A compatible verification method and system applied to a Beidou positioning system

Abstract

The application relates to a compatible verification method and system applied to a Beidou positioning system and relates to the technical field of the positioning system, which comprises the following steps: collecting terminal system information and application program information; calling instruction types from the terminal system information; calling application instruction types from the application program information; comparing the instruction types and the application instruction types to obtain a conversion format; outputting the conversion format through a preset compatible module to convert the application program type; collecting positioning request information of the application program type; obtaining a terminal driving type based on the positioning request information and the terminal system information; collecting positioning information through the terminal driving type, and reporting and replying to the positioning request information according to the positioning information. The application has the effect of improving the compatibility of the application program in positioning.

Description

Technical Field

[0001] This invention relates to the technical field of positioning systems, and in particular to a compatibility verification method and system for the BeiDou positioning system. Background Technology

[0002] A positioning system is a system that uses technologies such as satellites, base stations, and inertial sensors to obtain key information such as the real-time location, speed, and timestamps of a target (such as a vehicle, drone, or mobile phone) and converts this information into usable data.

[0003] When users need to use the location system, they usually do so by downloading an application on their smart device. After the application is downloaded, the device's system checks whether the application matches the processor's instruction set. After the application matches the processor's instruction set, it needs to verify the compatibility between the application's standard system API and the deeply customized terminal system. Only when the application completes all the matching verifications can it retrieve the location system data from the system for use.

[0004] When users use the location system through an application, different user terminals have corresponding instruction sets and deeply customized terminal systems, which may cause the application to be unavailable or unable to use the terminal's location system. Summary of the Invention

[0005] To improve the compatibility of applications using location services, this invention provides a compatibility verification method and system for the BeiDou positioning system.

[0006] In a first aspect, the present invention provides a compatibility verification method for the BeiDou positioning system, which adopts the following technical solution:

[0007] A compatibility verification method for the BeiDou positioning system includes:

[0008] S10: Collect terminal system information and application information;

[0009] S11: Retrieve instruction type from terminal system information;

[0010] S12: Retrieve the application instruction type from the application information;

[0011] S13: Compare the consistency between the instruction type and the application instruction type to obtain the conversion format;

[0012] S14: Convert the application type by outputting a conversion format through a preset compatibility module;

[0013] S15: Collect location request information for the application type;

[0014] S16: Obtain the terminal driver type based on the location request information and terminal system information;

[0015] S17: Collect location information through the terminal driver type, and report and reply to the location request information based on the location information.

[0016] By adopting the above technical solution, the conversion format and terminal driver type are obtained by analyzing the terminal system information and application information. The compatibility module is controlled to output the conversion format to convert the application type. The terminal driver type is used to collect location information, and the location request information is reported and replied to based on the location information. Thus, the compatibility module can be used to convert the format of instruction data and identify and retrieve functions between different applications and different systems, so that different applications can be used on different systems, thereby improving the compatibility of applications using location.

[0017] Optional, also includes:

[0018] S20: Update the positioning information based on the preset detection location;

[0019] S21: Retrieve BeiDou detection data and tag data from positioning information;

[0020] S22: Obtain the impact value and impact type by detecting location and positioning information;

[0021] S23: Compare the consistency between the impact type and the BeiDou detection data or the impact type and the labeled data, and combine the impact value to obtain the fusion weight;

[0022] S24: Output data is obtained based on BeiDou detection data, labeled data, and fusion weights;

[0023] S25: Compare the output data with the preset benchmark data and report the final verification information.

[0024] By adopting the above technical solution, the compatibility module combines BeiDou detection data and marker data with fusion weights to obtain output data, and compares the consistency between the output data and the reference data to report the final verification information. This verifies the compatibility module's ability to integrate multiple positioning systems, thereby improving the accuracy of the application's output positioning.

[0025] Optionally, methods for obtaining the fusion weights include:

[0026] S30: Update BeiDou detection data and tag data based on preset detection trajectories;

[0027] S31: Based on BeiDou detection data, marker data, and detection trajectory, obtain the actual detection trajectory and the actual marker trajectory;

[0028] S32: Compare the actual trajectory with the detected trajectory, and mark the consistency between the actual trajectory and the detected trajectory to obtain the lateral deviation in radians;

[0029] S33: The label weight is obtained by comparing the lateral deviation radian with the detection trajectory;

[0030] S34: Obtain the fusion weight based on the label weight and influence value.

[0031] Optionally, the verification methods for the labeled weights include:

[0032] S40: Retrieve reference change data and reference acceleration from terminal system information;

[0033] S41: Obtain detection change data and tag change data by using BeiDou detection data and tag data;

[0034] S42: Obtain the acceleration of change based on the detected change data and the labeled change data;

[0035] S43: Compare the detected change data with the baseline change data or the marked change data with the baseline change data to obtain the value of the impact of the speed change;

[0036] S44: Compare the consistency between the changed acceleration and the reference acceleration to obtain the acceleration effect value;

[0037] S45: Update the label weights based on the influence values ​​of velocity change and acceleration.

[0038] Optional, also includes:

[0039] S50: The actual location information and operating trajectory of the data acquisition terminal system;

[0040] S51: Determine the anomaly type based on BeiDou detection data;

[0041] S52: Retrieve the anomaly range of the anomaly type from the running trajectory;

[0042] S53: Update the actual location information and BeiDou detection data through preset benchmark detection parameters, and control other preset positioning systems to update the marker data. Based on the actual location information, BeiDou detection data and marker data, obtain the final output location, and output the final output location as positioning information.

[0043] Optional methods for determining the final output location include:

[0044] S60: Establish a location comparison model based on actual location information, BeiDou detection data, and marker data;

[0045] S61: Obtain the switching location point by analyzing the running trajectory and the abnormal range;

[0046] S62: When the BeiDou detection data matches the switching location point, the control terminal system information shuts down the BeiDou positioning system and turns on other positioning systems to update the marker data;

[0047] S63: Obtain the final output location by comparing the labeled data with the location comparison model.

[0048] By adopting the above technical solution and establishing a location comparison model, the terminal can use the marker data obtained by other positioning systems to obtain the final output location within an abnormal range. This improves the accuracy of positioning by other positioning systems when the BeiDou positioning system is not readily available.

[0049] Optionally, methods for determining the benchmark detection parameters include:

[0050] S70: Retrieve positioning specifications from terminal system information;

[0051] S71: Use the positioning specification to retrieve the warm-up time of other positioning systems and retrieve the data acquisition frequency from the positioning specification;

[0052] S72: Calculate the product of the hot start time and the preset terminal moving speed as the start-up adaptation distance;

[0053] S73: The acquisition duration is obtained based on the data acquisition frequency and the preset number of model acquisitions;

[0054] S74: Calculate the product of the acquisition time and the terminal's moving speed as the acquisition distance;

[0055] S75: Calculate the sum of the acquisition distance and the start-up adaptation distance as the benchmark detection distance, and use the benchmark detection distance as the benchmark detection parameter.

[0056] Optionally, the method for determining the benchmark detection parameters also includes:

[0057] S80: Obtain the remaining trajectory and abnormal environment type by analyzing the running trajectory and the abnormal range;

[0058] S81: Obtain the detected environment type and marked trajectory based on the abnormal environment type and the remaining trajectory;

[0059] S82: Compare the detection environment type with the abnormal environment type to obtain the deviation coefficient value;

[0060] S83: Obtain the starting position point based on the marked trajectory;

[0061] S84: Update the starting position point based on the starting adaptive distance, and update the marker data of the marker trajectory through the deviation coefficient value;

[0062] S85: Add the starting position point and deviation coefficient value to the reference detection parameters.

[0063] Optional methods for verifying the deviation coefficient values ​​include:

[0064] S90: Obtain the abnormal trajectory by analyzing the running trajectory and the abnormal range;

[0065] S91: Extract the changed trajectory and angle from the abnormal trajectory;

[0066] S92: Obtain the change coefficient value based on the change angle and the type of abnormal environment;

[0067] S93: The data acquisition location is determined based on the terminal's moving speed and data acquisition frequency;

[0068] S94: The data acquisition location located on the changing trajectory is taken as the change acquisition location;

[0069] S95: Update the deviation coefficient value of the changed acquisition location based on the change coefficient value.

[0070] Secondly, this application provides a compatibility verification system for the BeiDou positioning system, which adopts the following technical solution:

[0071] A compatibility verification system for the BeiDou positioning system includes:

[0072] The acquisition module is used to acquire terminal system information, application information, location request information, and location information.

[0073] A memory for storing a program for a compatibility verification method applied to the BeiDou positioning system;

[0074] The processor is used to load and execute programs stored in memory.

[0075] In summary, this application includes at least one of the following beneficial technical effects:

[0076] 1. By analyzing terminal system information and application information to obtain conversion format and terminal driver type, the compatibility module outputs conversion format to convert application type, and collects location information through terminal driver type. Based on the location information, the location request information is reported and replied to. Thus, the compatibility module can be used to convert the format of instruction data and identify and retrieve functions between different applications and different systems, so that different applications can be used on different systems, thereby improving the compatibility of applications using location.

[0077] 2. By combining BeiDou detection data and labeled data with fusion weights through the compatibility module to obtain output data, and comparing the consistency between the output data and the reference data, the final verification information is reported. This verifies the compatibility module's ability to fuse multiple positioning systems, thereby improving the accuracy of the application's output positioning.

[0078] 3. By establishing a location comparison model, the terminal can use the marker data obtained from other positioning systems to obtain the final output location within an abnormal range, thereby improving the accuracy of positioning by other positioning systems when the BeiDou positioning system is not readily available. Attached Figure Description

[0079] Figure 1 This is a method flow diagram of a compatibility verification method applied to the BeiDou positioning system according to an embodiment of the present invention. Figure 1 ;

[0080] Figure 2 This is a method flow diagram of a compatibility verification method applied to the BeiDou positioning system according to an embodiment of the present invention. Figure 2 . Detailed Implementation

[0081] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments.

[0082] Reference Figure 1 This application discloses a compatibility verification method for the BeiDou positioning system, comprising the following steps:

[0083] S10: Collect terminal system information and application information.

[0084] Terminal system information refers to the parameter information of the terminal that needs to use the BeiDou positioning system, while application information refers to the parameter information of the application that needs to access and use the data of the BeiDou positioning system within the terminal. The terminal system information and application information can be accessed through the compatible middleware built in the system.

[0085] In this embodiment, the compatible middleware includes: multi-mode fusion protocol architecture, intelligent protocol stack development, security enhancement protocol, security architecture design, and peripheral interface adaptation.

[0086] Multi-mode fusion protocol architecture: Based on the BeiDou-3 RDSS / SBAS enhanced service protocol, a protocol framework supporting hybrid modes is constructed.

[0087] Intelligent protocol stack development: Design a layered protocol stack, with three layers: physical layer, data layer, and application layer, supporting standard interfaces.

[0088] Security Enhancement Protocol: An authentication mechanism is embedded in the protocol, using the national cryptographic algorithms SM2 / SM3 for integrity verification to prevent spoofing attacks. A dynamic key derivation system is established, generating session keys based on the chip-level root key to ensure secure transmission of differential data.

[0089] Security architecture design: Runs a secure microkernel system, responsible for key management and secure boot, compatible with open systems, and isolates peripheral access permissions through a virtualization layer.

[0090] Peripheral interface adaptation: Develop unified standardized interfaces for devices, including Beidou tri-frequency antenna interface, vehicle bus interface, encrypted TF card interface, etc.

[0091] S11: Retrieve instruction type from terminal system information.

[0092] Instruction type refers to the instruction set architecture type of the terminal's binary code, which is retrieved from the terminal system information.

[0093] S12: Retrieve the application instruction type from the application information.

[0094] Application instruction type refers to the instruction set architecture type of the application's binary code, which is obtained by retrieving the application instruction type from the application information.

[0095] S13: Compare the consistency between the instruction type and the application instruction type to obtain the conversion format.

[0096] The conversion format refers to the format used to convert binary code to a format compatible with the terminal's instruction type. By analyzing the consistency between the instruction type and the application instruction type, when the instruction type and the application instruction type are inconsistent, it indicates that the application is incompatible with the terminal's instruction set architecture and may fail to install. In this case, the conversion format is matched from a preset conversion lookup table by matching the instruction type and the application instruction type.

[0097] The conversion lookup table stores the conversion formats corresponding to different instruction types and application instruction types. The parameters in the conversion lookup table are set in advance by those skilled in the art based on actual conditions, and will not be elaborated here.

[0098] The conversion lookup table stores the following correspondence: when the application instruction type is ARMv8-A and the terminal instruction type is RISC-V, the corresponding conversion format is to load the dynamic binary translator XYZ-Translator.

[0099] S14: Convert the application type by outputting a conversion format through a preset compatibility module.

[0100] The compatibility module refers to the compatibility middleware in S10. By controlling the output conversion format of the compatibility module, the instruction set architecture of an application type can be converted into a new application type that is compatible with the terminal.

[0101] S15: Collect location request information for the application type.

[0102] Location request information refers to the standard system API that an application requests for location data collection at runtime. The location request information is obtained by calling the standard system API for location data collection based on the application type from the system.

[0103] S16: Obtain the terminal driver type based on the location request information and terminal system information.

[0104] Terminal driver type refers to the standard API type of the terminal system. The terminal driver type is obtained by combining the location request information and the terminal system information. The method for obtaining the terminal driver type is common knowledge to those skilled in the art and will not be described in detail here.

[0105] S17: Collect location information through the terminal driver type, and report and reply to the location request information based on the location information.

[0106] Location information refers to the coordinate data information of the terminal's location. Location data is collected based on the terminal driver type in the terminal system, and the collected coordinate data is used as location information to report and respond to location requests. In this embodiment, the terminal collects location data through the BeiDou positioning system and a GPS module.

[0107] Reference Figure 2 It also includes:

[0108] S20: Update the positioning information based on the preset detection location.

[0109] The detection location is the position where the terminal needs to be located, as set by the technician. This detection location can be preset or collected when the user uses the application. When the detection location is output, the positioning information is collected again.

[0110] S21: Retrieve BeiDou detection data and tagging data from positioning information.

[0111] Beidou detection data refers to the positioning data collected by the Beidou positioning system on the terminal, while tagging data refers to the positioning data collected by the GPS module on the terminal. The Beidou detection data and tagging data are retrieved from the positioning information.

[0112] S22: Obtain the impact value and impact type by detecting location and positioning information.

[0113] The impact value refers to the coordinate deviation between the detection location and the positioning information, which is obtained by calculating the Euclidean distance between the detection location and the positioning information. The impact type refers to the type of deviation in the positioning information of the detection location. By matching the impact value with the positioning information from a preset positioning lookup table, the types of anomalies (types that affect the deviation of the positioning information) are identified, and the types of anomalies located around the detection location are taken as the impact type.

[0114] The location lookup table stores the types of anomalies corresponding to different impact values ​​of location information. Each anomaly type has parameters that can affect the impact value of the location information. For example, a building height of 15 meters and electromagnetic interference of 5 Hz will both cause deviations in the impact value of the location information. The parameters in the location lookup table were pre-set experimentally by those skilled in the art based on actual conditions and will not be elaborated here.

[0115] S23: Compare the consistency between the impact type and the BeiDou detection data or the impact type and the labeled data, and combine the impact value to obtain the fusion weight.

[0116] Fusion weight refers to the weight ratio of the parameters for merging BeiDou detection data and labeled data for positioning. By analyzing the consistency between the impact type and the type of anomaly corresponding to BeiDou detection data, or the impact type and the type of anomaly corresponding to labeled data, it is determined whether the impact type affects BeiDou detection data or labeled data, and the fusion weight is obtained by combining the impact value.

[0117] S24: Output data is obtained based on BeiDou detection data, labeled data, and fusion weights.

[0118] Output data refers to the positioning data obtained by calculating and fusing the fusion weights corresponding to BeiDou detection data and marker data. The positioning data obtained by calculating and fusing the weights of BeiDou detection data, marker data, and fusion weights is used as output data.

[0119] S25: Compare the output data with the preset benchmark data and report the final verification information.

[0120] The final verification information refers to the information used to verify the accuracy of the positioning data fused by the compatibility module. The reference data is the permissible coordinate data of the detection location set by technicians. By analyzing the consistency between the output data and the reference data, if the output data matches the reference data, it indicates that the positioning data fused from the BeiDou detection data and the marker data is within the permissible range, thus proving that the compatibility module has passed the data fusion verification.

[0121] Methods for obtaining fusion weights include:

[0122] S30: Update BeiDou detection data and tagging data based on preset detection trajectories.

[0123] The detection trajectory is a path set by technicians to verify the accuracy of dynamic positioning. Alternatively, the detection trajectory can be generated by the user inputting the start and end points in the application. The detection trajectory is used to re-collect BeiDou detection and tagging data.

[0124] S31: Based on BeiDou detection data, marker data, and detection trajectory, the actual detection trajectory and the actual marker trajectory are obtained.

[0125] The detected actual trajectory refers to the actual movement path formed by the positioning collected by the BeiDou positioning system within the time series of the detected trajectory, while the marked actual trajectory refers to the actual movement path formed by the positioning collected by the GPS module within the time series of the detected trajectory.

[0126] The actual detected trajectory is obtained by retrieving the time series of data from the terminal to detect the trajectory movement, and then connecting the BeiDou detection data corresponding to this time series. The actual track is then obtained by connecting the labeled data corresponding to this time series.

[0127] S32: Compare the actual trajectory with the detected trajectory, and mark the consistency between the actual trajectory and the detected trajectory to obtain the lateral deviation radian.

[0128] Lateral deviation radians refer to the arc length of the curved path that appears when there is a lateral positioning deviation between the actual detection trajectory and the detected trajectory, or between the actual marker trajectory and the detected trajectory. By analyzing the consistency between the actual detection trajectory and the detected trajectory, and between the actual marker trajectory and the detected trajectory, inconsistent path segments are extracted from the actual detection trajectory, and the arc length of these path segments is taken as the lateral deviation radians. Similarly, inconsistent path segments are extracted from the actual marker trajectory and the detected trajectory, and the arc length of these path segments is taken as the lateral deviation radians.

[0129] S33: The label weight is obtained by comparing the lateral deviation arc with the detection trajectory.

[0130] Label weight refers to the standard weight ratio for data fusion when the positioning information is not affected by external factors. It is determined by retrieving the frequency of occurrence of lateral deviation arc from the detection trajectory and matching the frequency of occurrence with the lateral deviation arc from the positioning lookup table.

[0131] The positioning comparison table stores the label weights corresponding to different lateral deviation radians and their occurrence frequencies. The smaller the lateral deviation radian, the better the positioning data matches the detection trajectory. The smaller the occurrence frequency, the more stable the positioning data, and the larger the proportion of the label weight. This will not be elaborated further here.

[0132] S34: Obtain the fusion weight based on the label weight and influence value.

[0133] The coefficient values ​​are matched from the positioning lookup table by the influence values, and the product of the coefficient values ​​and the label weights is calculated to obtain the fusion weight.

[0134] Methods for verifying label weights include:

[0135] S40: Retrieve reference change data and reference acceleration from the terminal system information.

[0136] Reference change data refers to the amount of positioning data generated when the terminal moves, reflecting the speed of the terminal during movement. Reference acceleration refers to the maximum allowable acceleration when the terminal moves. It is obtained by retrieving speed parameters from the device equipped with the terminal as reference change data and retrieving the maximum acceleration from the device specifications as reference acceleration.

[0137] S41: Obtain detection change data and tag change data through BeiDou detection data and tag data.

[0138] Detected change data refers to the positional change of two adjacent points in the BeiDou detection data, while marked change data refers to the positional change of two adjacent points in the marked data. By calculating the distance difference between BeiDou detection data or marked data with adjacent timestamps and dividing it by the time interval (e.g., 1 second), the corresponding change data is obtained as detected change data and marked change data.

[0139] S42: Obtain the acceleration of change based on the detected change data and the labeled change data.

[0140] The acceleration due to change refers to the rate of change per unit time between detected change data and labeled change data. The difference between detected change data or labeled change data at adjacent timestamps is calculated and divided by the time interval to obtain the corresponding acceleration due to change.

[0141] S43: Compare the detected change data with the baseline change data or the marked change data with the baseline change data to obtain the value of the impact of the speed change.

[0142] The impact value of speed change refers to the percentage deviation between the actual change data and the baseline change data. By analyzing the consistency between the detected change data and the baseline change data, and the marked change data and the baseline change data, the impact value of speed change is 0 when the detected change data and the marked change data are consistent with the baseline change data.

[0143] When the detected change data is inconsistent with the baseline change data, or the marked change data is inconsistent with the baseline change data, the velocity change impact value = |(detected change data or marked change data) - baseline change data| / baseline change data.

[0144] S44: Compare the consistency between the changed acceleration and the reference acceleration to obtain the acceleration influence value.

[0145] The acceleration impact value refers to the percentage deviation between the actual acceleration and the reference acceleration. By analyzing the consistency between the variable acceleration and the reference acceleration, when the variable acceleration is consistent with the reference acceleration, it indicates that there is no abnormal acceleration in the positioning data, and the acceleration impact value is 0.

[0146] When the variable acceleration is inconsistent with the reference acceleration, it indicates that there is an acceleration anomaly affecting the positioning data. The acceleration impact value is calculated as |(variable acceleration) - reference acceleration| / reference acceleration.

[0147] S45: Update the label weights based on the influence values ​​of velocity change and acceleration.

[0148] The correction coefficient is obtained by matching the influence values ​​of velocity change and acceleration from the positioning reference table, and the product of the label weight and the correction coefficient is calculated as the new label weight.

[0149] The positioning reference table stores correction coefficients corresponding to different velocity change and acceleration influence values. The larger the velocity change and acceleration influence values, the larger the correction coefficient of the corresponding positioning data (BeiDou detection data and tag data), which will not be elaborated here.

[0150] Also includes:

[0151] S50: Collects the actual location information and running trajectory of the terminal system.

[0152] Actual location information refers to the actual location point of the terminal when the compatibility module prediction function is tested, and running trajectory refers to the actual trajectory of the terminal when the compatibility module prediction function is tested. In this embodiment, the actual location information and running trajectory can be input and set by the operator, and a device that can carry the terminal can move along the running trajectory at a fixed speed. During operation, the center of the device is continuously on the running trajectory. Knowing the speed, time and trajectory, the location point of the corresponding time series can be calculated as the actual location information.

[0153] S51: Obtain the anomaly type based on BeiDou detection data.

[0154] Anomaly type refers to the factors that cause strong interference and large data deviation in BeiDou detection data. The anomaly type is determined by matching the BeiDou detection data from the positioning reference table according to S22. (For example, electromagnetic interference exceeding 20Hz).

[0155] S52: Retrieve the exception range of the exception type from the running trajectory.

[0156] The anomaly range refers to the range of anomalies present in the operational trajectory. It is determined by retrieving the location points of the anomalies from the trajectory and establishing, through 3D modeling, the range of parameters that could affect BeiDou detection data (e.g., the coverage area of ​​tall buildings, the range of electromagnetic interference signals). The method for obtaining the anomaly range is common knowledge to those skilled in the art and will not be elaborated upon here.

[0157] S53: Update the actual location information and BeiDou detection data through preset benchmark detection parameters, and control other preset positioning systems to update the marker data. Based on the actual location information, BeiDou detection data and marker data, obtain the final output location, and output the final output location as positioning information.

[0158] Other positioning systems are GPS modules. The benchmark testing parameters are control parameters set by technicians to verify the predictive functionality of the compatible modules.

[0159] The final output position refers to the location data fused within the abnormal range when an anomaly occurs within the running trajectory. The actual location information and BeiDou detection data are obtained again through the reference detection parameters, and other positioning systems are controlled to update the marker data. The final output position is obtained by analyzing the actual location information, BeiDou detection data and marker data, and then the final output position is output as the positioning information.

[0160] The methods for determining the final output position include:

[0161] S60: Establish a location comparison model based on actual location information, BeiDou detection data, and marker data.

[0162] The position comparison model is a mapping model used to correct the deviation between the BeiDou positioning system and the GPS module. It generates a model that generates corrected BeiDou detection data based on the actual location information to make the corrected BeiDou detection data consistent with the actual location information. It also generates a model that generates corrected marker data based on the BeiDou detection data to make the corrected marker data consistent with the BeiDou detection data. The two models are combined to establish the position comparison model.

[0163] In this embodiment, the deviations between BeiDou detection data and actual location information, as well as the deviations between marker data and actual location information, are calculated. Key features affecting the deviations are extracted from the BeiDou detection data, marker data, and the surrounding area of ​​the trajectory (satellite count and map data to obtain "occlusion level" (0-5, level 5 being complete occlusion), "electromagnetic interference intensity" (0-10Hz), etc.). For simple scenarios such as open areas, a linear regression model can be used to fit the linear relationship between positioning parameter features and deviation values. For scenarios such as urban canyons and strong interference (occlusion level ≥3, interference intensity ≥5Hz), a random forest regression model is used to fit a nonlinear deviation relationship through multi-feature combinations (such as satellite count + occlusion level) to improve correction accuracy.

[0164] S61: Obtain the switching location point by analyzing the running trajectory and the abnormal range.

[0165] The switching location point refers to the location point used to switch the BeiDou positioning system to use the GPS module for positioning data acquisition. The switching location point is obtained by retrieving the location point that initially intersects with the abnormal range from the running trajectory.

[0166] S62: When the BeiDou detection data matches the switching location point, the control terminal system information shuts down the BeiDou positioning system and starts other positioning systems to update the marker data.

[0167] When the BeiDou detection data matches the switching location point, it indicates that the BeiDou positioning system has detected that the terminal has moved to an abnormal range. The BeiDou positioning system is affected and needs to use the GPS module for positioning. In this case, the control terminal system information shuts down the BeiDou positioning system and starts other positioning systems to update the marker data.

[0168] S63: Obtain the final output location by comparing the labeled data with the location comparison model.

[0169] The updated marker data is substituted into the location data obtained from the location comparison model to obtain the final output location.

[0170] Methods for determining benchmark testing parameters include:

[0171] S70: Retrieve positioning specifications from terminal system information.

[0172] Positioning specifications refer to the model specifications of the BeiDou positioning system and GPS module in the terminal system information. The positioning specifications are obtained by retrieving the model specifications of the BeiDou positioning system and GPS module from the terminal system information.

[0173] S71: Use the positioning specification to retrieve the warm-up time of other positioning systems and retrieve the data acquisition frequency from the positioning specification.

[0174] Warm start time refers to the time it takes for other positioning systems to go from sleep mode to normal output of positioning data. It is calculated by retrieving the time it takes for other positioning systems to go from sleep mode to normal output of positioning data from the positioning specifications.

[0175] The data acquisition frequency refers to the frequency at which the BeiDou positioning system acquires data from other positioning systems. The data acquisition frequency is obtained by retrieving the frequency at which the BeiDou positioning system acquires data from other positioning systems from the positioning specifications.

[0176] S72: Calculate the product of the hot start time and the preset terminal moving speed as the start-up adaptation distance.

[0177] The terminal movement speed is the stable movement speed set by the technicians. If the terminal is equipped with a mobile tool, the movement speed of the mobile tool can be collected as the terminal movement speed.

[0178] Startup adaptation distance refers to the distance a terminal needs to move when other positioning systems go from sleep mode to normal output of positioning data. It is calculated by multiplying the warm-up time by the terminal's moving speed.

[0179] S73: The acquisition duration is obtained based on the data acquisition frequency and the preset number of model acquisitions.

[0180] The model acquisition quantity refers to the amount of data required to establish a location comparison model, as set by the technicians. Acquisition duration refers to the time required for the amount of data acquired from the BeiDou positioning system and other positioning systems to reach the model acquisition quantity. By comparing the data acquisition frequencies of the BeiDou positioning system and other positioning systems, the lowest data acquisition frequency is used as the marker acquisition frequency (slower acquisition speed), and the quotient of the model acquisition quantity and the marker acquisition frequency is calculated as the acquisition duration.

[0181] S74: Calculate the product of the acquisition time and the terminal's moving speed as the acquisition distance.

[0182] The acquisition distance refers to the distance the terminal needs to move when the amount of data acquired from the BeiDou positioning system and other positioning systems reaches the model acquisition quantity. The acquisition distance is calculated by multiplying the acquisition time by the terminal's moving speed.

[0183] S75: Calculate the sum of the acquisition distance and the start-up adaptation distance as the benchmark detection distance, and use the benchmark detection distance as the benchmark detection parameter.

[0184] The reference detection distance refers to the total distance the terminal needs to move to begin data acquisition and model building with other positioning systems and the BeiDou positioning system. The reference detection distance is calculated by summing the acquisition distance and the start-up adaptation distance, and is used as the reference detection parameter.

[0185] Methods for determining benchmark testing parameters also include:

[0186] S80: Obtain the remaining trajectory and abnormal environment type by analyzing the running trajectory and the abnormal range.

[0187] The remaining trajectory refers to the trajectory within the running trajectory that does not contain any abnormal areas. It is obtained by removing the trajectories within the abnormal areas from the running trajectory. An abnormal environment type refers to other environmental types located within the abnormal area besides the abnormal type itself, such as tall buildings or trees. An abnormal environment type is defined as an environmental type that exists within the abnormal area, on both sides of the running trajectory, and that affects the positioning data.

[0188] S81: Obtain the detection environment type and marked trajectory based on the abnormal environment type and the remaining trajectory.

[0189] The detection environment type refers to the environment type around the remaining trajectory that is consistent with the abnormal environment type. By analyzing the environment type around the remaining trajectory through a 3D model, the environment type that is consistent with the abnormal environment type is taken as the detection environment type.

[0190] The marked trajectory refers to the path trajectory that contains the detection environment type. It is obtained by retrieving the path trajectory whose surrounding environment type is the detection environment type from the running trajectory.

[0191] S82: Compare the detection environment type with the abnormal environment type to obtain the deviation coefficient value.

[0192] The deviation coefficient value is a quantitative indicator of the degree of deviation between the detection environment type and the abnormal environment type. By comparing the parameters corresponding to the detection environment type and the abnormal environment type, the difference between the compared parameters and the detection environment type are entered into the positioning comparison table to match the deviation coefficient value.

[0193] The location comparison table stores the deviation coefficient values ​​corresponding to the parameter differences for different environmental types. When the environmental type remains unchanged, the larger the parameter difference (for example, 6 meters for buildings in the detection environment type and 10 meters for buildings in the abnormal environment type, with a parameter difference of 4 meters), the larger the deviation coefficient value will be. This will not be elaborated on here.

[0194] S83: Obtain the starting position point based on the marked trajectory.

[0195] The starting point is the location point used to start the GPS module to collect data. It is the point on the marked track that is closest to the starting point.

[0196] S84: Update the starting position point based on the starting adaptive distance, and update the marker data of the marker trajectory through the deviation coefficient value.

[0197] By moving the starting position point toward the trajectory direction of the initial point by a starting adaptation distance, the new position point after the movement is taken as the new starting position point, and new marking data is obtained by calculating the deviation coefficient value and the marking data.

[0198] S85: Add the starting position point and deviation coefficient value to the reference detection parameters.

[0199] By adding the starting location point and deviation coefficient value to the benchmark detection parameters, the GPS module and the Beidou positioning system can establish a comparison model in advance under environmental conditions similar to those within the abnormal range. This allows the GPS module and the comparison model to further improve the accuracy of the terminal's positioning within the abnormal range.

[0200] Methods for verifying deviation coefficient values ​​include:

[0201] S90: Obtain the abnormal trajectory by analyzing the running trajectory and the abnormal range.

[0202] An abnormal trajectory refers to a running trajectory within an abnormal range, which is defined as a running trajectory within an abnormal range.

[0203] S91: Extract the changed trajectory and angle from the abnormal trajectory.

[0204] A changing trajectory refers to an abnormal trajectory that features an arc and changes direction. A changing angle refers to the angle at which the changing trajectory changes direction. The changing trajectory and changing angle are retrieved from the abnormal trajectory.

[0205] S92: Obtain the change coefficient value based on the changing angle and the abnormal environment type.

[0206] The change coefficient value refers to the coefficient value that affects the deviation of data when the terminal changes direction by changing the surrounding environment type. (For example, if there are two 10-meter-high buildings in a straight line in an abnormal environment type, when turning, the adjacent high-rise building is only one floor high, reducing the data occlusion coefficient). The abnormal environment type is updated by changing the angle, and the parameter difference corresponding to the abnormal environment type before and after the update is analyzed. The parameter difference is input into the positioning lookup table to match the change coefficient value.

[0207] S93: The data acquisition location is obtained based on the terminal's moving speed and the data acquisition frequency.

[0208] The data acquisition location refers to the point on the trajectory where data is collected as the terminal moves. It is determined by analyzing the terminal's speed and the data acquisition frequency. For example, if the terminal's speed is 5 m / s and the data acquisition frequency is 5 times / second, the data acquisition location is a point on the trajectory spaced 1 meter apart from the starting point.

[0209] S94: The data acquisition location located on the changing trajectory is taken as the change acquisition location.

[0210] The change acquisition location refers to the data acquisition location within the change trajectory, which is defined as the data acquisition location located within the change trajectory.

[0211] S95: Update the deviation coefficient value of the changed acquisition location based on the change coefficient value.

[0212] The difference between the deviation coefficient value of the changed acquisition location and the change coefficient value is used as the new deviation coefficient value of the changed acquisition location.

[0213] Based on the same inventive concept, embodiments of the present invention provide a compatibility verification system applied to the BeiDou positioning system, comprising:

[0214] The acquisition module is used to acquire terminal system information, application information, location request information, location information, actual location information, and running trajectory.

[0215] A memory for storing a program for a compatibility verification method applied to the BeiDou positioning system;

[0216] The processor is used to load and execute programs stored in memory.

[0217] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional modules is used as an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device, and unit described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0218] The above description is merely a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiments. All technical solutions falling within the scope of the present invention's concept are within the scope of protection of the present invention. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principles of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. A compatibility verification method applied to the BeiDou positioning system, characterized in that, include: S10: Collect terminal system information and application information; S11: Retrieve instruction type from terminal system information; S12: Retrieve the application instruction type from the application information; S13: Compare the consistency between the instruction type and the application instruction type to obtain the conversion format; S14: Convert the application type by outputting a conversion format through a preset compatibility module; S15: Collect location request information for the application type; S16: Obtain the terminal driver type based on the location request information and terminal system information; S17: Collect location information through the terminal driver type, and report and reply to the location request information based on the location information; Also includes: S20: Update the positioning information based on the preset detection location; S21: Retrieve BeiDou detection data and tag data from positioning information; S22: Obtain the impact value and impact type by detecting location and positioning information; S23: Compare the consistency between the impact type and the BeiDou detection data or the impact type and the labeled data, and combine the impact value to obtain the fusion weight; S24: Output data is obtained based on BeiDou detection data, labeled data, and fusion weights; S25: Compare the output data with the preset benchmark data and report the final verification information.

2. The compatibility verification method for the BeiDou positioning system according to claim 1, characterized in that, Methods for obtaining fusion weights include: S30: Update BeiDou detection data and tag data based on preset detection trajectories; S31: Based on BeiDou detection data, marker data, and detection trajectory, obtain the actual detection trajectory and the actual marker trajectory; S32: Compare the actual trajectory with the detected trajectory, and mark the consistency between the actual trajectory and the detected trajectory to obtain the lateral deviation in radians; S33: The label weight is obtained by comparing the lateral deviation radian with the detection trajectory; S34: Obtain the fusion weight based on the label weight and influence value.

3. The compatibility verification method for the BeiDou positioning system according to claim 2, characterized in that, Methods for verifying label weights include: S40: Retrieve reference change data and reference acceleration from terminal system information; S41: Obtain detection change data and tag change data by using BeiDou detection data and tag data; S42: Obtain the acceleration of change based on the detected change data and the labeled change data; S43: Compare the detected change data with the baseline change data or the marked change data with the baseline change data to obtain the value of the impact of the speed change; S44: Compare the consistency between the changed acceleration and the reference acceleration to obtain the acceleration effect value; S45: Update the label weights based on the influence values ​​of velocity change and acceleration.

4. The compatibility verification method for the BeiDou positioning system according to claim 3, characterized in that, Also includes: S50: The actual location information and operating trajectory of the data acquisition terminal system; S51: Determine the anomaly type based on BeiDou detection data; S52: Retrieve the anomaly range of the anomaly type from the running trajectory; S53: Update the actual location information and BeiDou detection data through preset benchmark detection parameters, and control other preset positioning systems to update the marker data. Based on the actual location information, BeiDou detection data and marker data, obtain the final output location, and output the final output location as positioning information.

5. The compatibility verification method for the BeiDou positioning system according to claim 4, characterized in that, The methods for determining the final output position include: S60: Establish a location comparison model based on actual location information, BeiDou detection data, and marker data; S61: Obtain the switching location point by analyzing the running trajectory and the abnormal range; S62: When the BeiDou detection data matches the switching location point, the control terminal system information shuts down the BeiDou positioning system and turns on other positioning systems to update the marker data; S63: Obtain the final output location by comparing the labeled data with the location comparison model.

6. The compatibility verification method for the BeiDou positioning system according to claim 5, characterized in that, Methods for determining benchmark testing parameters include: S70: Retrieve positioning specifications from terminal system information; S71: Use the positioning specification to retrieve the warm-up time of other positioning systems and retrieve the data acquisition frequency from the positioning specification; S72: Calculate the product of the hot start time and the preset terminal moving speed as the start-up adaptation distance; S73: The acquisition duration is obtained based on the data acquisition frequency and the preset number of model acquisitions; S74: Calculate the product of the acquisition time and the terminal's moving speed as the acquisition distance; S75: Calculate the sum of the acquisition distance and the start-up adaptation distance as the benchmark detection distance, and use the benchmark detection distance as the benchmark detection parameter.

7. The compatibility verification method for the BeiDou positioning system according to claim 6, characterized in that, Methods for determining benchmark testing parameters also include: S80: Obtain the remaining trajectory and abnormal environment type by analyzing the running trajectory and the abnormal range; S81: Obtain the detected environment type and marked trajectory based on the abnormal environment type and the remaining trajectory; S82: Compare the detection environment type with the abnormal environment type to obtain the deviation coefficient value; S83: Obtain the starting position point based on the marked trajectory; S84: Update the starting position point based on the starting adaptive distance, and update the marker data of the marker trajectory through the deviation coefficient value; S85: Add the starting position point and deviation coefficient value to the reference detection parameters.

8. The compatibility verification method for the BeiDou positioning system according to claim 7, characterized in that, Methods for verifying deviation coefficient values ​​include: S90: Obtain the abnormal trajectory by analyzing the running trajectory and the abnormal range; S91: Extract the changed trajectory and angle from the abnormal trajectory; S92: Obtain the change coefficient value based on the change angle and the type of abnormal environment; S93: The data acquisition location is determined based on the terminal's moving speed and data acquisition frequency; S94: The data acquisition location located on the changing trajectory is taken as the change acquisition location; S95: Update the deviation coefficient value of the changed acquisition location based on the change coefficient value.

9. A compatibility verification system for the BeiDou positioning system, characterized in that, include: The acquisition module is used to acquire terminal system information, application information, location request information, and location information. A memory for storing a program that implements a compatibility verification method for a BeiDou positioning system as described in any one of claims 1 to 8; The processor is used to load and execute programs stored in memory.

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