ends; If the trajectory consistency flag , indicating that the trajectory reported by the tested terminal is consistent with the GPS trajectory, but inconsistent with the Beidou trajectory, then the working mode of the tested terminal is determined to be GPS priority solution, and the test ends; If the trajectory consistency flag , indicating that the trajectory reported by the tested terminal is inconsistent with the Beidou trajectory and the GPS trajectory, then the working mode of the tested terminal is determined to be joint solution, and the test ends.

16. An electronic device, characterized in that: The system comprises a processor and a memory, wherein the processor is configured to execute a computer program stored in the memory to implement the GNSS terminal working mode hierarchical testing method according to 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 a processor, the GNSS terminal operating mode classification testing method according to any one of claims 1 to 9 is implemented.

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