Method, device and equipment for testing coverage of network RTK (Real-Time Kinematic) service and storage medium

Abstract

The invention discloses a network RTK service coverage test method, device and equipment and a storage medium, and the method comprises the steps: determining a plurality of test points and a plurality of latitude and longitude coordinates according to a target region; according to the latitude and longitude coordinates corresponding to each test point in the plurality of test points, determining the distance between each test point and the reference station corresponding to each test point, and obtaining a plurality of spacing distances; and according to the plurality of distances, determining coverage test results corresponding to the plurality of test points. The method is beneficial to improving the accuracy of a coverage test result.

Description

Technical Field

[0001] The present application relates to the field of testing technology, and in particular to a coverage testing method, device, equipment and storage medium for a network RTK service. Background Art

[0002] RTK (Real-Time Kinematic) positioning technology is a real-time dynamic positioning technology based on carrier phase observations. Mobile devices can achieve high-precision positioning by obtaining RTK positioning data. RTK positioning data can be obtained in two ways: one is through long-distance wireless communication (such as Lora link), and the other is through the network. The current implementation method of network RTK is mostly that the mobile device applies to the service provider, and the service provider selects a nearby base station based on the reported address to send positioning data through the network.

[0003] In order to ensure that the service provider's base station can cover the target area, it is necessary to conduct a network RTK service test on the target area. Users can test the network RTK service performance of each location through real machines at different locations in the target area. However, the target area may be vast, and some locations are difficult to directly conduct real machine tests, resulting in inaccurate coverage test results for the target area. Summary of the invention

[0004] In order to solve the above-mentioned problems existing in the prior art, the embodiments of the present application provide a coverage test method, device, equipment and storage medium for a network RTK service, by determining multiple test points and the longitude and latitude coordinates of each test point in the target area, and determining the distance between each test point and the corresponding base station according to the longitude and latitude coordinates corresponding to each test point, thereby determining the coverage test result according to the distance between each test point and the corresponding base station. In this way, a simulation test can be performed through the longitude and latitude coordinates of the test point without the need for actual machine testing, and the service performance of the network RTK can be determined through the distance between the test point and the base station, thereby improving the accuracy of the coverage test results for the target area.

[0005] In a first aspect, an embodiment of the present application provides a coverage testing method for a network RTK service, including:

[0006] Determine a plurality of test points and a plurality of longitude and latitude coordinates according to the target area; the plurality of test points correspond to the plurality of longitude and latitude coordinates one by one;

[0007] Determine the distance between each test point and the reference station corresponding to each test point according to the latitude and longitude coordinates corresponding to each test point in the multiple test points, and obtain multiple distances;

[0008] According to the multiple interval distances, coverage test results corresponding to the multiple test points are determined.

[0009] In a second aspect, an embodiment of the present application provides a network RTK coverage test device, the device comprising:

[0010] A first determining unit is used to determine a plurality of test points and a plurality of longitude and latitude coordinates according to a target area; the plurality of test points correspond to the plurality of longitude and latitude coordinates one by one;

[0011] A second determining unit is used to determine the distance between each test point and the reference station corresponding to each test point according to the latitude and longitude coordinates corresponding to each test point in the multiple test points, so as to obtain multiple separation distances;

[0012] The third determining unit is used to determine the coverage test results corresponding to the multiple test points according to the multiple interval distances.

[0013] In a third aspect, an embodiment of the present application provides an electronic device, comprising: a processor and a memory, the processor being connected to the memory, the memory being used to store a computer program, and the processor being used to execute the computer program stored in the memory, so that the electronic device performs the method described in the first aspect.

[0014] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and the computer program is executed by a processor to implement the method described in the first aspect.

[0015] In a fifth aspect, an embodiment of the present application provides a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is executed by a processor to implement the method described in the first aspect.

[0016] Implementing the embodiments of the present application has the following beneficial effects:

[0017] In an embodiment of the present application, first, according to the target area, multiple test points and the latitude and longitude coordinates corresponding to each test point are determined. Then, according to the latitude and longitude coordinates corresponding to each test point in the multiple test points, the distance between each test point and the reference station corresponding to each test point is determined to obtain multiple distances apart. Finally, according to the multiple distances apart, the coverage test results corresponding to the multiple test points can be determined. Based on this, the latitude and longitude coordinates of multiple test points in the target area can be used to simulate the network RTK service test at multiple test points without the need to perform actual machine testing at the location of the test point, which solves the problem of inaccurate coverage test results caused by the inability to perform actual machine testing at some locations. In addition, the network RTK service performance of the test point can be determined by the distance between each test point and the corresponding reference station, further improving the accuracy of the coverage test results of the target area. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0019] Figure 1 A schematic diagram of an application scenario of a coverage test method for a network RTK service provided in an embodiment of the present application;

[0020] Figure 2 A flowchart of a coverage testing method for a network RTK service provided in an embodiment of the present application;

[0021] Figure 3 A schematic diagram of a test point determination method provided in an embodiment of the present application;

[0022] Figure 4 A schematic diagram of another test point determination method provided in an embodiment of the present application;

[0023] Figure 5 A schematic diagram of a service coverage map provided in an embodiment of the present application;

[0024] Figure 6 A schematic diagram of a distance-based map provided in an embodiment of the present application;

[0025] Figure 7 A block diagram of the functional units of a network RTK coverage test device provided in an embodiment of the present application;

[0026] Figure 8 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0028] The terms "first", "second", "third" and "fourth" etc. in the specification and claims of the present application and the drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or modules is not limited to the listed steps or modules, but optionally includes steps or modules that are not listed, or optionally includes other steps or modules inherent to these processes, methods, products or devices.

[0029] Reference to "embodiments" herein means that a particular feature, result, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0030] First, see Figure 1 , Figure 1 A schematic diagram of an application scenario of a coverage test method for a network RTK service provided in an embodiment of the present application, wherein the network RTK service mainly implements positioning services through the processing equipment of the service provider and pre-set reference stations.

[0031] Among them, the processing device may include a server for the service provider to perform data reception, data processing, differential data generation and data transmission, which is used to process and manage the positioning data from the reference station and provide high-precision positioning services for mobile devices. For example, the processing device may include: a rack server, an application server, a virtual private server (VirtualPrivate Server, VPS), a cloud server, etc., which is not limited in this application. The processing device can assign a corresponding reference station to the mobile device. Then, through a pass link, such as an optical fiber, a 4G / 5G network, etc., the positioning data sent by the reference station is received, such as the carrier phase observation value of the satellite signal, the pseudo-range observation value, the coordinate information of the reference station, meteorological data, etc. The positioning data is parsed and the parsed data is sent to the mobile device so that the mobile device determines its own position coordinates based on the parsed data.

[0032] Among them, the base station is a fixed observation station, which is mainly used to continuously receive satellite signals to obtain high-precision positioning data, and send the positioning data to the service provider's processing equipment, so as to provide positioning benchmarks and error correction data for mobile devices through the processing equipment, thereby helping mobile devices to achieve high-precision positioning. In an area, multiple base stations are usually set up, such as Figure 1 The reference stations 1, 2 and 3 are shown. It can be understood that Figure 1 Only three reference stations are shown as examples. The actual number of reference stations in a region can be preset according to actual positioning requirements. Each reference station is equipped with a satellite signal receiving device and a data communication device. The satellite signal receiving device is used to receive signals transmitted by multiple satellites, including information such as the carrier phase and pseudorange of the satellites, to generate positioning data. The data communication device is used to communicate with the processing device or mobile device of the service provider to send positioning data to the processing device, or to send positioning data to the mobile device.

[0033] Among them, mobile devices are terminal devices that obtain high-precision positioning data in a mobile state, and are usually installed in vehicles, ships, surveying and mapping instruments, etc. Mobile devices can receive data transmitted by satellites and positioning data sent by base stations in real time, and obtain their own coordinates through calculations.

[0034] It should be noted that in order to ensure that the base stations in the target area can support the network RTK service in the target area, it is necessary to test the service availability and coverage of the network RTK in the target area. In some existing coverage test methods, actual machine tests are performed at multiple locations in the target area to determine the quality of the network RTK service at that location. However, it is difficult to conduct coverage tests for vast areas and some locations where actual machine tests are difficult to perform. Users test the performance of the network RTK at specific locations, resulting in inaccurate coverage tests.

[0035] To this end, in the coverage test method of the network RTK service provided in the embodiment of the present application, the processing device determines a plurality of test points and a plurality of longitude and latitude coordinates according to the target area; the plurality of test points correspond one to one with the plurality of longitude and latitude coordinates;

[0036] The processing device determines the distance between each test point and the reference station corresponding to each test point according to the latitude and longitude coordinates corresponding to each test point in the multiple test points, and obtains multiple separation distances;

[0037] The processing device determines coverage test results corresponding to the multiple test points according to the multiple separation distances.

[0038] It can be seen that in the embodiment of the present application, the processing device first determines multiple test points and the longitude and latitude coordinates of each test point in the target area, and simulates the mobile device to perform network RTK positioning at multiple test points, assigns a reference station to the longitude and latitude coordinates of each test point according to the longitude and latitude coordinates of each test point, and determines the distance between each test point and the reference station corresponding to the test point. Finally, according to the distance between each test point and the reference station corresponding to the test point, the network RTK service quality corresponding to each test point is determined to obtain the coverage test result. Based on this, by performing a simulation test at each test point, the problem of difficulty in performing actual machine testing at a specific location can be solved, and the network RTK service quality of each test point can be determined by the distance between each test point and the reference station corresponding to the test point, thereby improving the accuracy of the coverage test results of the target area.

[0039] See also Figure 2 , Figure 2 A flowchart of a coverage test method for a network RTK service provided in an embodiment of the present application is provided, and the method is applied to a processing device in the above scenario. The method includes but is not limited to the following steps:

[0040] 201: Determine a plurality of test points and a plurality of latitude and longitude coordinates according to the target area.

[0041] In an embodiment of the present application, multiple test points correspond to multiple longitude and latitude coordinates one by one. The target area can be pre-set by the user in the public map library. The public map library includes maps of multiple service areas. The user can arbitrarily select a target map in the public map library and specify the target area in the target map. The processing device can determine multiple test points in the target area, and determine the longitude and latitude coordinates corresponding to each test point based on the conversion relationship between the coordinates of the target map and the longitude and latitude coordinates, and obtain multiple longitude and latitude coordinates. Among them, the conversion relationship between the coordinates of the target map and the longitude and latitude coordinates can be pre-set according to the actual test results.

[0042] Exemplarily, determining a plurality of test points and a plurality of latitude and longitude coordinates according to a target area may include:

[0043] Determine the starting point and the latitude and longitude coordinates of the starting point in the target map;

[0044] Determine the target area in the target map based on the latitude and longitude coordinates of the starting point;

[0045] Determine multiple test points in the target area according to the latitude and longitude coordinates of the starting point and the preset distance interval;

[0046] Determine the latitude and longitude coordinates of each test point in the multiple test points to obtain multiple latitude and longitude coordinates.

[0047] In the implementation of this application, the target map can be a map selected by the user in the public map library. The starting point can be pre-set by the user, or randomly generated by the processing device in the target map. Optionally, the starting point can be one or more. Optionally, the preset distance interval can be 3 kilometers. It is understood that the more the preset distance interval, the more comprehensive the coverage test results.

[0048] In one embodiment, the processing device uses the endpoint or the starting point of the target map as the starting point, and the endpoint includes at least one of the following: the upper left corner point, the lower left corner point, the upper right corner point, and the lower right corner point. The coordinates of the starting point in the target map are obtained, and the longitude and latitude coordinates corresponding to the starting point are determined according to the conversion relationship between the coordinates in the target map and the longitude and latitude coordinates. Then, the target area is divided in the target map according to the longitude and latitude coordinates corresponding to the starting point. For example, when the starting point is the upper left corner point and the lower right corner point of the target map, the processing device draws a rectangular target area in the target map according to the longitude and latitude coordinates of the starting point. Then, the processing device uses the starting point as one of the test points, and starts from the starting point, along the direction parallel to the boundary of the target area, and determines the next test point at intervals of a preset distance in sequence, until multiple test points covering the target area are determined. And according to the relative positions of the multiple test points and the starting point, and the longitude and latitude coordinates of the starting point, the longitude and latitude coordinates of each test point are determined to obtain multiple longitude and latitude coordinates.

[0049] Optionally, multiple test points can be determined in sequence in the target area by traversing the map of the target area using a python library. For example, the geopy library can be used to determine the longitude and latitude coordinates of each test point spaced at a preset distance to the east or south from the starting point. The longitude and latitude coordinates of each test point can be stored in an array. Optionally, other python libraries can be used to traverse the map of the target area, such as the folium library, the geopandas library, and the like.

[0050] like Figure 3As shown, the starting point in the target map is the upper left corner point, and the processing device generates a rectangular target area with the starting point as the end point of the rectangle. Then, starting from the starting point as the first test point, each test point of the first row is determined in sequence along a direction parallel to the boundary of the target area at a preset interval d. When it is detected that the test points of the first row exceed the target area, the first test point of the second row is determined at a preset interval d in a direction perpendicular to the current direction, and the test points of the second row are determined according to the same method as the test points of the first row. Based on this, multiple rows of test points are determined in sequence until multiple test points covering the entire target area are determined.

[0051] It can be seen that by determining the starting point and the latitude and longitude coordinates corresponding to the starting point in the target map, and according to the latitude and longitude coordinates corresponding to the starting point, the target area can be determined in the target map, and according to the latitude and longitude coordinates of the starting point and the preset distance interval, multiple evenly distributed test points can be determined in the target area, and the latitude and longitude coordinates of multiple test points can be determined. In this way, a grid of evenly distributed test points can be determined to ensure that the target area can be covered and the comprehensiveness of the test can be improved.

[0052] In another embodiment, the target area can be an area of ​​any shape including the starting point, and the boundary of the target area can be preset by the user. When the target area is of any shape, the processing device will use the starting point as a test point, with the starting point as the center and the preset distance as the radius, to determine the circular area corresponding to the starting point. Then, the next test point is randomly determined on the boundary of the circular area, and each test point is located within the target area and only one test point can be determined at the same position. Figure 4 As shown, in Figure 4 In the target area shown, K1 is the starting point, K1 is used as a test point, K1 is used as the center of the circle, the preset distance is used as the radius, the circular area corresponding to K1 is determined, and the next test point K2 is randomly determined on the boundary of the circular area corresponding to K1. Then, K2 is used as the center of the circle, the preset distance is used as the radius, the circular area corresponding to K2 is determined, and the next test point K3 is randomly determined on the boundary of the circular area corresponding to K2.

[0053] Based on this, multiple test points covering the entire target area can be randomly determined. Since each test point is randomly determined on the boundary of the circular area of ​​the previous test point, the multiple test points can cover the entire target area, making the coverage test of the target area more comprehensive and improving the accuracy of the coverage test results.

[0054] 202: Determine the distance between each test point and the reference station corresponding to each test point according to the latitude and longitude coordinates corresponding to each test point in the plurality of test points, and obtain a plurality of interval distances.

[0055] In an embodiment of the present application, the processing device of the service provider will use the longitude and latitude coordinates corresponding to each test point as the longitude and latitude coordinates of the simulated mobile device, and use the longitude and latitude coordinates corresponding to each test point as the Global Positioning System Fix Data (GGA) reported by the simulated mobile device corresponding to the test point to the processing device of the service provider. Then, the processing device will assign a corresponding reference station to each test point according to the longitude and latitude coordinates corresponding to each test point, and determine the Earth-Centered Earth-Fixed (ECEF) coordinates of each test point and the corresponding reference station, and determine the distance between each test point and the reference station corresponding to each test point according to the ECEF coordinates of each test point and the corresponding reference station.

[0056] Exemplarily, determining the distance between each test point and a reference station corresponding to each test point according to the latitude and longitude coordinates corresponding to each test point in the plurality of test points to obtain a plurality of separation distances may include:

[0057] Convert each of the plurality of longitude and latitude coordinates into an ECEF coordinate to obtain a plurality of first ECEF coordinates;

[0058] According to each first ECEF coordinate in the plurality of first ECEF coordinates, determining the ECEF coordinate of the reference station corresponding to each first ECEF coordinate to obtain a plurality of second ECEF coordinates;

[0059] According to each first ECEF coordinate and the second ECEF coordinate corresponding to each first ECEF coordinate, the distance between the test point corresponding to each first ECEF coordinate and the reference station corresponding to the test point is determined to obtain a plurality of distances.

[0060] In the embodiment of the present application, the longitude and latitude coordinates are coordinates that use the earth as a reference to represent the position of an object in three-dimensional space by longitude, latitude and altitude. ECEF is a three-dimensional rectangular coordinate system with the center of mass of the earth as the origin, the x-axis of the coordinate system points to the intersection of the earth's equatorial plane and the Greenwich meridian, the y-axis is in the equatorial plane, perpendicular to the x-axis and points to the east, and the z-axis coincides with the earth's rotation axis, and the direction is from the center of mass of the earth to the North Pole. ECEF coordinates are the coordinates of an object in ECEF.

[0061] Specifically, the processing device first performs coordinate conversion on each of the multiple longitude and latitude coordinates to determine the first ECEF coordinate corresponding to each longitude and latitude coordinate, and obtains multiple first ECEF coordinates. Optionally, WGS-84 can be used as the earth model to convert the longitude and latitude coordinates into ECEF coordinates. Optionally, in the ECEF coordinates, X=(N+h)cos(La)cos(Lo), Y=(N+h)cos(La)sin(Lo), Z=[(1-e 2 )N+h]sin(La). Wherein, X represents the coordinate along the x-axis in the ECEF coordinates, Y represents the coordinate along the y-axis in the ECEF coordinates, Z represents the coordinate along the z-axis in the ECEF coordinates, N represents the radius of curvature of the meridian, La represents the latitude, Lo represents the longitude, and h represents the altitude. Based on this, each longitude and latitude coordinate can be converted into the corresponding first ECEF coordinate.

[0062] Then, the processing device of the service provider will allocate a reference station to the simulated mobile device corresponding to each test point according to the first ECEF coordinates corresponding to each test point, and determine the second ECEF coordinates corresponding to each reference station.

[0063] Exemplarily, according to each first ECEF coordinate in the plurality of first ECEF coordinates, determining the ECEF coordinate of the reference station corresponding to each first ECEF coordinate to obtain the plurality of second ECEF coordinates may include:

[0064] According to each first ECEF coordinate, determining a reference station corresponding to each first ECEF coordinate to obtain a plurality of reference stations;

[0065] Receiving positioning data sent by multiple base stations to obtain multiple positioning data;

[0066] Parsing data information in a first preset data format from each of the plurality of positioning data to obtain a plurality of position data information;

[0067] According to each piece of position data information among the plurality of position data information, the ECEF coordinate corresponding to each piece of position data information is determined to obtain a plurality of second ECEF coordinates.

[0068] In an embodiment of the present application, multiple reference stations correspond to multiple positioning data one by one. The positioning data can be based on the Radio Technical Commission for Maritime Services (RTCM) protocol, based on which differential correction data can be transmitted between the reference station and the mobile device to improve positioning accuracy. There are multiple versions of the RTCM protocol, such as RTCM 2.1, RTCM 2.3, RTCM 3.0, RTCM 3.2, etc., and this application will be described by taking the RTCM 3.2 protocol as an example. Optionally, the positioning data can also be based on the ntrip protocol or other protocols, and this application is only described by taking the RTCM 3.2 protocol as an example, and the processing mode of the positioning data for other protocols is similar to this application, and this application will not be repeated.

[0069] Specifically, the processing device of the service provider will first allocate a reference station to each test point according to the first ECEF coordinates corresponding to each test point. Optionally, the processing device of the service provider will determine the reference station closest to each test point as the reference station corresponding to the test point according to the first ECEF coordinates corresponding to each test point. Based on this, multiple reference stations can be obtained. Optionally, the allocation range of each test point can be determined according to the first ECEF coordinates of each test point, and the priority of each reference station within the allocation range can be determined, and the reference station corresponding to each test point can be determined according to the priority of the reference station. Among them, the reference station allocation algorithm can be pre-set by the service provider according to the actual test results.

[0070] Optionally, in the network RTK service, the base station assigned to the simulated mobile device of the test point can be a virtual base station, that is, the processing device generates a virtual base station near each test point based on the first ECEF coordinates of each test point and the location information of all base stations in the target area, and uses the virtual base station as the base station corresponding to the test point.

[0071] It should be noted that when a mobile device performs network RTK positioning, the service provider's processing device will allocate a base station to the mobile device based on the data reported by the mobile device, and the base station will send positioning data to the mobile device through the network so that the mobile device can perform positioning based on the positioning data. Therefore, when conducting a test, the service provider's processing device needs to receive multiple positioning data sent by multiple base stations in order to analyze the positioning data.

[0072] Then, the processing device of the service provider will parse each positioning data in the multiple positioning data to determine the location data information corresponding to each base station and obtain multiple location data information. Taking the positioning data following the RTCM 3.2 protocol as an example, the RTCM 3.2 standard format includes fields such as data header, data length, message type, data content, and CRC check code for error detection. The message type includes the location data information of the base station and the multi-signal telegram group information. The location data information follows the first preset data format, which is usually 1005 or 1006 type data, where the 1006 type data has 16 bits more antenna height at the end than the 1005 type data. The processing device of the service provider imports each positioning data, parses the 1005 or 1006 type data from each positioning data, and obtains the location data information of the base station. Based on this, multiple location data information can be obtained.

[0073] Further, the processing device will solve each of the multiple location data information, determine the ECEF coordinates corresponding to each location data information, and obtain multiple second ECEF coordinates. Among them, the location data information of the reference station includes the longitude, latitude and altitude information of the reference station, and the format of the information is stored in binary encoding. The processing device will first parse each location data information to convert the longitude, latitude and altitude of the reference station corresponding to the location data information, and then convert the longitude, latitude and altitude into ECEF coordinates to obtain the second ECEF coordinates corresponding to the location data information. Among them, the processing method of converting longitude, latitude and altitude into ECEF coordinates is similar to the processing method of converting longitude and latitude coordinates into ECEF coordinates in the above embodiment, and will not be repeated here. In this way, the second ECEF coordinates corresponding to each of the multiple reference stations can be obtained.

[0074] It can be seen that in the embodiment of the present application, the processing device of the service provider will allocate a base station to the simulated mobile device of each test point according to the first ECEF coordinate corresponding to the test point, and obtain multiple base stations. Then, by importing the positioning data sent by multiple base stations to the simulated mobile device, multiple positioning data can be obtained, and the data information of the first preset data format can be parsed from each positioning data in the multiple positioning data to obtain multiple position data information. Finally, the multiple position data information is converted to obtain multiple second ECEF coordinates corresponding to the multiple base stations. Thus, the network RTK service quality at the test point can be determined according to the first ECEF coordinate of each test point and the second ECEF coordinate of the base station corresponding to the test point, without the need for actual testing, which improves the convenience of coverage testing, and by parsing and solving the positioning data, the accuracy of the ECEF coordinates of the base station can be improved, thereby improving the accuracy of the coverage test results.

[0075] Furthermore, the processing device can determine the distance between the simulated mobile device corresponding to each test point and the reference station corresponding to the test point based on the first ECEF coordinate corresponding to each test point and the second ECEF coordinate of the reference station corresponding to the test point, thereby obtaining multiple distances.

[0076] It should be noted that the accuracy of network RTK positioning is related to the distance between the mobile device and the base station. As the distance increases, the accuracy of network RTK positioning will gradually decrease. Usually, as the distance increases, the horizontal and vertical accuracy of positioning will gradually decrease.

[0077] Thus, by converting the longitude and latitude coordinates of each test point into ECEF coordinates, a plurality of first ECEF coordinates are obtained. And according to the first ECEF coordinates corresponding to each test point, the second ECEF coordinates of the reference station corresponding to each test point are determined. Finally, according to the first ECEF coordinates and the second ECEF coordinates corresponding to each test point, the distance between the simulated mobile device corresponding to each test point and the reference station corresponding to the test point can be determined, so that the network RTK service quality at each test point can be determined according to the distance between the simulated mobile device corresponding to each test point and the reference station corresponding to the test point, thereby improving the accuracy of the network RTK service test and the accuracy of the coverage test results.

[0078] 203: Determine coverage test results corresponding to the multiple test points according to the multiple interval distances.

[0079] In an embodiment of the present application, the coverage test result may include a service coverage map and a distance classification map of the target area. The service coverage map includes network RTK service availability data at multiple test points in the target area, and the network RTK service availability data is used to indicate whether the network RTK service covers the test point corresponding to the network RTK service availability data. The distance classification map includes the test classification corresponding to the network RTK service of each test point, and the test classification is used to indicate the network RTK service quality at the test point corresponding to the test classification.

[0080] In one embodiment of the present application, according to the distance between each test point and the reference station corresponding to the test point, the distance interval of each distance can be determined, and according to the distance interval of each distance, the fourth positioning performance data of the test point corresponding to each distance can be determined. For example, when the distance is in [0, 10 kilometers), the fourth positioning performance data can be excellent. When the distance is in [10 kilometers, 30 kilometers), the fourth positioning performance data can be good. When the distance is in [30 kilometers, 50 kilometers], the fourth positioning performance data can be available. When the distance is greater than 50 kilometers, the fourth positioning performance data can be unavailable. Based on this, the processing device can filter out the test points with excellent, good and available fourth positioning performance data as available test points to obtain at least one available test point, and use the test points with unavailable fourth positioning performance data as unavailable test points to obtain at least one unavailable test point. Then, the processing device will display the service availability of each test point with different annotation content in the target map to generate a service coverage map. For example, at least one available test point is displayed in a first color and at least one unavailable test point is displayed in a second color in the service coverage map.

[0081] Then, the processing device will classify the fourth positioning performance data into the same grade to obtain at least one test grade. Optionally, python can be used to classify according to LOG and the distance between them to obtain at least one test grade. The test grades include: a group to be retested, an unavailable group, an available group, a good group, and an excellent group. Among them, the processing device will classify the fourth positioning performance data as excellent into an excellent group, the fourth positioning performance data as good into a good group, the fourth positioning performance data as available into an available group and a group to be retested, and the fourth positioning performance data as unavailable into an unavailable group. The processing device will display the test grade of each test point in the target map with different annotation content to generate a distance grade map. For example, in the distance grade map, the excellent group is displayed in the third color, the good group is displayed in the fourth color, the available group is displayed in the fifth color, the unavailable group is displayed in the sixth color, and the group to be retested is displayed in the seventh color.

[0082] Optionally, you can use the simplekml library and Python program to generate kml objects corresponding to multiple test points. By saving the kml objects and opening the distance bin map in software such as Google Earth, you can directly view the distribution of test points in each test bin.

[0083] In this way, the network RTK service availability and coverage test results for the target area can be obtained. By marking and generating the service coverage map and distance classification map of the actual base station, it can not only be used to check the coverage rate of the network RTK service, but also can be used to actually query whether each test point is covered by the network RTK service and the actual positioning performance of the test point, thereby improving the accuracy of the network RTK service availability and coverage test results.

[0084] In another optional embodiment, the method may further include:

[0085] Parsing data information in a second preset data format from each positioning data to obtain a plurality of signal data information; parsing data information in a third preset data format from each positioning data to obtain a plurality of satellite data information; the plurality of signal data information and the plurality of satellite data information correspond one to one;

[0086] Determine the satellite coverage of each test point according to each signal data information and the satellite data information corresponding to each signal data information;

[0087] According to the satellite coverage rate of each test point, the positioning performance data of each test point is determined to obtain a plurality of first positioning performance data.

[0088] It should be noted that, in addition to data of type 1005 or 1006, the positioning data of the RTCM 3.2 protocol also includes data of other preset data formats, such as data of types RTCM 1074, 1084, 1094, 1114, 1124, etc. Among them, the first three digits 107 in the data number represent the Global Positioning System (GPS), 108 represent the Global Navigation Satellite System (GLONASS), 109 represent the Galileo Navigation Satellite System (GALILEO), 111 represent the Quasi Zenith Satellite System (QZSS), and 112 represent the BeiDou Navigation Satellite System (BDS). The last digit of the data number represents the content type 1 to 7 of the data type.

[0089] Therefore, after determining the reference station corresponding to each test point and receiving the positioning data sent by the reference station corresponding to each test point, the processing device of the service provider can also parse the above-mentioned preset data format from each positioning data. Specifically, the data information of the second preset data format is parsed from each positioning data to obtain multiple signal data information. The data information of the third preset data format is parsed from each positioning data to obtain multiple satellite data information. Each signal data information includes information such as signal quality and reception quality. Each satellite data information includes satellite signal strength and number of frequency bands.

[0090] Then, according to each signal data information and the satellite data information corresponding to each signal data information, the satellite coverage and signal strength of each test point can be determined. Finally, according to the satellite coverage and signal strength of each test point, the positioning performance data of each test point can be determined to obtain multiple first positioning performance data. The first positioning performance data includes service availability and performance data. For example, when the satellite coverage of the test point is greater than or equal to the preset coverage, it can be determined that the service of the test point is available, otherwise, the service of the test point is unavailable. When the signal strength of the test point is in the first preset interval, the performance data of the test point can be determined to be excellent. When the signal strength of the test point is in the second preset interval, the performance data of the test point can be determined to be good. When the signal strength of the test point is in the third preset interval, the performance data of the test point can be determined to be available. When the signal strength of the test point is in the fourth preset interval, the performance data of the test point can be determined to be unavailable.

[0091] Finally, based on the first positioning performance data of each test point, a service coverage map and a distance classification map can be generated. For example, in the service coverage map, the first annotation is used to display the test points where the service is available, and the second annotation is used to display the test points where the service is unavailable. In the distance classification map, the third annotation is used to display the test points of the excellent group, the fourth annotation is used to display the test points of the good group, the fifth annotation is used to display the test points of the available group, and the sixth annotation is used to display the test points of the unavailable group.

[0092] In this way, by parsing the signal data information and satellite data information from each positioning data, the satellite coverage and signal strength of each test point can be determined according to each signal data information and the satellite data information corresponding to each signal data information. Therefore, the first positioning performance data of each test point can be determined according to the satellite coverage and signal strength of each test point, thereby more accurately judging the actual availability and positioning accuracy of the service provider's base station and improving the accuracy of the test results.

[0093] In one embodiment of the present application, after determining the distance between each test point and the reference station corresponding to the test point, and determining the first positioning performance data of each test point, the actual positioning performance data of each test point can be comprehensively evaluated based on the distance and the first positioning performance data. Exemplarily, determining the coverage test results corresponding to multiple test points based on multiple distances can include:

[0094] According to the distance between each test point in the plurality of test points, a distance interval corresponding to each test point is determined to obtain a plurality of distance intervals;

[0095] Determine the positioning performance data corresponding to each test point according to the distance interval corresponding to each test point, and obtain a plurality of second positioning performance data;

[0096] Determine the positioning performance data corresponding to each test point according to the first positioning performance data and the second positioning performance data corresponding to each test point, and obtain a plurality of third positioning performance data;

[0097] Generate a service coverage map based on multiple third-party positioning performance data and the target map;

[0098] Classifying the same positioning performance data among the plurality of third positioning performance data into the same bin to obtain at least one test bin;

[0099] generating a distance bin map according to at least one test bin and a target map;

[0100] Multiple third-party positioning performance data, service coverage maps and distance classification maps are used as coverage test results.

[0101] Each distance interval is any one of at least one preset distance interval. Each test segment includes at least one third positioning performance data. The preset distance intervals include [0, 10 km), [10 km, 30 km), [30 km, 50 km], and [50 km, +∞).

[0102] Specifically, the processing device first determines the distance interval corresponding to each distance between each test point in a plurality of test points and the reference station corresponding to the test point. According to the distance interval corresponding to each distance, the second positioning performance data at each test point corresponding to the distance is determined. For example, the second positioning performance data of the test point corresponding to the distance in the distance interval [0, 10 kilometers) is determined to be excellent. The second positioning performance data of the test point corresponding to the distance in the distance interval [10 kilometers, 30 kilometers) is determined to be good. The second positioning performance data of the test point corresponding to the distance in the distance interval [30 kilometers, 50 kilometers] is determined to be available. The second positioning performance data of the test point corresponding to the distance in the distance interval [50 kilometers, +∞) is determined to be unavailable.

[0103] Further, the processing device determines the positioning performance data corresponding to each test point according to the first positioning performance data and the second positioning performance data corresponding to each test point, and obtains a plurality of third positioning performance data. For example, if the service availability of the first positioning performance data is available and the second positioning performance data is unavailable, or the service availability of the first positioning performance data is unavailable and the second positioning performance data is any one of the following: excellent, good, and available, then the third positioning performance data is determined to be to be retested; if the performance data of the first positioning performance data is excellent and the second positioning performance data is available, or the second positioning performance data is excellent and the performance data of the first positioning performance data is available, then the third positioning performance data is determined to be good; if the performance data of the first positioning performance data is excellent and the second positioning performance data is good, or the second positioning performance data is excellent and the performance data of the first positioning performance data is good, then the third positioning performance data is determined to be good; if the performance data of the first positioning performance data is good and the second positioning performance data is available, or the second positioning performance data is good and the performance data of the first positioning performance data is available, then the third positioning performance data is determined to be available. Based on this, the third positioning performance data corresponding to each test point in the multiple test points can be determined.

[0104] Further, the processing device determines the service availability of each test point according to the third positioning performance data corresponding to each test point. The service availability of the test point whose third positioning performance data is unavailable is determined to be unavailable, otherwise, the service availability of the test point is determined to be available. Then, according to the service availability corresponding to each test point and the target map, a service coverage map is generated. Among them, in the service coverage map, the test point whose service availability is available is displayed with the first annotation, and the test point whose service availability is unavailable is displayed with the second annotation.

[0105] The generated service coverage map is as follows Figure 5As shown in FIG. 1 , multiple test points are displayed in the service coverage map. Among them, the service availability is that the available test points are filled with preset colors, such as Figure 5 The test point K4 in the figure is shown in Figure 1. The test point with unavailable service availability is not filled with color, as shown in Figure 1. Figure 5 Based on this, displaying test points with different annotations in the service coverage map can help service providers query test points that are not covered by network RTK services, so as to help service providers carry out subsequent base station construction or maintenance work. It is understandable that Figure 5 The marking method of the test points in the figure is only exemplary. The method of marking the test points in the service coverage map using other marking methods is similar to the present application and will not be repeated here.

[0106] Furthermore, the processing device will classify the same positioning performance data in the plurality of third positioning performance data into the same grade, and obtain at least one test grade, and the test grades include: a group to be retested, an unavailable group, an available group, a good group, and an excellent group. A distance grade map is generated according to at least one test grade and a target map. In the distance grade map, the test points of the excellent group are displayed with the third annotation, the test points of the good group are displayed with the fourth annotation, the test points of the available group are displayed with the fifth annotation, the test points of the unavailable group are displayed with the sixth annotation, and the test points of the group to be retested are displayed with the seventh annotation.

[0107] The generated distance bin map is as follows Figure 6 As shown in FIG. 1 , multiple test points are displayed in the distance classification map. Among them, the test points of the excellent group are displayed with triangle marks, such as Figure 6 The test points that are classified as good groups are shown by quadrilateral annotations, such as Figure 6 The test points of the test bins that are available groups are displayed by circular annotations filled with a preset color, such as Figure 6 The test points of the unavailable group are shown by the unfilled circular annotation, as shown in Figure 6 The test points of the test group to be retested are marked with five-pointed stars, as shown in Figure 6 Based on this, displaying the test points with different annotations in the distance classification map can help service providers understand the network RTK service quality at each test point and repair and construct the base station according to the network RTK service quality. It is understandable that Figure 6 The marking method of the test points in the figure is only exemplary. The method of marking the test points in the distance classification map using other marking methods is similar to the present application and will not be repeated here.

[0108] The processing device will use the third positioning performance data, service coverage map and distance classification map corresponding to each test point in the multiple test points as the coverage test result of the network RTK service for the target area.

[0109] It can be seen that the processing device can determine the second positioning performance data of each test point according to the distance between each test point and the base station corresponding to the test point, and comprehensively evaluate the positioning performance of each test point according to the first positioning performance data and the second positioning performance data of each test point, and obtain the third positioning performance data corresponding to each test point to improve the accuracy of the test results. Then, according to the third positioning performance data corresponding to each test point and the target map, a service coverage map is generated to help service providers and users understand the service availability of the network RTK at each location in the target area and improve the user experience. Further, the third positioning performance data of each test point is graded to obtain at least one test grade, and a distance grade map is generated according to at least one test grade and the target map to help service providers and users understand the network RTK service quality at each location in the target area and improve the user experience. By using the third positioning performance data corresponding to each test point, the service coverage map and the distance grade map together as the coverage test result, the comprehensiveness and accuracy of the coverage test result can be improved.

[0110] Exemplarily, the method may further include:

[0111] Obtain at least one target third positioning performance data corresponding to the target test bin in at least one test bin;

[0112] Performing a real-machine test on a test point corresponding to each target third positioning performance data in at least one target third positioning performance data, determining the real-machine positioning performance data of the test point corresponding to each target third positioning performance data, and obtaining at least one real-machine positioning performance data;

[0113] According to at least one real machine positioning performance data, the coverage test result is updated to obtain a target coverage test result.

[0114] In the embodiment of the present application, the target test grading is the waiting retest group and the available group in the above embodiment. It should be noted that in addition to the actual machine test required at the test point of the waiting retest group, the network RTK service of the test point of the available group also needs to be tested by the actual machine equipment to verify the service availability of the test point and improve the accuracy of the test results.

[0115] Specifically, the processing device first obtains a target test bin in at least one test bin, obtains at least one test point corresponding to the target test bin, and obtains at least one target third positioning performance data corresponding to the at least one test point. Then, a real machine verification is performed at the at least one test point through a real machine device to verify whether the real machine positioning performance data at the at least one test point is the same as the target third positioning performance data. Through the real machine test, at least one real machine positioning performance data can be obtained.

[0116] Furthermore, the processing device updates at least one target third positioning performance data according to at least one real machine positioning performance data, and updates the service coverage map and the distance classification map to obtain the target coverage test result.

[0117] Therefore, by performing real-machine leak testing on the test points of the group to be retested and the available group, the network RTK service quality of the test points of the group to be retested and the available group can be verified to improve the accuracy of the test results.

[0118] In summary, in an embodiment of the present application, first, according to the target area, multiple test points and the latitude and longitude coordinates corresponding to each test point are determined. Then, according to the latitude and longitude coordinates corresponding to each test point in the multiple test points, the distance between each test point and the reference station corresponding to each test point is determined to obtain multiple distances apart. Finally, according to the multiple distances apart, the coverage test results corresponding to the multiple test points can be determined. Based on this, the latitude and longitude coordinates of multiple test points in the target area can be used to simulate the network RTK service test at multiple test points without the need to perform actual machine testing at the location of the test point, which solves the problem of inaccurate coverage test results caused by the inability to perform actual machine testing at some locations. In addition, the network RTK service performance of the test point can be determined by the distance between each test point and the corresponding reference station, further improving the accuracy of the coverage test results of the target area.

[0119] See also Figure 7 , Figure 7 The functional unit composition block diagram of a network RTK coverage test device provided in an embodiment of the present application. The network RTK coverage test device 700 may include a processing device in any of the above embodiments. Figure 5 As shown, the coverage testing device 700 of the network RTK includes a first determining unit 701, a second determining unit 702 and a third determining unit 703. Among them:

[0120] The first determining unit 701 is used to determine a plurality of test points and a plurality of longitude and latitude coordinates according to the target area; the plurality of test points correspond to the plurality of longitude and latitude coordinates one by one;

[0121] A second determining unit 702 is used to determine the distance between each test point and the reference station corresponding to each test point according to the latitude and longitude coordinates corresponding to each test point in the multiple test points, so as to obtain multiple separation distances;

[0122] The third determining unit 703 is used to determine the coverage test results corresponding to the multiple test points according to the multiple interval distances.

[0123] In some possible embodiments, in terms of determining the distance between each test point and a reference station corresponding to each test point according to the latitude and longitude coordinates corresponding to each test point in the multiple test points to obtain multiple separation distances, the second determining unit 702 is specifically configured to:

[0124] Convert each of the plurality of longitude and latitude coordinates into an ECEF coordinate to obtain a plurality of first ECEF coordinates;

[0125] According to each first ECEF coordinate in the plurality of first ECEF coordinates, determining the ECEF coordinate of the reference station corresponding to each first ECEF coordinate to obtain a plurality of second ECEF coordinates;

[0126] According to each first ECEF coordinate and the second ECEF coordinate corresponding to each first ECEF coordinate, the distance between the test point corresponding to each first ECEF coordinate and the reference station corresponding to the test point is determined to obtain a plurality of distances.

[0127] In some possible embodiments, in determining the ECEF coordinates of the reference station corresponding to each first ECEF coordinate according to each first ECEF coordinate in the plurality of first ECEF coordinates to obtain the plurality of second ECEF coordinates, the second determining unit 702 is specifically configured to:

[0128] According to each first ECEF coordinate, determining a reference station corresponding to each first ECEF coordinate to obtain a plurality of reference stations;

[0129] Receiving positioning data sent by multiple reference stations to obtain multiple positioning data; the multiple reference stations correspond to the multiple positioning data one by one;

[0130] Parsing data information in a first preset data format from each of the plurality of positioning data to obtain a plurality of position data information;

[0131] According to each piece of position data information among the plurality of position data information, the ECEF coordinate corresponding to each piece of position data information is determined to obtain a plurality of second ECEF coordinates.

[0132] In some possible embodiments, the second determining unit 702 is further configured to:

[0133] Parsing data information in a second preset data format from each positioning data to obtain a plurality of signal data information; parsing data information in a third preset data format from each positioning data to obtain a plurality of satellite data information; the plurality of signal data information and the plurality of satellite data information correspond one to one;

[0134] Determine the satellite coverage of each test point according to each signal data information and the satellite data information corresponding to each signal data information;

[0135] According to the satellite coverage rate of each test point, the positioning performance data of each test point is determined to obtain a plurality of first positioning performance data.

[0136] In some possible embodiments, in determining a plurality of test points and a plurality of latitude and longitude coordinates according to a target area, the first determining unit 701 is specifically configured to:

[0137] Determine the starting point and the latitude and longitude coordinates of the starting point in the target map;

[0138] Determine the target area in the target map based on the latitude and longitude coordinates of the starting point;

[0139] Determine multiple test points in the target area according to the latitude and longitude coordinates of the starting point and the preset distance interval;

[0140] Determine the latitude and longitude coordinates of each test point in the multiple test points to obtain multiple latitude and longitude coordinates.

[0141] In some possible embodiments, in determining the coverage test results corresponding to the multiple test points according to the multiple interval distances, the third determining unit 703 is specifically configured to:

[0142] Determine the distance interval corresponding to each test point according to the distance between each test point in the multiple test points, and obtain multiple distance intervals; each distance interval is any one of at least one preset distance interval;

[0143] Determine the positioning performance data corresponding to each test point according to the distance interval corresponding to each test point, and obtain a plurality of second positioning performance data;

[0144] Determine the positioning performance data corresponding to each test point according to the first positioning performance data and the second positioning performance data corresponding to each test point, and obtain a plurality of third positioning performance data;

[0145] Generate a service coverage map based on multiple third-party positioning performance data and the target map;

[0146] Classifying the same positioning performance data among the plurality of third positioning performance data into the same bin to obtain at least one test bin; each test bin includes at least one third positioning performance data;

[0147] generating a distance bin map according to at least one test bin and a target map;

[0148] Multiple third-party positioning performance data, service coverage maps and distance classification maps are used as coverage test results.

[0149] In some possible embodiments, the third determining unit 703 is further configured to:

[0150] Obtain at least one target third positioning performance data corresponding to the target test bin in at least one test bin;

[0151] Performing a real-machine test on a test point corresponding to each target third positioning performance data in at least one target third positioning performance data, determining the real-machine positioning performance data of the test point corresponding to each target third positioning performance data, and obtaining at least one real-machine positioning performance data;

[0152] According to at least one real machine positioning performance data, the coverage test result is updated to obtain a target coverage test result.

[0153] See also Figure 8 , Figure 8 The electronic device 800 may include the processing device of any of the above embodiments or the network RTK coverage test device 700. Figure 8 As shown, the electronic device 800 includes a transceiver 801, a processor 802 and a memory 803. They are connected via a bus 804. The memory 803 is used to store computer programs and data, and can transmit the data stored in the memory 803 to the processor 802.

[0154] The processor 802 is used to read the computer program in the memory 803 and perform the following operations:

[0155] According to the target area, multiple test points and multiple longitude and latitude coordinates are determined; the multiple test points correspond to the multiple longitude and latitude coordinates one by one;

[0156] According to the latitude and longitude coordinates corresponding to each of the multiple test points, the distance between each test point and the reference station corresponding to each test point is determined to obtain multiple distances;

[0157] According to the multiple interval distances, coverage test results corresponding to the multiple test points are determined.

[0158] In some possible embodiments, in terms of determining the distance between each test point and a reference station corresponding to each test point according to the latitude and longitude coordinates corresponding to each test point in the multiple test points, and obtaining multiple separation distances, the processor 802 is specifically configured to perform the following operations:

[0159] Convert each of the plurality of longitude and latitude coordinates into an ECEF coordinate to obtain a plurality of first ECEF coordinates;

[0160] According to each first ECEF coordinate in the plurality of first ECEF coordinates, determining the ECEF coordinate of the reference station corresponding to each first ECEF coordinate to obtain a plurality of second ECEF coordinates;

[0161] According to each first ECEF coordinate and the second ECEF coordinate corresponding to each first ECEF coordinate, the distance between the test point corresponding to each first ECEF coordinate and the reference station corresponding to the test point is determined to obtain a plurality of distances.

[0162] In some possible embodiments, in terms of determining the ECEF coordinates of the reference station corresponding to each first ECEF coordinate according to each first ECEF coordinate in the plurality of first ECEF coordinates, and obtaining the plurality of second ECEF coordinates, the processor 802 is specifically configured to perform the following operations:

[0163] According to each first ECEF coordinate, determining a reference station corresponding to each first ECEF coordinate to obtain a plurality of reference stations;

[0164] Receiving positioning data sent by multiple reference stations to obtain multiple positioning data; the multiple reference stations correspond to the multiple positioning data one by one;

[0165] Parsing data information in a first preset data format from each of the plurality of positioning data to obtain a plurality of position data information;

[0166] According to each piece of position data information among the plurality of position data information, the ECEF coordinate corresponding to each piece of position data information is determined to obtain a plurality of second ECEF coordinates.

[0167] In some possible embodiments, the processor 802 is further configured to perform the following operations:

[0168] Parsing data information in a second preset data format from each positioning data to obtain a plurality of signal data information; parsing data information in a third preset data format from each positioning data to obtain a plurality of satellite data information; the plurality of signal data information and the plurality of satellite data information correspond one to one;

[0169] Determine the satellite coverage of each test point according to each signal data information and the satellite data information corresponding to each signal data information;

[0170] According to the satellite coverage rate of each test point, the positioning performance data of each test point is determined to obtain a plurality of first positioning performance data.

[0171] In some possible embodiments, in determining a plurality of test points and a plurality of latitude and longitude coordinates according to a target area, the processor 802 is specifically configured to perform the following operations:

[0172] Determine the starting point and the latitude and longitude coordinates of the starting point in the target map;

[0173] Determine the target area in the target map based on the latitude and longitude coordinates of the starting point;

[0174] Determine multiple test points in the target area according to the latitude and longitude coordinates of the starting point and the preset distance interval;

[0175] Determine the latitude and longitude coordinates of each test point in the multiple test points to obtain multiple latitude and longitude coordinates.

[0176] In some possible embodiments, in determining coverage test results corresponding to a plurality of test points according to a plurality of interval distances, the processor 802 is specifically configured to perform the following operations:

[0177] Determine the distance interval corresponding to each test point according to the distance between each test point in the multiple test points, and obtain multiple distance intervals; each distance interval is any one of at least one preset distance interval;

[0178] Determine the positioning performance data corresponding to each test point according to the distance interval corresponding to each test point, and obtain a plurality of second positioning performance data;

[0179] Determine the positioning performance data corresponding to each test point according to the first positioning performance data and the second positioning performance data corresponding to each test point, and obtain a plurality of third positioning performance data;

[0180] Generate a service coverage map based on multiple third-party positioning performance data and the target map;

[0181] Classifying the same positioning performance data among the plurality of third positioning performance data into the same bin to obtain at least one test bin; each test bin includes at least one third positioning performance data;

[0182] generating a distance bin map according to at least one test bin and a target map;

[0183] Multiple third-party positioning performance data, service coverage maps and distance classification maps are used as coverage test results.

[0184] In some possible embodiments, the processor 802 is further configured to perform the following operations:

[0185] Obtain at least one target third positioning performance data corresponding to the target test bin in at least one test bin;

[0186] Performing a real-machine test on a test point corresponding to each target third positioning performance data in at least one target third positioning performance data, determining the real-machine positioning performance data of the test point corresponding to each target third positioning performance data, and obtaining at least one real-machine positioning performance data;

[0187] According to at least one real machine positioning performance data, the coverage test result is updated to obtain a target coverage test result.

[0188] The above mainly introduces the scheme of the embodiment of the present application from the perspective of the execution process on the method side. It is understandable that, in order to realize the above functions, the electronic device includes a hardware structure and / or software module corresponding to the execution of each function. It should be easily appreciated by those skilled in the art that, in combination with the units and algorithm steps of each example described in the embodiments provided herein, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present application.

[0189] An embodiment of the present application also provides a computer-readable storage medium, which stores a computer program. The computer program is executed by a processor to implement part or all of the steps of any one of the methods described in the above method embodiments.

[0190] An embodiment of the present application also provides a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to cause a computer to execute part or all of the steps of any one of the methods recorded in the above method embodiments.

[0191] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily required by the present application.

[0192] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0193] In the several embodiments provided in the present application, it should be understood that the disclosed device can be implemented in other ways. For example, the device embodiments described above are only schematic, such as the division of the units, which is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, and the indirect coupling or communication connection of the device or unit can be electrical or other forms.

[0194] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0195] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above integrated unit may be implemented in the form of hardware or in the form of a software program module.

[0196] If the integrated unit is implemented in the form of a software program module and sold or used as an independent product, it can be stored in a computer-readable memory. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a memory, including a number of instructions to enable a computer device (which can be a personal computer, server or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned memory includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, disk or CD-ROM and other media that can store program codes.

[0197] A person skilled in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable memory, and the memory can include: a flash drive, a read-only memory (English: Read-Only Memory, abbreviated as: ROM), a random access memory (English: Random Access Memory, abbreviated as: RAM), a magnetic disk or an optical disk, etc.

[0198] The embodiments of the present application are introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method and core idea of ​​the present application. At the same time, for general technical personnel in this field, according to the idea of ​​the present application, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A coverage test method for a network RTK service, characterized in that: include: According to the target area, multiple test points and multiple longitude and latitude coordinates are determined; The multiple test points correspond one-to-one to the multiple longitude and latitude coordinates; Determine the distance between each test point and the reference station corresponding to each test point according to the latitude and longitude coordinates corresponding to each test point in the multiple test points, and obtain multiple distances; According to the multiple interval distances, coverage test results corresponding to the multiple test points are determined.

2. The method according to claim 1, characterized in that The step of determining the distance between each test point and a reference station corresponding to each test point according to the latitude and longitude coordinates corresponding to each test point in the plurality of test points to obtain a plurality of distances comprises: Convert each of the plurality of longitude and latitude coordinates into an ECEF coordinate to obtain a plurality of first ECEF coordinates; According to each first ECEF coordinate of the plurality of first ECEF coordinates, determining the ECEF coordinate of the reference station corresponding to each first ECEF coordinate to obtain a plurality of second ECEF coordinates; According to each of the first ECEF coordinates and the second ECEF coordinates corresponding to each of the first ECEF coordinates, the distance between the test point corresponding to each of the first ECEF coordinates and the reference station corresponding to the test point is determined to obtain a plurality of distances.

3. The method according to claim 2, characterized in that The step of determining the ECEF coordinate of the reference station corresponding to each first ECEF coordinate according to each first ECEF coordinate in the plurality of first ECEF coordinates to obtain a plurality of second ECEF coordinates comprises: According to each of the first ECEF coordinates, determining a reference station corresponding to each of the first ECEF coordinates to obtain a plurality of reference stations; Receiving positioning data sent by the plurality of reference stations to obtain a plurality of positioning data; the plurality of reference stations correspond one to one with the plurality of positioning data; Parsing data information in a first preset data format from each of the plurality of positioning data to obtain a plurality of position data information; According to each piece of position data information among the plurality of position data information, the ECEF coordinate corresponding to each piece of position data information is determined to obtain the plurality of second ECEF coordinates.

4. The method according to claim 3, characterized in that The method further comprises: Parsing data information in a second preset data format from each positioning data to obtain a plurality of signal data information; parsing data information in a third preset data format from each positioning data to obtain a plurality of satellite data information; the plurality of signal data information and the plurality of satellite data information correspond one to one; Determine the satellite coverage of each test point according to each signal data information and the satellite data information corresponding to each signal data information; According to the satellite coverage rate of each test point, the positioning performance data of each test point is determined to obtain a plurality of first positioning performance data.

5. The method according to claim 4, characterized in that Determining a plurality of test points and a plurality of latitude and longitude coordinates according to the target area includes: Determine a starting point and the latitude and longitude coordinates of the starting point in the target map; Determining the target area in the target map according to the latitude and longitude coordinates of the starting point; Determine the plurality of test points in the target area according to the latitude and longitude coordinates of the starting point and a preset distance interval; Determine the latitude and longitude coordinates of each test point in the multiple test points to obtain the multiple latitude and longitude coordinates.

6. The method according to claim 5, characterized in that The determining, according to the plurality of interval distances, coverage test results corresponding to the plurality of test points comprises: Determine the distance interval corresponding to each test point in the multiple test points according to the distance between each test point, and obtain multiple distance intervals; each distance interval is any one of at least one preset distance interval; Determine the positioning performance data corresponding to each test point according to the distance interval corresponding to each test point, and obtain a plurality of second positioning performance data; Determine the positioning performance data corresponding to each test point according to the first positioning performance data and the second positioning performance data corresponding to each test point, and obtain a plurality of third positioning performance data; generating a service coverage map according to the plurality of third positioning performance data and the target map; Classifying the same positioning performance data among the plurality of third positioning performance data into the same bin to obtain at least one test bin; each test bin includes at least one third positioning performance data; Generate a distance bin map according to the at least one test bin and the target map; The multiple third positioning performance data, the service coverage map and the distance classification map are used as the coverage test results.

7. The method according to claim 6, characterized in that The method further comprises: Acquire at least one target third positioning performance data corresponding to the target test bin in the at least one test bin; Performing a real-machine test on a test point corresponding to each target third positioning performance data in the at least one target third positioning performance data, determining the real-machine positioning performance data of the test point corresponding to each target third positioning performance data, and obtaining at least one real-machine positioning performance data; The coverage test result is updated according to the at least one real machine positioning performance data to obtain a target coverage test result.

8. A network RTK coverage test device, characterized in that: The device comprises: A first determining unit is used to determine a plurality of test points and a plurality of longitude and latitude coordinates according to a target area; the plurality of test points correspond to the plurality of longitude and latitude coordinates one by one; A second determining unit is used to determine the distance between each test point and the reference station corresponding to each test point according to the latitude and longitude coordinates corresponding to each test point in the multiple test points, so as to obtain multiple separation distances; The third determining unit is used to determine the coverage test results corresponding to the multiple test points according to the multiple interval distances.

9. An electronic device, characterized in that: include: A processor and a memory, wherein the processor is connected to the memory, the memory is used to store a computer program, and the processor is used to execute the computer program stored in the memory, so that the electronic device executes the method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and the computer program is executed by a processor to implement the method according to any one of claims 1 to 7.

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