Method, system and device for realizing comprehensive measurement of satellite navigation and positioning performance based on multi-protocol fusion, processor and readable storage medium thereof

Abstract

The invention relates to a method for realizing comprehensive measurement of satellite navigation and positioning performance based on multi-protocol fusion. The method comprises the following steps: protocol selection; acquiring a terminal position; analyzing the local performance of the terminal; reporting positioning data; the back end analyzes and calculates the positioning performance; and generating a comprehensive test report. The invention also relates to a system and a device for realizing comprehensive measurement of the satellite navigation and positioning performance based on multi-protocol fusion, a processor and a computer readable storage medium thereof. According to the method, the system, the device, the processor and the computer readable storage medium for realizing the comprehensive measurement of the satellite navigation positioning performance based on the multi-protocol fusion, evaluation parameters are divided into local end calculation and rear end calculation according to requirements in combination with an actual application scene of the tested terminal equipment, so that the method, the system, the device and the processor are more suitable for positioning performance evaluation of the actual application scene; the method is more universal for multiple types of equipment, and has a wide application prospect in the fields of satellite positioning and navigation performance testing and terminal performance evaluation.

Description

Technical Field

[0001] The present invention relates to the technical field of satellite navigation and positioning applications, in particular to the field of satellite navigation and positioning performance detection, and specifically refers to a method, system, device, processor and its computer-readable storage medium for realizing comprehensive measurement of satellite navigation and positioning performance based on multi-protocol fusion. Background Technique

[0002] The Beidou satellite navigation and positioning technology has developed rapidly in recent years and has become one of the key technologies to improve the security protection effect. With the rapid development of fields such as mobile policing, intelligent transportation, driverless cars, drones, robots, and embodied intelligence, the demand for navigation and positioning technology is increasing continuously. Therefore, the research and application prospects of automated testing of navigation and positioning performance are very broad.

[0003] With the continuous increase in the types of products and the continuous promotion of application fields, the inspection and testing work for Beidou satellite navigation system products is also developing in an orderly manner. However, the currently commonly used automated test schemes for integrated terminal devices are all integrated test schemes based on serial port servers. The device under test is connected to the test computer through a serial port, and commands are sent by a serial port tool to complete the corresponding tests step by step.

[0004] However, for products in the public security field, the use of serial port tools will be prohibited during the use of some products, such as mobile terminals, law enforcement recorders, etc. During their use, data communication needs to be accessed and controlled through proprietary software, and the serial port debugging is in the default closed state; for some devices without data interfaces, the method of serial port testing cannot be realized. For example, some SOS emergency devices do not have data interfaces and only transmit positioning data through wireless transmission. Therefore, the existing schemes at present do not have universal adaptability for products in the field of police equipment. Summary of the Invention

[0005] The purpose of the present invention is to overcome the above-mentioned disadvantages of the prior art and provide a method, system, device, processor and its computer-readable storage medium for realizing comprehensive measurement of satellite navigation and positioning performance based on multi-protocol fusion, which has good universality, is easy to operate, and has a relatively wide range of applications.

[0006] In order to achieve the above purpose, the method, system, device, processor and its computer-readable storage medium for realizing comprehensive measurement of satellite navigation and positioning performance based on multi-protocol fusion of the present invention are as follows:

[0007] The method for realizing comprehensive measurement of satellite navigation and positioning performance based on multi-protocol fusion is mainly characterized in that the method includes the following steps:

[0008] (1) Select the corresponding communication protocol according to the positioning terminal, and the communication protocols include serial port communication, Bluetooth communication or WiFi communication;

[0009] (2) Obtain the terminal location and acquire the terminal's underlying positioning data;

[0010] (3) For the acquired underlying positioning data, determine whether the local device can perform the calculation. If so, proceed to step (4); otherwise, proceed to step (5);

[0011] (4) Perform the calculation to obtain the calculation result, and upload the calculation result to the backend positioning performance data receiving unit through the corresponding communication protocol;

[0012] (5) Upload the data that cannot be calculated by the local device to the backend positioning performance calculation unit through the selected communication method to calculate the positioning performance result;

[0013] (6) Summarize and export the data.

[0014] Preferably, the terminal location and terminal's underlying positioning data obtained in step (2) are reported to the backend through the data reporting interface of the terminal test unit.

[0015] Preferably, step (4) further includes the following steps:

[0016] Construct the local positioning performance calculation algorithm, analyze the static positioning accuracy, cold start positioning time, and hot start positioning time, and upload the calculation result to the data interface of the backend positioning performance data receiving unit through the corresponding communication protocol.

[0017] Preferably, in step (4), performing the calculation to obtain the calculation result specifically means:

[0018] Input the preset fixed-point longitude and latitude information A (Longitude1, Latitude1, Height1), the terminal obtains its own positioned longitude and latitude information B (Longitude2, Latitude2, Height2), and apply the Haversine formula to perform the calculation to obtain the calculation result.

[0019] Preferably, in step (5), calculating the positioning performance result specifically means:

[0020] Obtain the set of simulated point longitude and latitude data A() sent by the simulator through clock alignment, obtain the set of the terminal's positioning data B(), correspond the data one by one through clock alignment, apply the Haversine formula to calculate the error, and calculate the positioning performance result.

[0021] A system for comprehensively measuring satellite navigation and positioning performance based on multi - protocol fusion to implement the above - mentioned method, its main features are that the system includes a data acquisition module, a data transmission module, and a data analysis module. The data acquisition module includes a terminal test unit. The input end of the data transmission module is connected to the terminal test unit. The input end of the data analysis module is connected to the data transmission module wirelessly or wiredly. The terminal test unit is used to obtain underlying positioning data and perform local calculations. The data transmission module is used to implement Bluetooth communication, WiFi communication, or serial communication. The data analysis module is used to receive backend positioning performance data and calculate the backend positioning performance.

[0022] Preferably, the data analysis module includes a backend positioning performance data receiving unit and a backend positioning performance calculation unit. Both the backend positioning performance data receiving unit and the backend positioning performance calculation unit are connected to the data transmission module. The backend positioning performance data receiving unit is used to receive the positioning performance data calculated by the terminal reported by the data transmission module. The data analysis module summarizes and exports the received positioning calculation data and the backend positioning performance calculation results.

[0023] The device for comprehensively measuring satellite navigation and positioning performance based on multi - protocol fusion, its main features are that the device includes:

[0024] A processor configured to execute computer - executable instructions;

[0025] A memory storing one or more computer - executable instructions, when the computer - executable instructions are executed by the processor, the various steps of the above - mentioned method for comprehensively measuring satellite navigation and positioning performance based on multi - protocol fusion are implemented.

[0026] The processor for comprehensively measuring satellite navigation and positioning performance based on multi - protocol fusion, its main features are that the processor is configured to execute computer - executable instructions, when the computer - executable instructions are executed by the processor, the various steps of the above - mentioned method for comprehensively measuring satellite navigation and positioning performance based on multi - protocol fusion are implemented.

[0027] The computer - readable storage medium, its main features are that a computer program is stored thereon, and the computer program can be executed by a processor to implement the various steps of the above - mentioned method for comprehensively measuring satellite navigation and positioning performance based on multi - protocol fusion.

[0028] The method, system, device, processor and computer-readable storage medium for realizing comprehensive measurement of satellite navigation and positioning performance based on multi-protocol fusion of the present invention are adopted. Combining with the actual application scenarios of the device under test, the evaluation parameters are divided into local-end calculation and back-end calculation according to requirements, which is more in line with the positioning performance evaluation of actual application scenarios and is more universal for multiple types of devices. It has broad application prospects in the fields of satellite positioning and navigation performance testing and terminal performance evaluation. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a flowchart of the method for realizing comprehensive measurement of satellite navigation and positioning performance based on multi-protocol fusion of the present invention.

[0030] Figure 2 It is a system composition architecture diagram of the method for realizing comprehensive measurement of satellite navigation and positioning performance based on multi-protocol fusion of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0031] In order to more clearly describe the technical content of the present invention, the following will be further described in combination with specific embodiments.

[0032] The method for realizing comprehensive measurement of satellite navigation and positioning performance based on multi-protocol fusion of the present invention includes the following steps:

[0033] (1) Select the corresponding communication protocol according to the positioning terminal, and the communication protocol includes serial communication, Bluetooth communication or WiFi communication;

[0034] (2) Obtain the terminal position and obtain the terminal's underlying positioning data;

[0035] (3) For the obtained underlying positioning data, judge whether the local machine can perform the calculation. If so, continue to step (4); otherwise, continue to step (5);

[0036] (4) Perform the calculation to obtain the calculation result, and upload the calculation result to the back-end positioning performance data receiving unit through the corresponding communication protocol;

[0037] (5) Upload the data that cannot be calculated by the local machine to the back-end positioning performance calculation unit through the selected communication method to calculate the positioning performance result;

[0038] (6) Summarize and export the data.

[0039] As a preferred embodiment of the present invention, the terminal position and the terminal's underlying positioning data obtained in step (2) are reported to the back-end through the data reporting interface of the terminal test unit.

[0040] As a preferred embodiment of the present invention, step (4) further includes the following steps:

[0041] Construct a local positioning performance calculation algorithm to analyze the static positioning accuracy, cold start positioning time, and hot start positioning time, and upload the calculation results to the data interface of the backend positioning performance data receiving unit through the corresponding communication protocol.

[0042] As a preferred embodiment of the present invention, in step (4), the calculation result is obtained through calculation, specifically:

[0043] Input the preset longitude and latitude information A (Longitude1, Latitude1, Height1) of the fixed point. The terminal obtains its own positioned longitude and latitude information B (Longitude2, Latitude2, Height2), and uses the Haversine formula for calculation to obtain the calculation result.

[0044] As a preferred embodiment of the present invention, in step (5), the positioning performance result is calculated, specifically:

[0045] Obtain the set A of simulated point longitude and latitude data sent by the simulator through clock alignment, obtain the set B of the terminal's positioning data, correspond the data one by one through clock alignment, and use the Haversine formula for calculation to obtain the error, and calculate the positioning performance result.

[0046] The system for comprehensively measuring satellite navigation positioning performance based on multi-protocol fusion to implement the above method of the present invention, wherein the system includes a data acquisition module, a data transmission module, and a data analysis module. The data acquisition module includes a terminal test unit. The input end of the data transmission module is connected to the terminal test unit. The input end of the data analysis module is connected to the data transmission module wirelessly or wiredly. The terminal test unit is used to obtain the underlying positioning data and local calculation. The data transmission module is used to implement Bluetooth communication, WiFi communication, or serial port communication. The data analysis module is used to receive the backend positioning performance data and calculate the backend positioning performance.

[0047] As a preferred embodiment of the present invention, the data analysis module includes a backend positioning performance data receiving unit and a backend positioning performance calculation unit. Both the backend positioning performance data receiving unit and the backend positioning performance calculation unit are connected to the data transmission module. The backend positioning performance data receiving unit is used to receive the positioning performance data calculated by the terminal reported by the data transmission module. The data analysis module summarizes and exports the received positioning calculation data and the backend positioning performance calculation result.

[0048] The device for comprehensively measuring satellite navigation positioning performance based on multi-protocol fusion of the present invention, wherein the device includes:

[0049] A processor configured to execute computer-executable instructions;

[0050] A memory storing one or more computer-executable instructions, which, when executed by the processor, implement each step of the above method for comprehensively measuring satellite navigation and positioning performance based on multi-protocol fusion.

[0051] The processor for comprehensively measuring satellite navigation and positioning performance based on multi-protocol fusion according to the present invention, wherein the processor is configured to execute computer-executable instructions, which, when executed by the processor, implement each step of the above method for comprehensively measuring satellite navigation and positioning performance based on multi-protocol fusion.

[0052] The computer-readable storage medium according to the present invention, on which a computer program is stored, and the computer program can be executed by a processor to implement each step of the above method for comprehensively measuring satellite navigation and positioning performance based on multi-protocol fusion.

[0053] The present invention provides a positioning accuracy comprehensive test system that meets the requirements of different mobile terminals, including a terminal test unit, a data transmission module, and a data analysis module. As Figure 2 shown, a comprehensive test system integrating test software, communication hardware, a server, and backend positioning performance analysis software is constructed.

[0054] In a specific embodiment of the present invention, a satellite navigation and positioning performance comprehensive measurement system based on multi-protocol fusion includes three parts: a terminal test unit, a data transmission module, and a data analysis module. The data analysis module is connected to the data acquisition module and the data transmission module wirelessly or wiredly.

[0055] The terminal test unit includes obtaining underlying positioning data and performing local calculation. The data transmission module includes Bluetooth communication, WiFi communication, and serial communication.

[0056] The data analysis module includes a backend positioning performance data receiving unit and a backend positioning performance calculation unit. The backend positioning performance data receiving unit receives the positioning performance data calculated by the terminal reported by the data transmission module. The data analysis module summarizes and exports the received positioning calculation data and the backend positioning performance calculation results.

[0057] The terminal test unit automatically obtains the underlying positioning data of the terminal, and the terminal automatically calculates the positioning performance, including static positioning accuracy, cold start time, hot start time, etc.

[0058] The data analysis module is a server device, including but not limited to a desktop server, a laptop, etc.

[0059] In the data acquisition module, protocol selection is the first element. After selecting the protocol, the terminal test unit enters the positioning data collection, solution and reporting.

[0060] See also Figure 1 As shown, it is a system flow chart of the satellite navigation positioning performance comprehensive testing system based on multi-protocol fusion of the present invention. The terminal under test installs the terminal test unit, runs the terminal test unit, selects the terminal's communication protocol, and chooses serial communication, Bluetooth communication, or WiFi communication. The terminal position acquisition interface is entered to obtain the terminal's underlying positioning data. For the underlying positioning data obtained by the terminal, the terminal calculates the results locally for data that can be solved locally, and uploads the results to the back-end positioning performance data receiving unit via the selected communication method. For data that cannot be solved locally, the results are uploaded to the back-end positioning performance solving unit via the selected communication method. The corresponding results are summarized and exported.

[0061] The satellite navigation and positioning performance comprehensive testing system based on multi-protocol fusion has the following main features:

[0062] (1) Select the communication protocol of the positioning terminal, which supports serial communication, Bluetooth communication, and WiFi communication;

[0063] (2) Terminal location acquisition, obtaining the terminal's underlying positioning data;

[0064] (3) For the underlying positioning data obtained by the terminal in step (2), the local terminal calculates the calculation results for the data solved by the local terminal, and uploads the calculation results to the back-end positioning performance data receiver through the communication method selected in step (1);

[0065] (4) For the underlying positioning data obtained by the terminal in step (2), the data that can be solved locally but cannot be solved locally is uploaded to the back-end positioning performance solving service through the communication method selected in step (1) to solve the positioning performance;

[0066] (5) Summarize and export the results of steps (3) and (4).

[0067] The multi-protocol selection in step (1) is specifically as follows:

[0068] Select the corresponding communication protocol according to the protocol supported by the positioning terminal hardware.

[0069] Preferably, in step (2), the communication protocol can be automatically selected according to the protocol types supported by different terminals, and the underlying positioning data obtained by the terminal and the positioning performance data calculated by the terminal are reported to the back end through the terminal test unit data reporting interface.

[0070] In step (3), a native positioning performance calculation algorithm is constructed to analyze the static positioning accuracy, cold start positioning time, and hot start positioning time, and the results are reported to the backend positioning performance data receiving interface through the protocol selected in step (1).

[0071] Step (4) specifically includes the following steps:

[0072] The underlying positioning data obtained by the terminal is reported to the backend positioning performance calculation unit according to the reporting frequency through the communication method selected in step (1) to calculate the positioning performance results.

[0073] In step (4), the calculation results obtained by calculation are specifically:

[0074] The preset fixed-point longitude and latitude information A (Longitude1, Latitude1, Height1) is input, the terminal obtains its own positioning longitude and latitude information B (Longitude2, Latitude2, Height2), and the Haversine formula is applied for calculation to obtain the calculation results.

[0075] For the static positioning in step (4), the fixed-point A longitude and latitude information given by the simulator and the longitude and latitude information B obtained by the device itself after acquiring the simulator signal are used, and the Haversine formula is used for calculation to obtain the error.

[0076] In step (5), the positioning performance results are calculated specifically as follows:

[0077] The simulated point longitude and latitude data set A() sent by the simulator is obtained through clock alignment, the positioning data set B() of the terminal is obtained, the data is made one-to-one correspondence through clock alignment, and the Haversine formula is applied for calculation to obtain the error and calculate the positioning performance results.

[0078] Step (5) is for dynamic positioning accuracy. The simulator simulates a set of dynamic longitude and latitude data set A(), and the positioning data set B() obtained by the terminal itself. Then, clock alignment is applied to make the two sets of data one-to-one correspondence, and then the Haversine formula is applied to the one-to-one corresponding data respectively for calculation to obtain the error.

[0079] For the specific implementation solution of this embodiment, reference can be made to the relevant descriptions in the above embodiments, which will not be elaborated here.

[0080] It can be understood that the same or similar parts in the above embodiments can be referred to each other, and the content not detailed in some embodiments can be referred to the same or similar content in other embodiments.

[0081] It should be noted that in the description of the present invention, terms such as "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance. In addition, in the description of the present invention, unless otherwise specified, the meaning of "a plurality of" refers to at least two.

[0082] Any process or method description in a flowchart or described otherwise herein can be understood to represent a module, segment, or portion of code including one or more executable instructions for implementing a specific logical function or process. The scope of the preferred embodiments of the present invention includes additional implementations, where functions can be executed in a substantially simultaneous manner or in a reverse order according to the involved functions, rather than in the order shown or discussed, which should be understood by those skilled in the art to which the embodiments of the present invention pertain.

[0083] It should be understood that various parts of the present invention can be implemented by hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution device. For example, if implemented by hardware, as in another embodiment, any one or a combination of the following techniques well known in the art can be used: discrete logic circuits with logic gate circuits for implementing logical functions on data signals, application specific integrated circuits with appropriate combinational logic gate circuits, programmable gate arrays (PGAs), field programmable gate arrays (FPGAs), etc.

[0084] Those of ordinary skill in the art of the present technology can understand that all or part of the steps carried by the method of the above embodiments can be completed by instructing relevant hardware through a program, and the corresponding program can be stored in a computer-readable storage medium. When the program is executed, it includes one or a combination of the steps of the method embodiments.

[0085] In addition, each functional unit in various embodiments of the present invention can be integrated into a processing module, or each unit can exist physically alone, or two or more units can be integrated into a module. The above integrated module can be implemented in the form of hardware or in the form of a software functional module. When the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0086] The above-mentioned storage medium can be a read-only memory, a magnetic disk, an optical disk, etc.

[0087] In the description of this specification, the descriptions referring to terms such as "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0088] By adopting the method, system, device, processor and its computer-readable storage medium for realizing comprehensive measurement of satellite navigation and positioning performance based on multi-protocol fusion of the present invention, combined with the actual application scenario of the terminal device under test, the evaluation parameters are divided into local-end calculation and back-end calculation according to requirements, which is more in line with the positioning performance evaluation of the actual application scenario and is more universal for multiple types of devices, and has broad application prospects in the fields of satellite positioning and navigation performance testing and terminal performance evaluation.

[0089] In this specification, the present invention has been described with reference to its specific embodiments. However, it is obvious that various modifications and transformations can still be made without departing from the spirit and scope of the present invention. Therefore, the specification and the drawings should be regarded as illustrative rather than restrictive.

Claims

1. A method for comprehensively measuring satellite navigation and positioning performance based on multi - protocol fusion, characterized in that, The method described above includes the following steps: (1) Select a corresponding communication protocol according to the positioning terminal. The communication protocols include serial communication, Bluetooth communication, or WiFi communication; (2) Obtain the terminal location and the underlying positioning data of the terminal; (3) For the obtained underlying positioning data, determine whether the local device can perform the calculation. If so, proceed to step (4); otherwise, proceed to step (5); (4) Perform the calculation to obtain the calculation result, and upload the calculation result to the backend positioning performance data receiving unit through the corresponding communication protocol; (5) Upload the data that cannot be calculated by the local device to the backend positioning performance calculation unit through the selected communication method to calculate the positioning performance result; (6) Summarize and export the data.

2. The method for comprehensively measuring satellite navigation and positioning performance based on multi - protocol fusion according to claim 1, wherein In step (2), the obtained terminal location and the underlying positioning data of the terminal are reported to the backend through the data reporting interface of the terminal test unit.

3. The method for comprehensively measuring satellite navigation and positioning performance based on multi - protocol fusion according to claim 1, characterized in that Step (4) further includes the following steps: Construct a local positioning performance calculation algorithm, analyze the static positioning accuracy, cold start positioning time, and hot start positioning time, and upload the calculation result to the data interface of the backend positioning performance data receiving unit through the corresponding communication protocol.

4. The method for comprehensively measuring satellite navigation and positioning performance based on multi-protocol fusion according to claim 1, wherein In step (4), performing the calculation to obtain the calculation result is specifically as follows: Input the preset longitude and latitude information A (Longitude1, Latitude1, Height1) of the fixed point. The terminal obtains its own located longitude and latitude information B (Longitude2, Latitude2, Height2), and uses the Haversine formula to perform the calculation to obtain the calculation result.

5. The method for comprehensively measuring satellite navigation and positioning performance based on multi-protocol fusion according to claim 1, wherein In step (5), calculating the positioning performance result is specifically as follows: Obtain the set A of simulated point longitude and latitude data sent by the simulator through clock alignment, obtain the set B of the terminal's positioning data, correspond the data one by one through clock alignment, and use the Haversine formula to perform the calculation to obtain the error and calculate the positioning performance result.

6. A system for comprehensively measuring satellite navigation and positioning performance based on multi - protocol fusion to implement the method described in claim 1, characterized in that, The system includes a data acquisition module, a data transmission module, and a data analysis module. The data acquisition module includes a terminal test unit. The input end of the data transmission module is connected to the terminal test unit. The input end of the data analysis module is connected to the data transmission module wirelessly or wiredly. The terminal test unit is used to obtain the underlying positioning data and perform local calculations. The data transmission module is used to implement Bluetooth communication, WiFi communication, or serial communication. The data analysis module is used to receive the backend positioning performance data and calculate the backend positioning performance.

7. The system for comprehensively measuring satellite navigation and positioning performance based on multi - protocol fusion according to claim 4, wherein, The data analysis module includes a backend positioning performance data receiving unit and a backend positioning performance calculation unit. Both the backend positioning performance data receiving unit and the backend positioning performance calculation unit are connected to the data transmission module. The backend positioning performance data receiving unit is used to receive the positioning performance data calculated by the terminal reported by the data transmission module. The data analysis module summarizes and exports the received positioning calculation data and the backend positioning performance calculation result.

8. A device for comprehensively measuring satellite navigation and positioning performance based on multi - protocol fusion, characterized in that, The device includes: A processor configured to execute computer-executable instructions; A memory stores one or more computer-executable instructions, and when the computer-executable instructions are executed by the processor, each step of the method for comprehensively measuring satellite navigation and positioning performance based on multi-protocol fusion described in any one of claims 1 to 5 is implemented.

9. A processor for comprehensively measuring satellite navigation and positioning performance based on multi - protocol fusion, characterized in that, The processor is configured to execute computer-executable instructions, and when the computer-executable instructions are executed by the processor, each step of the method for comprehensively measuring satellite navigation and positioning performance based on multi-protocol fusion described in any one of claims 1 to 5 is implemented.

10. A computer-readable storage medium, characterized in that, A computer program is stored thereon, and the computer program can be executed by a processor to implement each step of the method for comprehensively measuring satellite navigation and positioning performance based on multi-protocol fusion described in any one of claims 1 to 5.

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