A precision positioning product testing system, method

Abstract

The application discloses a precise positioning product test system and method, which comprises a communication unit, a clock synchronization unit, a real satellite orbit parameter calculation unit, a navigation signal simulation generation unit and an SSR data generation unit. The application improves the accuracy of the broadcast satellite orbit and clock difference of the simulated generated navigation radio frequency signal. On the other hand, the application synchronously processes the input real SSR data information to generate the output SSR simulation signal, thereby improving the accuracy of the orbit correction number and the satellite clock difference correction number in the simulated generated SSR data. Meanwhile, the application receives the NTP time service to generate the clock signal which is distributed to the navigation signal simulation generation unit and the SSR data generation unit, and cooperates with the synchronous simulation control parameters output by the navigation signal simulation unit, so that the simulation time is synchronized with the real scene, and finally the precise positioning product test result is consistent with the real performance.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of satellite navigation terminal detection, in particular, to a precise positioning product test system and method. BACKGROUND

[0002] High-precision positioning products based on SSR provide high-precision positioning services by broadcasting correction data streams for the entire service area to users, can provide reliable services in a relatively low reference station density, and have become the mainstream method for mass high-precision positioning market applications. A high-fidelity test simulation signal is the core of ensuring comprehensive and accurate testing of the performance of high-precision positioning products based on SSR.

[0003] The main error sources of the positioning performance of existing high-precision positioning products include the following two aspects: the error between the satellite orbit used in the broadcast orbit in the navigation radio frequency signal broadcast by the navigation satellite and the real orbit of the satellite used for calculating the SSR correction number by the ground data center (ground observation); 2) the error between the satellite clock difference (self-generated on the satellite) in the navigation radio frequency signal broadcast by the navigation satellite and the real satellite clock difference (ground observation) calculated by the ground data center for the SSR correction number.

[0004] The existing high-precision positioning product test equipment simulates the above error sources by using the following method: a high-precision mechanical model is used for numerical integration to simulate the "real" satellite orbit and satellite clock difference; based on the "real" satellite orbit and satellite clock difference and a typical error model, a simulated broadcast ephemeris file and an observation value file are generated, and then a satellite navigation radio frequency signal is simulated and generated; based on the above "real" satellite orbit and satellite clock difference, a SSR data stream is generated based on the simulated broadcast ephemeris file.

[0005] As can be seen from the above, the "real" satellite orbit and satellite clock difference used by the existing high-precision positioning product test equipment for simulation calculation, the simulated and added orbit error and satellite clock difference are deviated from the real environment, which leads to the following problems: 1) the broadcast satellite orbit and clock difference of the simulated generated navigation radio frequency signal are deviated from the real broadcast satellite orbit and clock difference; 2) the orbit correction number and satellite clock difference correction number in the simulated generated SSR data are deviated from the real orbit correction number and satellite clock difference correction number; 3) the simulation time cannot be synchronized with the real scene. The above problems lead to the inconsistency between the existing precise positioning product test results and the real performance. SUMMARY

[0006] The present application provides a precise positioning product test system, which solves the technical problem of inconsistency between the existing precise positioning product test results and the real performance.

[0007] The present application is implemented by the following scheme:

[0008] A precise positioning product test system, comprising:

[0009] a communication unit, connected with a ground data center signal, for transmitting an NTP time synchronization signal provided by the ground data center to a clock synchronization unit, and transmitting real in-orbit broadcast ephemeris information and real SSR data information to a real satellite orbit parameter calculation unit;

[0010] a clock synchronization unit, for receiving an NTP time synchronization signal, realizing system clock synchronization, and providing a synchronization time signal to a navigation signal simulation generation unit, an SSR data generation unit and an external clock;

[0011] a real satellite orbit parameter calculation unit, for receiving real in-orbit broadcast ephemeris information and real SSR data information, and calculating real satellite positions and real satellite clock errors at ti time;

[0012] a navigation signal simulation generation unit, for receiving a synchronization time signal, real in-orbit broadcast ephemeris information, real satellite positions and real satellite clock errors, and simulating and calculating a synchronization simulation control parameter and a satellite navigation radio frequency analog signal;

[0013] an SSR data generation unit, for receiving a synchronization time signal, real SSR data information and a synchronization simulation control parameter output by the navigation signal simulation generation unit, and generating an SSR data analog signal.

[0014] Further, the real satellite orbit parameter calculation unit is specifically configured to:

[0015] extract a reference time t0, a clock error parameter, a Kepler six parameter and an orbit perturbation parameter of a required satellite in the real in-orbit broadcast ephemeris information, and calculate a broadcast orbit position and a broadcast clock error of a simulation satellite at ti time;

[0016] receive real SSR data information, generate orbit correction numbers and clock error correction numbers of a simulation satellite at ti time of a required simulation satellite through analysis and precise interpolation processing, and convert the generated orbit correction numbers to the same coordinate system as the broadcast orbit position;

[0017] calculate real satellite positions and real satellite clock errors of the simulation satellite at ti time according to the broadcast orbit position, the broadcast clock error, the orbit correction number and the clock error correction number.

[0018] Further, the calculation of the real satellite positions and the real satellite clock errors of the simulation satellite at ti time according to the broadcast orbit position, the broadcast clock error, the orbit correction number and the clock error correction number is specifically:

[0019] a real satellite position of the simulation satellite at ti time = a broadcast orbit position at ti time + an orbit correction number at ti time;

[0020] The real satellite clock error of the simulated satellite at time t i = the broadcast clock error at time t i + the clock error correction number at time t i.

[0021] Further, the reference time t 0, the clock error parameter, the Kepler six parameters, and the orbit perturbation parameter of the required satellite in the real in-orbit broadcast ephemeris information are extracted, and the broadcast orbit position and the broadcast clock error of the simulated satellite at time t i are calculated, specifically including the steps of:

[0022] The time offset toi of the corrected simulation time t i relative to the reference time t 0 is calculated: if the time offset toi crosses a period, the time offset toi is corrected by the period seconds T of the simulation system; when correcting, if the time offset toi is greater than T / 2, the period seconds T of the simulation system is subtracted; if toi is less than -T / 2, the period seconds T of the simulation system is added;

[0023] The corrected time offset toi and the extracted Kepler six parameters and orbit perturbation parameters are respectively substituted into the orbit calculation formula to generate the output broadcast orbit position of the simulated satellite in the geocentric geodetic rectangular coordinate system at time t i ;

[0024] The time offset toi and the extracted clock error parameter are substituted into the clock error quadratic term expression to complete the initial clock error of the polynomial, then the extracted clock error parameter is combined with the Kepler six parameters to complete the relativistic effect correction term, and finally the final broadcast clock error is obtained by fusion.

[0025] Further, the navigation signal simulation generation unit specifically includes:

[0026] The broadcast ephemeris correction calculation module is configured to receive the synchronization simulation control parameters output by the signal simulation parameter calculation module and the real in-orbit broadcast ephemeris information sent by the communication unit, generate the output corrected broadcast ephemeris, and ensure that each system simulation time is aligned;

[0027] The simulation trajectory generation module is configured to output corresponding trajectory data to the signal simulation parameter calculation module according to user requirements;

[0028] The simulation error model module is configured to output corresponding error data to the signal simulation parameter calculation module according to user requirements;

[0029] The signal simulation parameter calculation module is configured to simulate and calculate the output pseudo-code pseudo-range dynamic parameters, carrier pseudo-range dynamic parameters, and signal power parameters according to the input real satellite position and real satellite clock error, trajectory data, error data, and synchronization time signal, and generate corresponding synchronization simulation control parameters according to the synchronization time sequence requirements of the satellite navigation signal and the SSR signal generated in the simulation scene, and output the synchronization simulation control parameters to the broadcast ephemeris correction calculation module and the SSR data generation unit respectively;

[0030] The navigation message composition generation module is configured to preprocess the received satellite orbit data, clock difference data and ionosphere model parameters, encode, frame and modulate the preprocessed data according to the format and protocol of the navigation message and in combination with the corrected broadcast ephemeris, and generate the final simulation navigation message.

[0031] The navigation signal generation module is configured to generate satellite navigation radio frequency simulation signals under synchronous time signal processing according to the pseudo-code pseudo-range dynamic parameters, carrier pseudo-range dynamic parameters, signal power parameters and the simulation navigation message.

[0032] Further, the signal simulation parameter calculation module is specifically configured to:

[0033] The real in-orbit broadcast ephemeris information transmitted by the communication unit is decoded and processed, and is stored in groups according to different navigation systems, wherein there are multiple data records of different reference times for different satellites of the same navigation system.

[0034] The synchronous interpolation processing is performed according to the synchronous simulation control parameters output by the signal simulation parameter calculation module, so as to ensure the time alignment of the simulation message parameters of the navigation system.

[0035] Further, the SSR data generation unit specifically includes:

[0036] The SSR synchronous processing module is configured to receive the real SSR data information from the outside, and perform synchronous processing on the input real SSR data information according to the synchronous simulation control parameters output by the navigation signal simulation generation unit.

[0037] The SSR data framing generation module is configured to frame and output the synchronous processed real SSR data information according to a standard format, and generate an SSR data simulation signal.

[0038] Another aspect of the present application also provides a precise positioning product test method based on the precise positioning product test system, which includes the following steps:

[0039] S1, initializing system configuration, configuring test environment parameters, including the interface type of the communication unit, the synchronization source and synchronization accuracy of the clock synchronization unit, and the simulation parameters of the navigation signal simulation generation unit and the SSR data simulation generation unit.

[0040] S2, receiving the NTP time synchronization signal, real in-orbit broadcast ephemeris information and real SSR data information from the ground data center;

[0041] S3, calculating real navigation satellite constellation parameters, calculating and outputting real satellite positions and real satellite clock differences according to the received real in-orbit broadcast ephemeris information and real SSR data information.

[0042] S4, generating satellite navigation radio frequency analog signals and SSR data analog signals according to the real satellite position and the real satellite clock error and the real SSR data information;

[0043] S5, sending the generated satellite navigation radio frequency analog signals and SSR data analog signals to the measured precise positioning device;

[0044] S6, receiving the test results sent by the measured precise positioning device, and recording the positioning accuracy, speed measurement accuracy and first positioning time in the test results;

[0045] S7, judging whether the test is finished, if not, returning to step S2, if yes, executing step S8;

[0046] S8, analyzing the test results and generating a test report.

[0047] Further, the step S3 specifically comprises the steps of:

[0048] S31, parsing the real in-orbit broadcast ephemeris information to obtain the broadcast orbit position and the broadcast clock error, wherein the broadcast orbit position accuracy is ±10 meters and the broadcast clock error accuracy is ±1 microsecond;

[0049] S32, parsing the real SSR data information to obtain the orbit correction number and the clock correction number, wherein the orbit correction number accuracy is ±1 meter and the clock correction number accuracy is ±10 microseconds;

[0050] S33, calculating the real satellite position and the real satellite clock error of the real navigation satellite constellation according to the broadcast orbit position and the broadcast clock error, the orbit correction number and the clock correction number;

[0051] S34, calculating the pseudo-range and the carrier signal phase simulation parameters of the simulation signal according to the spatial relationship between the real satellite position trajectory of the real navigation satellite constellation and the measured terminal trajectory, wherein the pseudo-range accuracy is ±1 meter and the carrier signal phase simulation parameter accuracy is ±0.1 microsecond;

[0052] Further, the step S4 specifically comprises the steps of:

[0053] S41, generating a ranging code according to the calculated pseudo-range and carrier signal phase simulation parameters;

[0054] S42, simulating and generating a corrected simulation navigation message according to the calculated real satellite clock error;

[0055] S43, spreading and modulating the corrected simulation navigation message to generate a digital baseband navigation signal;

[0056] S44, performing digital-to-analog conversion and up-conversion on the digital baseband navigation signal to generate a navigation radio frequency signal;

[0057] S45, interpolating the real SSR data information according to the synchronization simulation control parameter to generate an accurate correction value of the simulation position;

[0058] S46, packaging the SSR data simulation result according to a general standard format to generate a SSR data simulation signal.

[0059] The application further provides an electronic device, including a memory, a processor, and a computer program stored in the memory and running on the processor, wherein the processor implements the steps of the precise positioning product test method when executing the computer program.

[0060] The application further provides a storage medium, including a stored program, wherein the program controls a device where the storage medium is located to execute the steps of the precise positioning product test method when running.

[0061] Compared with the prior art, the application has the following beneficial effects:

[0062] 1. The application sets a real satellite orbit parameter calculation unit and a navigation signal simulation generation unit, wherein the real satellite orbit parameter calculation unit extracts real broadcast orbits and real orbit correction parameters from received real in-orbit broadcast ephemeris information and real SSR data information, calculates real satellite positions and real satellite clock errors, the navigation signal simulation generation unit synchronously corrects the broadcast ephemeris, combines the real satellite positions and the real satellite clock errors to generate a simulated navigation signal, and solves the problem that the broadcast satellite orbits and clock errors of the simulated navigation radio frequency signal exist errors with the real broadcast satellite orbits and clock errors, thereby improving the accuracy of the broadcast satellite orbits and clock errors of the simulated navigation radio frequency signal.

[0063] 2. The application sets an SSR data generation unit, which synchronously processes the input real SSR data information to generate an output SSR simulation signal by receiving external real SSR data information, solves the problem that the orbit correction number and the satellite clock error correction number in the simulated SSR data exist errors with the real orbit correction number and the satellite clock error correction number, and improves the accuracy of the orbit correction number and the satellite clock error correction number in the simulated SSR data.

[0064] 3. The application sets a synchronization clock unit, which generates a clock signal distributed to the navigation signal simulation generation unit and the SSR data generation unit by receiving an NTP time service, and realizes system time and real time synchronization and internal clock synchronization requirements by cooperating with the synchronization simulation control parameter output by the navigation signal simulation unit, solves the problem that the simulation time cannot be synchronized with the real scene in the prior art, ensures that the simulation time is synchronized with the real scene, and finally makes the precise positioning product test result and the real performance consistent.

[0065] In addition to the purposes, features and advantages described above, the present application has other purposes, features and advantages. The present application will be described in further detail below with reference to the drawings. BRIEF DESCRIPTION OF DRAWINGS

[0066] The drawings incorporated in and forming a part of the specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the application.

[0067] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings required to be used in the embodiments or prior art description will be briefly introduced as follows. Obviously, for those of ordinary skill in the art, the other drawings can also be obtained based on these drawings without any creative work.

[0068] Figure 1 is a schematic diagram of the principle of the precision positioning product test system of the preferred embodiment of the present application;

[0069] Figure 2 is a schematic diagram of the principle of the navigation signal simulation generation unit of the preferred embodiment of the present application;

[0070] Figure 3 is a schematic diagram of the synchronization interpolation processing of the preferred embodiment of the present application;

[0071] Figure 4 is a schematic diagram of the flow of the precision positioning product test method of the preferred embodiment of the present application;

[0072] Figure 5 is a schematic block diagram of the electronic device entity of the preferred embodiment of the present application;

[0073] Figure 6 is an internal structure diagram of the computer device of the preferred embodiment of the present application. DETAILED DESCRIPTION

[0074] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and not to limit the present application.

[0075] In order to better understand the technical solutions of the present application, the present application will be described in detail below with reference to the drawings and specific embodiments.

[0076] It should be noted that the execution subject of the present embodiment can be a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or a precision positioning product test device capable of realizing the above functions. The present embodiment and the following embodiments will be described below taking the precision positioning product test device as an example.

[0077] As Figure 1 shown, the preferred embodiment of the present application provides a precise positioning product test system, comprising:

[0078] The communication unit is in signal connection with the ground data center, and is used for transmitting the NTP time synchronization signal provided by the ground data center to the clock synchronization unit, and transmitting the real in-orbit broadcast ephemeris information and real SSR data information to the real satellite orbit parameter calculation unit;

[0079] The clock synchronization unit is used for receiving the NTP time synchronization signal, realizing system clock synchronization, and providing a synchronization time signal to the navigation signal simulation generation unit, the SSR data generation unit and the external clock;

[0080] The real satellite orbit parameter calculation unit is used for receiving the real in-orbit broadcast ephemeris information and real SSR data information, and calculating and outputting the real satellite position and real satellite clock error at time ti;

[0081] The navigation signal simulation generation unit is used for receiving the synchronization time signal, real in-orbit broadcast ephemeris information, real satellite position and real satellite clock error, and simulating and calculating to output a synchronization simulation control parameter and a satellite navigation radio frequency analog signal;

[0082] The SSR data generation unit is used for receiving the synchronization time signal, real SSR data information and synchronization simulation control parameter output by the navigation signal simulation generation unit, and generating an SSR data analog signal.

[0083] Compared with the prior art, the embodiment has the following beneficial effects:

[0084] 1. The embodiment sets the real satellite orbit parameter calculation unit and the navigation signal simulation generation unit, wherein the real satellite orbit parameter calculation unit extracts the real broadcast orbit and real orbit correction parameter from the received real in-orbit broadcast ephemeris information and real SSR data information, and calculates the real satellite position and real satellite clock error; the navigation signal simulation generation unit synchronously corrects the broadcast ephemeris, combines the real satellite position and real satellite clock error to generate an analog navigation signal, solves the problem of error between the broadcast satellite orbit and clock error of the analog generated navigation radio frequency signal and the real broadcast satellite orbit and clock error, and improves the accuracy of the broadcast satellite orbit and clock error of the analog generated navigation radio frequency signal;

[0085] 2. The embodiment sets an SSR data generation unit, which generates an output SSR simulation signal by receiving external real SSR data information and synchronously processing the input real SSR data information, solves the problem of errors between the track correction number and the satellite clock difference correction number in the simulated generated SSR data and the real mis-track correction number and satellite clock difference correction number, and improves the accuracy of the track correction number and satellite clock difference correction number in the simulated generated SSR data;

[0086] 3. The embodiment sets a synchronous clock unit, which generates a clock signal by receiving NTP time service and distributes the clock signal to the navigation signal simulation generation unit and the SSR data generation unit, and simultaneously cooperates with the synchronous simulation control parameters output by the navigation signal simulation unit to realize system time and real time synchronization and internal clock synchronization requirements, solve the problem that the simulation time cannot be synchronized with the real scene in the prior art, ensure that the simulation time is synchronized with the real scene, and finally make the precise positioning product test results and real performance consistent.

[0087] Preferably, the real satellite orbit parameter calculation unit is specifically used for:

[0088] extracting the reference time t0, clock difference parameters (including clock bias, clock speed, clock drift, etc.), Kepler six parameters (square root of long semi-axis, eccentricity, orbit inclination, ascending node right ascension, perigee angle distance, and mean perigee angle) of the required satellite in the real in-orbit ephemeris information, and calculating the broadcast orbit position and broadcast clock difference of the simulation satellite at ti time;

[0089] receiving real SSR data information, generating the orbit correction number and clock difference correction number of the simulation satellite at ti time of the required simulated visible satellite through analysis and precise interpolation processing, and converting the generated orbit correction number to the same coordinate system as the broadcast orbit position;

[0090] calculating the real satellite position and real satellite clock difference of the simulation satellite at ti time according to the broadcast orbit position, broadcast clock difference, orbit correction number, and clock difference correction number.

[0091] Preferably, the calculation of the real satellite position and real satellite clock difference of the simulation satellite at ti time according to the broadcast orbit position, broadcast clock difference, orbit correction number, and clock difference correction number is specifically:

[0092] the real satellite position of the simulation satellite at ti time = the broadcast orbit position at ti time + the orbit correction number at ti time;

[0093] the real satellite clock difference of the simulation satellite at ti time = the broadcast clock difference at ti time + the clock difference correction number at ti time.

[0094] Preferably, the reference time t0, the clock difference parameter, the Kepler six parameters, and the orbit perturbation parameters of the satellite required in the real on-orbit broadcast ephemeris information are extracted, and the broadcast orbit position and the broadcast clock difference of the simulation satellite at the time ti are calculated, specifically including the steps of:

[0095] calculating the time offset toi of the corrected simulation time ti relative to the reference time t0: if the time offset toi crosses a period, the time offset toi is corrected by the seconds within a period T of the simulation system, and if the time offset toi is greater than T / 2, the seconds within a period T of the simulation system are subtracted, and if the time offset toi is less than -T / 2, the seconds within a period T of the simulation system are added. Taking the simulation GPS system as an example, the seconds within a week of GPS is 604800 seconds. If toi is greater than 302400 seconds, 604800 seconds (the number of seconds in a week) are subtracted; if toi is less than -302400 seconds, 604800 seconds are added;

[0096] the corrected time offset toi and the extracted Kepler six parameters (square root of long semi-axis, eccentricity, orbit inclination, ascending node right ascension, perigee angle, and mean anomaly) and the orbit perturbation parameters (ascending node right ascension rate, orbit inclination rate, and mean motion difference) are substituted into the orbit calculation formula to generate the broadcast orbit position of the simulation satellite in the geocentric geodetic rectangular coordinate system at the time ti;

[0097] the time offset toi and the extracted clock difference parameter are substituted into the clock difference quadratic term expression to complete the initial clock difference of the polynomial, and then the extracted clock difference parameter is combined with the Kepler six parameters to complete the relativistic effect correction term, and finally the final broadcast clock difference is obtained.

[0098] Preferably, as shown in Figure 2 the navigation signal simulation generation unit specifically includes:

[0099] a broadcast ephemeris correction calculation module, configured to receive the synchronization simulation control parameters output by the signal simulation parameter calculation module and the real on-orbit broadcast ephemeris information sent by the communication unit, generate and output the corrected broadcast ephemeris, and ensure that the simulation time of each system is aligned;

[0100] a simulation trajectory generation module, configured to output corresponding trajectory data to the signal simulation parameter calculation module according to user requirements;

[0101] a simulation error model module, configured to output corresponding error data to the signal simulation parameter calculation module according to user requirements;

[0102] The signal simulation parameter calculation module is configured to simulate and calculate output code pseudo-range dynamic parameters, carrier pseudo-range dynamic parameters and signal power parameters according to input real satellite positions and real satellite clock errors, trajectory data, error data and a synchronization time signal, and to generate corresponding synchronization simulation control parameters according to synchronization timing requirements of satellite navigation signals and SSR signals in a simulation scenario, and output the synchronization simulation control parameters to the broadcast ephemeris correction calculation module and the SSR data generation unit respectively.

[0103] The navigation message arrangement generation module is configured to preprocess received satellite orbit data, clock error data and ionospheric model parameters, encode, frame and modulate the preprocessed data according to a format and a protocol of a navigation message and in combination with the corrected broadcast ephemeris, and generate a final simulation navigation message.

[0104] The navigation signal generation module is configured to generate satellite navigation radio frequency analog signals under synchronization time signal processing according to the code pseudo-range dynamic parameters, the carrier pseudo-range dynamic parameters, the signal power parameters and the simulation navigation message.

[0105] Preferably, the signal simulation parameter calculation module is specifically configured to:

[0106] The communication unit sends real in-orbit broadcast ephemeris information, which is decoded and processed, grouped and labeled according to different navigation systems, and stored, wherein different satellites in the same navigation system have multiple data records at different reference times.

[0107] According to the synchronization simulation control parameters output by the signal simulation parameter calculation module, synchronization interpolation processing is performed to ensure that the simulation message parameters of the navigation system are time-aligned, for example, satellite navigation signals at t0-t3 of satellite navigation system 1 and satellite navigation system 2 need to be simulated, as shown in Figure 3 The decoded satellite navigation system 2 lacks ephemeris information at the reference time t2, and synchronization interpolation processing is used to complete the ephemeris information of satellite navigation system 2 at the time t2, so as to maintain the consistency of each simulation navigation signal message.

[0108] Preferably, the SSR data generation unit specifically includes:

[0109] The SSR synchronization processing module is configured to receive external real SSR data information and perform synchronization processing on the input real SSR data information according to the synchronization simulation control parameters output by the navigation signal simulation generation unit.

[0110] The SSR data framing generation module is configured to frame and output the synchronized real SSR data information according to a standard format to generate an SSR data simulation signal.

[0111] As Figure 4As shown, another preferred embodiment of the present application also provides a precise positioning product test method based on the precise positioning product test system, including the steps of:

[0112] S1, initializing system configuration, configuring test environment parameters, including interface type of the communication unit, synchronization source and synchronization accuracy of the clock synchronization unit, simulation parameters of the navigation signal simulation generation unit and the SSR data simulation generation unit;

[0113] S2, receiving the NTP time synchronization signal of the ground data center and the real in-orbit broadcast ephemeris information and real SSR data information, specifically including:

[0114] S3, calculating real navigation satellite constellation parameters, according to the received real in-orbit broadcast ephemeris information and real SSR data information, calculating and outputting real satellite position and real satellite clock error;

[0115] S4, generating satellite navigation radio frequency simulation signal and SSR data simulation signal according to real satellite position and real satellite clock error, real SSR data information;

[0116] S5, sending the generated satellite navigation radio frequency simulation signal and SSR data simulation signal to the measured precise positioning equipment;

[0117] S6, receiving the test results sent by the measured precise positioning equipment, recording the positioning accuracy, speed measurement accuracy and first positioning time in the test results;

[0118] S7, judging whether the test is finished, if not, returning to step S2, if yes, executing step S8;

[0119] S8, analyzing the test results and generating a test report.

[0120] Compared with the prior art, the embodiment has the following beneficial effects:

[0121] 1. The embodiment extracts real broadcast orbit and real orbit correction parameters from the received real in-orbit broadcast ephemeris information and real SSR data information, calculates real satellite position and real satellite clock error, then synchronously corrects the broadcast ephemeris, combines the real satellite position and real satellite clock error to generate simulated navigation signals, solves the problem of errors between the broadcast satellite orbit and clock error of the simulated navigation radio frequency signal and the real broadcast satellite orbit and clock error, and improves the accuracy of the broadcast satellite orbit and clock error of the simulated navigation radio frequency signal;

[0122] 2. The embodiment receives external real SSR data information, synchronously processes the input real SSR data information to generate an output SSR simulation signal, solves the problem of errors between the track correction number and satellite clock correction number in the simulated generated SSR data and the real mis-track correction number and satellite clock correction number, and improves the accuracy of the track correction number and satellite clock correction number in the simulated generated SSR data;

[0123] 3. The embodiment receives NTP time service to generate a clock signal, and cooperates with the synchronous simulation control parameters output by the navigation signal simulation unit to realize system time and real time synchronization and internal clock synchronization requirements, solves the problem that the simulation time in the prior art cannot be synchronized with the real scene, ensures that the simulation time is synchronized with the real scene, and finally makes the precise positioning product test results and real performance consistent.

[0124] Preferably, the step S1 specifically comprises:

[0125] S11, configuring the interface type of the communication unit as wired network and wireless network; in this process, the stability and reliability of the communication unit are ensured to ensure smooth and error-free data transmission process in the subsequent process;

[0126] S12, setting the synchronization source of the clock synchronization unit as a ground data center, and the synchronization accuracy is ±1 microsecond; through a strict clock synchronization mechanism, the time reference of each component in the system is ensured to be consistent, thereby improving the accuracy of the test results;

[0127] S13, initializing the simulation parameters of the navigation signal simulation generation unit and the SSR data simulation generation unit, including setting the frequency of the simulation signal as 1575.42 MHz, the occupied bandwidth as 2.5 kHz, and the chip rate as 1 Mbps; these parameter settings ensure the consistency of the simulation signal and the actual navigation signal, thereby better simulating the real navigation signal environment.

[0128] Preferably, the step S2 specifically comprises the following steps:

[0129] S21, receiving the NTP time service information sent by the ground data center through the communication network unit, and the receiving time interval is 30 seconds; in this process, the stability of the communication network is ensured to avoid loss or delay of the time service information;

[0130] S22, completing system clock synchronization through the clock synchronization unit according to the NTP time service information; through a strict time synchronization mechanism, the time reference of each component in the system is ensured to be consistent, thereby improving the accuracy of the test results;

[0131] S23, receiving real in-orbit broadcasting ephemeris information and real SSR data information, and the information update period is 30 seconds; during the receiving process, the data integrity and accuracy are ensured, so as to facilitate subsequent parameter calculation.

[0132] Preferably, the step S3 specifically comprises the steps of:

[0133] S31, analyzing the real in-orbit broadcasting ephemeris information to obtain broadcast orbit position and broadcast clock difference, wherein the broadcast orbit position accuracy is ±10 meters, and the broadcast clock difference accuracy is ±1 microsecond; through the accurate analysis process, the step ensures that the obtained parameters can accurately reflect the actual state of the satellite;

[0134] S32, analyzing the real SSR data information to obtain orbit correction number and clock correction number, wherein the orbit correction number accuracy is ±1 meter, and the clock correction number accuracy is ±10 microseconds; through the accurate analysis process, the step ensures that the obtained parameters can accurately reflect the actual state of the satellite;

[0135] S33, calculating the real satellite position and real satellite clock difference of the real navigation satellite constellation according to the broadcast orbit position and broadcast clock difference, the orbit correction number and the clock correction number; through comprehensive consideration of various parameters, the step ensures the accuracy of the calculation result;

[0136] S34, calculating the pseudo-range and carrier signal phase simulation parameters of the simulation signal according to the spatial relationship between the real satellite position trajectory of the real navigation satellite constellation and the measured terminal trajectory, wherein the pseudo-range accuracy is ±1 meter, and the carrier signal phase simulation parameter accuracy is ±0.1 microsecond; through the accurate spatial relationship calculation, the step ensures the accuracy of the simulation parameters.

[0137] Preferably, the step S4 specifically comprises the steps of:

[0138] S41, generating a ranging code according to the calculated pseudo-range and carrier signal phase simulation parameters; through the accurate simulation parameters, the step ensures the accuracy of the ranging code;

[0139] S42, simulating and generating a corrected simulation navigation message according to the calculated real satellite clock difference; through the accurate clock difference correction, the step ensures the effectiveness of the navigation message;

[0140] S43, spreading and modulating the corrected simulation navigation message to generate a digital baseband navigation signal; through the effective spread spectrum modulation technology, the step ensures the anti-interference ability of the navigation signal;

[0141] S44, performing digital-to-analog conversion and up-conversion on the digital baseband navigation signal to generate a navigation radio frequency signal; through the accurate digital-to-analog conversion and up-conversion process, the step ensures the accuracy of the navigation radio frequency signal;

[0142] S45, according to the synchronous simulation control parameter, the real SSR data information is interpolated, and the accurate correction value of the simulation position is generated; through the high-precision interpolation technology, the accuracy of the correction value is ensured;

[0143] S46, the SSR data simulation result is packaged according to the general standard format, and the SSR data simulation signal is generated; through the standardized format packaging, the readability and compatibility of the data are ensured.

[0144] Preferably, the step S5 specifically comprises the steps of:

[0145] S51, the navigation signal and the SSR data simulation signal are sent to the measured precision positioning device through the communication unit; during the sending process, the integrity and accuracy of the signal are ensured, so that the measured device can be effectively tested;

[0146] S52, the working mode of the measured precision positioning device is set to an automatic detection mode, and through the automatic detection mode, the test efficiency and accuracy are improved.

[0147] Preferably, the step S6 specifically comprises the steps of:

[0148] S61, the test result sent by the measured precision positioning device is received through the communication interaction access device; during the receiving process, the integrity and accuracy of the test result are ensured;

[0149] S62, the positioning accuracy, the speed measurement accuracy and the first positioning time in the test result are recorded, wherein the positioning accuracy is ±1 meter, the speed measurement accuracy is ±0.1 meter / second, and the first positioning time is not more than 30 seconds; through the accurate recording, the accuracy and traceability of the test result are ensured.

[0150] Preferably, the step S8 specifically comprises the steps of:

[0151] S81, the test result is analyzed; through the in-depth data analysis, the potential problems in the test are found;

[0152] S82, whether the test result meets the preset test requirement is judged; through the strict test requirement, the performance of the product is ensured to reach the expectation;

[0153] S83, a detailed test report is generated; through the detailed report, the test process and result are recorded, so as to be analyzed and improved subsequently.

[0154] As Figure 5 shown, the preferred embodiment of the present application also provides an electronic device, which comprises a memory, a processor and a computer program stored in the memory and executable on the processor, and the processor implements the steps of the precision positioning product test method in the above embodiment when executing the computer program.

[0155] The electronic device provided in the present application adopts the precise positioning product test method in the above embodiment to solve the technical problem that the existing precise positioning product test result is inconsistent with the actual performance. Compared with the prior art, the electronic device provided in the present application has the same beneficial effects as the precise positioning product test method provided in the above embodiment, and other technical features in the electronic device are the same as the features disclosed in the above embodiment method, which will not be repeated here.

[0156] As shown in Figure 6 The preferred embodiment of the present application further provides a computer device, which can be a terminal or a living body detection server, and its internal structure diagram can be as shown in Figure 6 The computer device includes a processor, a memory and a network interface connected through a system bus. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operating system and the computer program in the non-volatile storage medium to run. The network interface of the computer device is used to communicate with other computer devices outside through network connection. The computer program is executed by the processor to implement the steps of the above precise positioning product test method.

[0157] Those skilled in the art can understand that Figure 6 The structure shown in the above embodiment is only a block diagram of part of the structure related to the scheme of the present application, and does not constitute a limitation on the computer device to which the scheme of the present application is applied. Specifically, the computer device can include more or fewer components than those shown in the figure, or combine certain components, or have a different component arrangement.

[0158] The computer device provided in the present application adopts the precise positioning product test method in the above embodiment to solve the technical problem that the existing precise positioning product test result is inconsistent with the actual performance. Compared with the prior art, the electronic device provided in the present application has the same beneficial effects as the precise positioning product test method provided in the above embodiment, and other technical features in the electronic device are the same as the features disclosed in the above embodiment method, which will not be repeated here.

[0159] The preferred embodiment of the present application further provides a storage medium, which includes a stored program. When the program runs, it controls the device where the storage medium is located to perform the steps of the precise positioning product test method in the above embodiment.

[0160] It is to be understood that the steps illustrated in the flowchart of the drawings can be performed in a computer system such as a set of computer readable instructions executed by a computer system and while logic associated with the steps is being executed, processes can inadvertently be carried out in an order other than that described herein. However, it is the results that are important for the aspects of this description, not the order.

[0161] If the functions described in the method of the embodiments are implemented in software, the functions can be stored in one or more of a computer readable medium, a computer storage medium, or a computer memory device. Based on the understanding thus far, the embodiments of the present application make contributions to the prior art in the following aspects or parts of the technical solutions can be embodied in the form of a software product, which is stored in a storage medium and includes a number of instructions executed by one or more computer devices (which can be a personal computer, a server, a mobile computing device, or a network device, etc.) to enable the computer device to perform all or part of the steps of the methods described in the embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various media that can store program codes.

[0162] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROMs, optical storage devices, etc.) containing computer-usable program code. The solutions in the embodiments of the present application can be implemented in various computer languages, such as the object-oriented programming language C++ and the embedded programming language C.

[0163] The present application is described with reference to flowcharts and / or block diagrams according to the methods, devices (systems), and computer program products of the embodiments of the present application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, as well as combinations of flows and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device produce a device that implements the functions specified in the flowcharts and / or block diagrams. Figure 1 The functions specified in one flow or multiple flows and / or blocks Figure 1 The functions specified in one flow or multiple flows and / or blocks

[0164] These computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture including instructions which implement the flow Figure 1 one or more flowcharts and / or blocks Figure 1 one or more flowcharts and / or blocks

[0165] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flow Figure 1 one or more flowcharts and / or blocks Figure 1 one or more flowcharts and / or blocks

[0166] The present application also provides a computer program product comprising a computer program which, when executed by a processor, implements the steps of the method for testing a precise positioning product as described above.

[0167] The computer program product provided by the present application solves the technical problem that the test result of the precise positioning product does not match the actual performance. Compared with the prior art, the beneficial effects of the computer program product provided by the present application are the same as those of the method for testing a precise positioning product provided by the above-described embodiments, and are not described here in detail.

[0168] Although the preferred embodiments of the present application have been described, those skilled in the art who are familiar with the basic inventive concept can make additional changes and modifications to the embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the present application.

[0169] Obviously, those skilled in the art can make various modifications and variations to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A precision positioning product testing system, characterized in that, include: The communication unit is connected to the ground data center signal and is used to transmit the NTP time synchronization signal provided by the ground data center to the clock synchronization unit, as well as to transmit the real on-orbit broadcast ephemeris information and real SSR data information to the real satellite orbit parameter calculation unit. The clock synchronization unit is used to receive NTP time synchronization signals, realize system clock synchronization, and provide synchronization time signals to the navigation signal simulation generation unit, SSR data generation unit and external clock. The real satellite orbit parameter calculation unit is used to receive real on-orbit broadcast ephemeris information and real SSR data information, and calculate and output the real satellite position and real satellite clock error at time ti. The navigation signal simulation generation unit receives synchronization time signals, actual on-orbit broadcast ephemeris information, actual satellite positions, and actual satellite clock errors. It then simulates and outputs synchronization simulation control parameters and satellite navigation radio frequency analog signals, specifically including: The broadcast ephemeris correction calculation module is used to receive the synchronous simulation control parameters output by the signal simulation parameter calculation module and the real on-orbit broadcast ephemeris information sent by the communication unit, and generate the corrected broadcast ephemeris to ensure that the simulation times of each system are aligned. The simulation trajectory generation module configures the corresponding trajectory data according to user requirements and outputs it to the signal simulation parameter calculation module. The simulation error model module outputs corresponding error data to the signal simulation parameter calculation module according to user requirements. The signal simulation parameter calculation module is used to simulate and calculate the output pseudocode pseudorange dynamic parameters, carrier pseudorange dynamic parameters, and signal power parameters based on the input real satellite position, real satellite clock difference, trajectory data, error data, and synchronization time signal. At the same time, it also generates corresponding synchronization simulation control parameters according to the synchronization timing requirements of satellite navigation signals and SSR signals generated in the simulation scenario, and outputs them to the broadcast ephemeris correction calculation module and the SSR data generation unit respectively. The navigation message arrangement and generation module is used to preprocess the received satellite orbit data, clock error data, and ionospheric model parameters. According to the format and protocol of the navigation message, it encodes, frames, and modulates the preprocessed data in combination with the corrected broadcast ephemeris to generate the final simulated navigation message. The navigation signal generation module is used to generate satellite navigation radio frequency analog signals based on pseudocode pseudorange dynamic parameters, carrier pseudorange dynamic parameters, signal power parameters, and simulated navigation messages under synchronous time signal processing. The SSR data generation unit is used to receive the synchronization time signal, the real SSR data information, and the synchronization simulation control parameters output by the navigation signal simulation generation unit, and generate the SSR data simulation signal.

2. The precision positioning product testing system according to claim 1, characterized in that, The real satellite orbit parameter calculation unit is specifically used for: Extract the reference time t0, clock error parameters, Kepler six parameters, and orbital perturbation parameters of the satellite required for real on-orbit broadcast ephemeris information, and calculate the broadcast orbit position and broadcast clock error of the simulated satellite at time ti; Receive real SSR data information, generate the required orbit correction and clock error correction of the simulated visible satellite at time ti through parsing and precise interpolation, and convert the generated orbit correction to the same coordinate system as the broadcast orbit position; The actual satellite position and actual satellite clock error of the simulated satellite at time ti are calculated based on the broadcast orbit position, broadcast clock error, orbit correction, and clock error correction.

3. The precision positioning product testing system according to claim 2, characterized in that, The calculation of the simulated satellite's true satellite position and true satellite clock error at time ti based on the broadcast orbit position, broadcast clock error, orbit correction, and clock error correction is specifically as follows: The actual satellite position of the simulated satellite at time ti = the broadcast orbit position at time ti + the orbital correction at time ti; The actual satellite clock error of the simulated satellite at time ti = the broadcast clock error at time ti + the clock error correction at time ti.

4. The precision positioning product testing system according to claim 2, characterized in that, Extract the reference time t0, clock bias parameters, Kepler six parameters, and orbital perturbation parameters of the satellite required for actual on-orbit broadcast ephemeris information, and calculate the broadcast orbit position and broadcast clock bias of the simulated satellite at time ti. The specific steps include: Calculate the time offset toi of the corrected simulation time ti relative to the reference time t0: If the time offset toi spans a period, it is corrected by the number of seconds T within the period of the simulation system. When correcting, if the time offset toi is greater than T / 2, the number of seconds T within the period of the simulation system is subtracted; if toi is less than -T / 2, the number of seconds T within the period of the simulation system is added. Substitute the corrected time offset toi and the extracted Kepler six parameters and orbit perturbation parameters into the orbit calculation formula to generate the broadcast orbit position of the simulated satellite in the geocentric and geofixed rectangular coordinate system at time ti. Substitute the time offset toi and the extracted clock error parameters into the quadratic expression of the clock error to complete the initial clock error term. Then, combine the extracted clock error parameters with the Kepler six parameters to complete the relativistic effect correction term. Finally, fuse them to obtain the final broadcast clock error.

5. The precision positioning product testing system according to claim 1, characterized in that, The signal simulation parameter calculation module is specifically used for: The actual on-orbit broadcast ephemeris information sent by the communication unit is decoded and stored in groups labeled according to different navigation systems. Among them, different satellites of the same navigation system have multiple data records with different reference times. Based on the synchronous simulation control parameters output by the signal simulation parameter calculation module, synchronous interpolation processing is performed to ensure the time alignment of the simulation message parameters of the navigation system.

6. The precision positioning product testing system according to claim 1, characterized in that, The SSR data generation unit specifically includes: The SSR synchronization processing module is used to receive external real SSR data information and perform synchronization processing on the input real SSR data information according to the synchronization simulation control parameters output by the navigation signal simulation generation unit. The SSR data framing generation module is used to frame and output the real SSR data information after synchronization processing in a standard format to generate an SSR data analog signal.

7. A method for testing precision positioning products, based on the precision positioning product testing system as described in any one of claims 1 to 6, characterized in that, Including the following steps: S1. Initialize system configuration and configure test environment parameters, including the interface type of the communication unit, the synchronization source and synchronization accuracy of the clock synchronization unit, and the simulation parameters of the navigation signal simulation generation unit and the SSR data simulation generation unit. S2. Receive NTP time synchronization signals from the ground data center and real on-orbit broadcast ephemeris information and real SSR data information; S3. Calculate the actual navigation satellite constellation parameters. Based on the received actual on-orbit broadcast ephemeris information and actual SSR data information, calculate and output the actual satellite position and actual satellite clock error. S4. Generate satellite navigation radio frequency analog signals and SSR data analog signals based on the real satellite position, real satellite clock difference, and real SSR data information; S5. Send the generated satellite navigation radio frequency analog signal and SSR data analog signal to the precision positioning device under test; S6. Receive the test results sent by the precision positioning device under test, and record the positioning accuracy, speed measurement accuracy and first positioning time in the test results; S7. Determine whether the test has ended. If not, return to step S2; otherwise, proceed to step S8. S8. Analyze the test results and generate a test report.

8. The precision positioning product testing method according to claim 7, characterized in that, Step S3 specifically includes the following steps: S31. Analyze the actual on-orbit broadcast ephemeris information to obtain the broadcast orbit position and broadcast clock error, wherein the broadcast orbit position accuracy is ±10 meters and the broadcast clock error accuracy is ±1 microsecond. S32. Analyze the real SSR data information to obtain the orbital correction and clock error correction, where the accuracy of the orbital correction is ±1 meter and the accuracy of the clock error correction is ±10 microseconds; S33. Calculate the actual satellite positions and actual satellite clock errors of the actual navigation satellite constellation based on the broadcast orbit positions and broadcast clock errors, orbit corrections and clock error corrections; S34. Based on the spatial relationship between the actual satellite position trajectory of the real navigation satellite constellation and the trajectory of the terminal under test, calculate the pseudorange of the simulated signal and the phase simulation parameters of the carrier signal. The pseudorange accuracy is ±1 meter, and the phase simulation parameter accuracy of the carrier signal is ±0.1 microsecond.

9. The precision positioning product testing method according to claim 7, characterized in that, Step S4 specifically includes the following steps: S41. Generate a ranging code based on the calculated pseudorange and carrier signal phase simulation parameters; S42. Based on the calculated real satellite clock error, generate a corrected simulated navigation message. S43. Spread spectrum modulation is applied to the corrected simulation navigation message to generate a digital baseband navigation signal; S44. Convert the digital baseband navigation signal to analog-to-digital conversion and up-conversion to generate a navigation radio frequency signal; S45. Based on the synchronous simulation control parameters, interpolate the real SSR data information to generate accurate correction values ​​for the simulation position. S46. Encapsulate the SSR data simulation results according to the general standard format to generate the SSR data analog signal.

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