Calibration method of GNSS speed test equipment based on calibration auxiliary vehicle

Abstract

The invention relates to the technical field of equipment calibration, and provides a calibration method of GNSS speed test equipment based on a calibration auxiliary vehicle. The calibration auxiliary vehicle comprises a vehicle main body and a speed testing device, and the speed testing device and the GNSS speed testing equipment to be calibrated are respectively mounted on the vehicle main body; the method comprises the steps that a vehicle body is controlled to run based on a preset working condition, and the preset working condition is used for describing the running state of the vehicle body; for the driving process of the vehicle main body, acquiring first speed data recorded by the to-be-calibrated GNSS speed test equipment and second speed data recorded by the speed test device; and calibrating the to-be-calibrated GNSS speed test equipment according to the first speed data and the second speed data. Through the method, the calibration precision of the GNSS speed test equipment can be effectively improved, and support is provided for vehicle performance evaluation, road safety and navigation system reliability.

Description

Technical Field

[0001] This invention relates to the field of equipment calibration technology, and in particular to a calibration method for a GNSS speed testing device based on a calibration auxiliary vehicle. Background Technology

[0002] In the fields of vehicle and traffic inspection, the calibration of GNSS (Global Navigation Satellite System) speed testing devices is a crucial step, as its accuracy directly impacts vehicle performance evaluation, road safety, and the reliability of navigation systems. However, a significant problem exists in the current calibration process for GNSS speed testing devices: the inconsistency between analog signals and real-world application scenarios. This inconsistency leads to inaccurate calibration results, thereby affecting the effectiveness of the entire testing system.

[0003] In practical applications, GNSS signals are affected by a variety of complex factors, such as building obstruction, multipath effects, and ionospheric and tropospheric delays. These factors cause changes in the propagation path of GNSS signals, thus affecting the signal reception accuracy and stability. However, in laboratory environments, analog signals often cannot fully reproduce these complex real-world environmental conditions. For example, analog signals may not accurately simulate signal attenuation caused by building obstruction, or adequately simulate signal reflection and interference caused by multipath effects. This limitation of analog signals can lead to deviations in calibration results in practical applications, thereby affecting the measurement accuracy of GNSS velocity testing equipment. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a calibration method for a GNSS speed testing device based on a calibration auxiliary vehicle, so as to solve the above-mentioned technical problem.

[0005] The technical solution of this invention to solve the above-mentioned technical problems is as follows: a calibration method for a GNSS speed testing device based on a calibration auxiliary vehicle, wherein the calibration auxiliary vehicle includes a vehicle body and a speed testing device, the speed testing device and the GNSS speed testing device to be calibrated are respectively installed on the vehicle body; the method includes: controlling the vehicle body to drive based on a preset operating condition, the preset operating condition being used to describe the driving state of the vehicle body; acquiring first speed data recorded by the GNSS speed testing device to be calibrated and second speed data recorded by the speed testing device during the driving process of the vehicle body; and calibrating the GNSS speed testing device to be calibrated based on the first speed data and the second speed data.

[0006] The beneficial effects of this invention are: compared to traditional analog signal calibration, this invention can complete the calibration process in a shorter time and more accurately reflect the performance of the equipment in actual use. This invention not only improves the accuracy and efficiency of calibration, but also solves the limitations and safety issues of fixed-location calibration through the design of a mobile calibration aid vehicle, enhancing the flexibility and practicality of the calibration process. This method can effectively improve the calibration accuracy of GNSS speed testing equipment, providing support for vehicle performance evaluation, road safety, and navigation system reliability.

[0007] Based on the above technical solution, the present invention can be further improved as follows.

[0008] Furthermore, the speed testing device includes a five-wheel speed testing device, a dual-axis optical speed testing device, and a wheel speed testing device.

[0009] Furthermore, the second speed data includes the speed data recorded by the five-wheel speed testing device, the speed data recorded by the dual-axis optical speed testing device, and the speed data recorded by the wheel speed testing device.

[0010] Further, the calibration of the GNSS speed testing device to be calibrated based on the first speed data and the second speed data includes: calculating the average value of the first speed data to obtain a first average speed value; calculating calibration reference speed data based on the speed data recorded by the five-wheel speed testing device, the speed data recorded by the dual-axis optical speed testing device, and the speed data recorded by the wheel speed testing device, using a weighted fusion algorithm; calculating the average value of the calibration reference speed data to obtain a second average speed value; and calculating a speed calibration value based on the first average speed value and the second average speed value, so as to calibrate the GNSS speed testing device to be calibrated based on the speed calibration value.

[0011] Furthermore, controlling the vehicle body to drive based on preset operating conditions includes: acquiring a driving mode corresponding to the preset operating conditions; and controlling the vehicle body to drive according to the driving mode.

[0012] Furthermore, the preset operating conditions include steady-state operating conditions, dynamic operating conditions, and curve operating conditions. The steady-state operating conditions represent the vehicle body traveling at a constant speed, the dynamic operating conditions represent the vehicle body traveling at a constant acceleration or deceleration, and the curve operating conditions represent the vehicle body traveling on a curve.

[0013] Furthermore, the calibration assistance vehicle also includes a power supply device, which is connected to both the speed testing device and the GNSS speed testing device to be calibrated.

[0014] To address the aforementioned technical problems, the present invention also provides a calibration system for a GNSS speed testing device based on a calibration auxiliary vehicle. The calibration auxiliary vehicle includes a vehicle body and a speed testing device, wherein the speed testing device and the GNSS speed testing device to be calibrated are respectively mounted on the vehicle body; the system includes: The vehicle control module is used to control the vehicle body to drive based on preset operating conditions; The data acquisition module is used to acquire, during the driving process of the vehicle body, the first speed data recorded by the GNSS speed test device to be calibrated and the second speed data recorded by the speed test device. The equipment calibration module is used to calibrate the GNSS velocity test equipment to be calibrated based on the first velocity data and the second velocity data.

[0015] To address the aforementioned technical problems, the present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the calibration method for the GNSS speed testing device based on a calibration assistance vehicle as described above.

[0016] To address the aforementioned technical problems, the present invention also provides a non-transitory computer-readable storage medium storing computer instructions for causing a computer to execute the calibration method for a GNSS speed testing device based on a calibration-assisted vehicle as described above. Attached Figure Description

[0017] Figure 1 This is a flowchart of the calibration method for the GNSS speed testing equipment based on the calibration auxiliary vehicle of the present invention; Figure 2 This is a schematic diagram of the calibration assistance vehicle of the present invention; Figure 3 This is a schematic diagram of the calibration system of the GNSS speed testing equipment based on the calibration auxiliary vehicle of the present invention.

[0018] The attached diagram lists the components represented by each number as follows: 1. Vehicle body; 2. GNSS speed testing equipment to be calibrated; 3. Five-wheel speed testing equipment; 4. Dual-axis optical speed testing equipment; 5. Wheel speed testing equipment; 6. Power supply equipment; 7. Data acquisition and analysis equipment; 8. Data communication system; 9. Environmental testing device. Detailed Implementation

[0019] The principles and features of the present invention are described below. The examples given are only for explaining the present invention and are not intended to limit the scope of the present invention.

[0020] As mentioned earlier, most commonly used GNSS velocity testing equipment calibration methods rely on analog signals. However, analog signals cannot fully reproduce the complex environments encountered in actual use, such as signal interference, multipath effects, and signal variations under different terrain conditions. This can lead to accuracy deviations in calibrated equipment during practical applications, failing to meet the requirements for high-precision positioning.

[0021] To improve calibration accuracy and address the issue that current GNSS speed testing equipment calibration using analog signals does not match actual usage, a calibration method and related equipment based on a calibration auxiliary vehicle for GNSS speed testing equipment are proposed.

[0022] Example 1 like Figure 1 As shown, this embodiment provides a calibration method for a GNSS speed testing device based on a calibration assistance vehicle, such as... Figure 2 As shown, the calibration auxiliary vehicle includes a vehicle body 1 and a speed testing device, wherein the speed testing device and the GNSS speed testing equipment to be calibrated 2 are respectively installed on the vehicle body 1.

[0023] The vehicle body 1 serves as the core mobile platform, used to carry and connect other testing equipment, and to perform speed calibration under actual road conditions.

[0024] The GNSS speed test device 2 to be calibrated is used to provide speed measurement based on the Global Navigation Satellite System. The GNSS speed test device 2 to be calibrated is installed on the vehicle body 1, usually in the center of the roof to ensure optimal signal reception. The roof surface needs to be cleaned during installation, and magnetic installation or tape fixation is used.

[0025] The calibration method for the GNSS velocity testing equipment based on the calibration assistance vehicle includes: S101. Control the vehicle body 1 to drive based on preset operating conditions, the preset operating conditions being used to describe the driving state of the vehicle body 1.

[0026] S102. During the driving process of the vehicle body 1, acquire the first speed data recorded by the GNSS speed test device 2 to be calibrated, and the second speed data recorded by the speed test device.

[0027] S103. The GNSS velocity test device 2 to be calibrated is calibrated according to the first velocity data and the second velocity data.

[0028] Optionally, in an embodiment, controlling the vehicle body 1 to drive based on preset operating conditions includes: acquiring a driving mode corresponding to the preset operating conditions; and controlling the vehicle body 1 to drive according to the driving mode.

[0029] To ensure the accuracy of GNSS calibration under different conditions, it is necessary to select possible operating conditions in actual operation for testing. Optionally, in the embodiment, the preset operating conditions include steady-state operating conditions, dynamic operating conditions, and curve operating conditions. The steady-state operating condition represents the vehicle body 1 traveling at a constant speed, the dynamic operating condition represents the vehicle body 1 traveling at a constant acceleration or deceleration, and the curve operating condition represents the vehicle body 1 traveling on a curve.

[0030] When the preset operating condition is a steady-state condition, the corresponding driving mode is: the main body of the vehicle 1 drives at a constant speed of the target speed (e.g., 40km / h, 60km / h, 80km / h, 100km / h) for more than 20 seconds.

[0031] When the preset operating condition is dynamic, the corresponding driving modes include uniform acceleration mode and uniform deceleration mode. Uniform acceleration mode: Vehicle body 1 accelerates from a standstill to 80 km / h, with acceleration controlled at approximately 0.3g. Uniform deceleration mode: Vehicle body 1 decelerates from 80 km / h to a standstill, with deceleration controlled at approximately 0.4g.

[0032] When the preset working condition is a curve, the corresponding driving mode is: the main body of vehicle 1 passes through a curve with a radius of 50m at a constant speed (40km / h, 60km / h).

[0033] Optionally, in an embodiment, the speed testing device includes a five-wheel speed testing device 3, a dual-axis optical speed testing device 4, and a wheel speed testing device 5.

[0034] Specifically, for the connection of the five-wheel speed testing device 3, it is necessary to use a special bracket and clamp to firmly install the five-wheel device on the rear or side of the vehicle body 1, ensuring stable contact with the ground and preventing slippage or detachment during the test. The bracket is usually adjustable to accommodate different vehicle models and testing requirements.

[0035] The dual-axis optical velocity measurement device 4 is used to provide accurate velocity measurements by capturing changes in the target's velocity through optical means. The dual-axis optical velocity measurement device 4 is mounted on the vehicle body 1. Installation first requires selecting a stable location on the vehicle that accurately reflects the vehicle's attitude, typically near the center of the vehicle. During installation, a high-precision level is used to adjust the flatness of the sensor base of the dual-axis optical velocity measurement device 4, ensuring the mounting surface is parallel to the vehicle's reference plane. Then, the sensor is fixed to a dedicated bracket using high-strength bolts and anti-loosening washers. Shock-absorbing pads are installed between the sensor and the vehicle body to isolate high-frequency vibration interference. For wiring, the power cable is connected to the vehicle's electrical system via waterproof connectors.

[0036] The wheel speed testing device 5 is used to measure the actual speed of the wheel. The wheel speed testing device 5 is typically mounted on the wheel hub, brake disc, or drive shaft of the vehicle body 1, ensuring that the sensor of the wheel speed testing device 5 can accurately detect the wheel's rotation. The sensor is securely mounted on a non-rotating component of the vehicle body 1 using brackets or bolts, ensuring that the clearance between it and the rotating component meets technical requirements.

[0037] The five-wheel speedometer provides a stable mechanical speed reference, the dual-axis optical speed measuring device 4 accurately measures speed changes, and the wheel speed measuring device 5 reflects the actual speed during driving. Through multi-device collaborative calibration, not only can the errors that may be introduced by a single device be reduced, but it can also effectively cope with complex environments in practical applications, such as signal-restricted areas like urban canyons and tunnels.

[0038] Optionally, in an embodiment, the second speed data includes the speed data recorded by the five-wheel speed testing device 3, the speed data recorded by the dual-axis optical speed testing device 4, and the speed data recorded by the wheel speed testing device 5.

[0039] Specifically, the speed data recorded by the five-wheel speed measuring device 3 during the movement of the vehicle body 1 is obtained. The speed data recorded by the two-axis optical speed measuring device 4 during the movement of the vehicle body 1 is also obtained. Finally, the speed data recorded by the wheel speed measuring device 5 during the movement of the vehicle body 1 is obtained.

[0040] When the working condition is dynamic, in addition to obtaining the speed value per second recorded by each device, it is also necessary to obtain the acceleration value per second recorded by the five-wheel speed testing device 3, the dual-axis optical speed testing device 4, and the wheel speed testing device 5.

[0041] It should be noted that for each operating condition, the test can be repeated multiple times (e.g., three times) to ensure data reliability.

[0042] Optionally, in an embodiment, calibrating the GNSS speed testing device 2 to be calibrated based on the first speed data and the second speed data includes: calculating the average value of the first speed data to obtain a first average speed value; calculating calibration reference speed data based on the speed data recorded by the five-wheel speed testing device 3, the speed data recorded by the dual-axis optical speed testing device 4, and the speed data recorded by the wheel speed testing device 5, using a weighted fusion algorithm; calculating the average value of the calibration reference speed data to obtain a second average speed value; and calculating a speed calibration value based on the first average speed value and the second average speed value, so as to calibrate the GNSS speed testing device 2 to be calibrated based on the speed calibration value.

[0043] The first speed data includes the speed values ​​per second recorded by the GNSS speed test equipment 2 to be calibrated during the driving process of the vehicle body 1. The first speed average value is obtained by calculating the average of multiple speed values.

[0044] The speed data recorded by the first speed tester, the five-wheel speed tester 3, the dual-axis optical speed tester 4, and the wheel speed tester 5 need to be collected synchronously. Data from each device under identical conditions should be collected to ensure each device has sufficient data points for effective analysis, and any obviously erroneous or incomplete data points should be removed.

[0045] For each second, the calibration reference speed value corresponding to that second is calculated based on the speed values ​​recorded by the GNSS speed testing device 2 to be calibrated, the five-wheel speed testing device 3, the dual-axis optical speed testing device 4, and the wheel speed testing device 5, using the following formula: ; Wherein, w1 is the weighting coefficient corresponding to wheel speed testing device 5, w2 is the weighting coefficient corresponding to dual-axis optical speed testing device 4, and w3 is the weighting coefficient corresponding to five-wheel speed testing device 3. All three weighting coefficients are determined based on the actual equipment accuracy. ref For calibrating the reference speed value; v wheel The speed value recorded by wheel speed testing device 5; v optical The velocity value recorded by the dual-axis optical velocity testing device 4; v fifth 3. A five-wheel speed testing device.

[0046] The calibration reference speed value per second is calculated using the method described above, resulting in calibration reference speed data. The average value of each calibration reference speed value is then calculated to obtain the second speed average value.

[0047] The speed calibration value is calculated based on the first average speed and the second average speed. The speed calibration value can be a speed calibration coefficient, which is equal to the second average speed / the first average speed. The GNSS speed test equipment 2 to be calibrated is then calibrated based on the speed calibration value.

[0048] The calibration assistance vehicle also includes a data acquisition and analysis device 7, an environmental testing device 9, and a data communication system 8. The data acquisition and analysis device 7 is installed in the vehicle body 1 and is used to collect data from the dual-axis optical speed testing device 4, the wheel speed testing device 5, and the GNSS speed testing device, and to perform comprehensive analysis using the methods described above to ensure the consistency and accuracy of the data.

[0049] The environmental testing device 9 is used to control the temperature and humidity of the test environment during the test to ensure the stability of the test conditions. The environmental testing device 9 is installed on the vehicle body 1.

[0050] The data communication system 8 is used to realize data transmission and communication between the vehicle body 1 and the dual-axis optical speed testing equipment 4, wheel speed testing equipment 5, data integrated acquisition and analysis equipment 7, and GNSS speed testing equipment.

[0051] Typically, an RS232 or CAN bus interface is used to connect the five-wheel speed measuring device (5) to the data acquisition and analysis equipment (7). The signal line of the dual-axis optical speed measuring device (4) is connected to the data acquisition and analysis equipment (7) via a shielded cable. Data acquired by the dual-axis optical speed measuring device (4) is directly transmitted to the data acquisition and analysis equipment (7) via CAN bus or Ethernet. The output signal of the wheel speed measuring device (5) is transmitted to the data acquisition and analysis equipment (7) via a shielded cable. The GNSS speed measuring device (2) to be calibrated can be connected to the data acquisition and analysis equipment (7) using a shielded cable.

[0052] Optionally, in an embodiment, the calibration assistance vehicle further includes a power supply device 6, which is connected to both the speed testing device and the GNSS speed testing device 2 to be calibrated.

[0053] The power supply equipment 6 is used to provide a stable power supply for the vehicle body 1, the dual-axis optical speed testing equipment 4, the wheel speed testing equipment 5, the data integration and analysis equipment 7, and the GNSS speed testing equipment.

[0054] To overcome the inconsistency between analog signals and actual scenarios, this method employs multi-device integrated processing. By combining a five-wheel speed measuring device (3), a dual-axis optical speed measuring device (4), and a wheel speed measuring device (5), multi-dimensional data can be provided, thus enabling a more comprehensive evaluation of the GNSS speed measuring device's performance. While a single device may introduce specific errors during testing, multi-device integrated processing can reduce the impact of these errors through data comparison and analysis. For example, the five-wheel speed measuring device can provide high-precision speed measurement data, while the dual-axis optical speed measuring device (4) can provide more accurate direction and acceleration information. By integrating the data from these devices, the GNSS speed measuring device can be calibrated more accurately, improving its measurement accuracy. Different devices have varying sensitivities to environmental factors. For example, the wheel speed measuring device (5) performs better in low-speed environments, while the dual-axis optical device is more stable in high-speed environments. By using these devices in combination, it is possible to better adapt to the complex environments in practical applications, ensuring accurate test results under different conditions. The data provided by multiple devices can be cross-validated, increasing data richness and redundancy. For example, when wheel speed signals are interfered with, the data from the five-wheel speed measuring device and the optical speed measuring device can serve as supplementary data, ensuring the stability and reliability of the test results. This data redundancy is particularly important in complex environments, effectively improving test reliability. This comprehensive calibration method not only enhances the measurement accuracy of GNSS velocity testing equipment but also provides stronger support for vehicle performance evaluation, road safety, and navigation system reliability.

[0055] Furthermore, this comprehensive calibration method is fast and convenient, significantly improving calibration efficiency. Compared to traditional single-device calibration or analog signal calibration, this method can complete the calibration process in a shorter time and more accurately reflect the equipment's performance in actual use. This not only improves calibration accuracy but also brings significant economic benefits to users. For example, in the field of intelligent transportation, more accurate GNSS speed testing equipment can optimize traffic flow management, reduce congestion, and improve transportation efficiency. At the same time, the method's convenience makes it easy to promote and apply in different scenarios, further driving the popularization of GNSS technology in more fields.

[0056] Example 2 like Figure 3 As shown, this embodiment provides a calibration system 200 for a GNSS speed testing device based on a calibration assistance vehicle. The calibration assistance vehicle includes a vehicle body 1 and a speed testing device, wherein the speed testing device and the GNSS speed testing device to be calibrated 2 are respectively installed on the vehicle body 1; the system includes: The vehicle control module 201 is used to control the vehicle body 1 to drive based on preset working conditions; The data acquisition module 202 is used to acquire, during the driving process of the vehicle body 1, the first speed data recorded by the GNSS speed test device 2 to be calibrated, and the second speed data recorded by the speed test device. The equipment calibration module 203 is used to calibrate the GNSS speed test equipment 2 to be calibrated based on the first speed data and the second speed data.

[0057] Optionally, in an embodiment, the speed testing device includes a five-wheel speed testing device 3, a dual-axis optical speed testing device 4, and a wheel speed testing device 5.

[0058] Optionally, in an embodiment, the second speed data includes the speed data recorded by the five-wheel speed testing device 3, the speed data recorded by the dual-axis optical speed testing device 4, and the speed data recorded by the wheel speed testing device 5.

[0059] Optionally, in an embodiment, the device calibration module 203 includes: The first calculation unit is used to calculate the average value of the first speed data to obtain the first speed average value; The weighted fusion unit is used to calculate the calibration reference speed data based on the speed data recorded by the five-wheel speed test device 3, the speed data recorded by the dual-axis optical speed test device 4, and the speed data recorded by the wheel speed test device 5, through a weighted fusion algorithm. The second calculation unit is used to calculate the average value of the calibration reference speed data to obtain the second speed average value; The calibration unit is used to calculate a speed calibration value based on the first average speed and the second average speed, so as to calibrate the GNSS speed test device 2 to be calibrated based on the speed calibration value.

[0060] Optionally, in an embodiment, the vehicle control module 201 includes: A mode determination unit is used to obtain the driving mode corresponding to the preset working conditions; The vehicle control unit is used to control the vehicle body 1 to drive according to the driving mode.

[0061] Optionally, in an embodiment, the preset operating conditions include steady-state operating conditions, dynamic operating conditions, and curve operating conditions. The steady-state operating conditions represent the vehicle body 1 traveling at a constant speed, the dynamic operating conditions represent the vehicle body 1 traveling at a constant acceleration or deceleration, and the curve operating conditions represent the vehicle body 1 traveling on a curve.

[0062] Optionally, in an embodiment, the calibration assistance vehicle further includes a power supply device 6, which is connected to both the speed testing device and the GNSS speed testing device 2 to be calibrated.

[0063] Example 3 This embodiment provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the calibration method for a GNSS speed testing device based on a calibration assistance vehicle as described in Embodiment 1.

[0064] Example 4 This embodiment provides a non-transitory computer-readable storage medium that stores computer instructions for causing a computer to execute a calibration method for a GNSS speed testing device based on a calibration assistance vehicle as described in Embodiment 1.

[0065] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0066] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A calibration method for calibrating a GNSS speed testing device of an auxiliary vehicle based on calibration, characterized by, The calibration auxiliary vehicle comprises a vehicle body and a speed testing device, the speed testing device and the GNSS speed testing device to be calibrated are respectively installed on the vehicle body; the method comprises the following steps: controlling the vehicle body to travel based on a preset working condition, the preset working condition being used to describe the traveling state of the vehicle body; obtaining first speed data recorded by the GNSS speed testing device to be calibrated and second speed data recorded by the speed testing device during the traveling process of the vehicle body; calibrating the GNSS speed testing device to be calibrated according to the first speed data and the second speed data.

2. The calibration method of the GNSS speed test device based on the calibration auxiliary vehicle according to claim 1, characterized in that, The speed testing device comprises a five-wheel instrument speed testing device, a double-shaft optical speed testing device and a wheel speed testing device.

3. The calibration method of the GNSS speed test device based on the calibration auxiliary vehicle according to claim 2, characterized in that, The second speed data comprises speed data recorded by the five-wheel instrument speed testing device, speed data recorded by the double-shaft optical speed testing device and speed data recorded by the wheel speed testing device.

4. The calibration method of the GNSS speed test device based on the calibration auxiliary vehicle according to claim 3, characterized in that, The calibration of the GNSS speed testing device to be calibrated according to the first speed data and the second speed data comprises the following steps: calculating the average value of the first speed data to obtain a first speed average value; calculating calibration reference speed data by a weighted fusion algorithm according to the speed data recorded by the five-wheel instrument speed testing device, the speed data recorded by the double-shaft optical speed testing device and the speed data recorded by the wheel speed testing device; calculating the average value of the calibration reference speed data to obtain a second speed average value; calculating a speed calibration value according to the first speed average value and the second speed average value, and calibrating the GNSS speed testing device to be calibrated based on the speed calibration value.

5. The calibration method of the GNSS speed test device based on the calibration auxiliary vehicle according to claim 1, characterized in that, The control of the vehicle body to travel based on the preset working condition comprises the following steps: obtaining a traveling mode corresponding to the preset working condition; controlling the vehicle body to travel according to the traveling mode.

6. The calibration method of the GNSS speed test apparatus based on the calibration auxiliary vehicle according to claim 1, characterized by, The preset working condition comprises a steady-state working condition, a dynamic working condition and a curve working condition, the steady-state working condition representing that the vehicle body travels at a uniform speed, the dynamic working condition representing that the vehicle body travels at a uniform acceleration or a uniform deceleration, and the curve working condition representing that the vehicle body travels on a curve.

7. The calibration method of the GNSS speed test apparatus based on the calibration auxiliary vehicle according to claim 1, characterized by, The calibration auxiliary vehicle further comprises a power supply device, the power supply device being connected with the speed testing device and the GNSS speed testing device to be calibrated respectively.

8. A calibration system for calibrating a GNSS speed testing device of an assisted vehicle, characterized by The calibration auxiliary vehicle comprises a vehicle body and a speed testing device, the speed testing device and the GNSS speed testing device to be calibrated are respectively installed on the vehicle body; the system comprises the following modules: a vehicle control module, used to control the vehicle body to travel based on a preset working condition; a data acquisition module, used to obtain first speed data recorded by the GNSS speed testing device to be calibrated and second speed data recorded by the speed testing device during the traveling process of the vehicle body; a device calibration module, used to calibrate the GNSS speed testing device to be calibrated according to the first speed data and the second speed data.

9. An electronic device, comprising: Computer program product comprising a memory, a processor and a computer program stored on the memory and loadable on the processor, the computer program implementing the calibration method of the GNSS speed test device based on a calibration auxiliary vehicle according to any one of claims 1 to 7 when the processor executes the computer program.

10. A non-transitory computer-readable storage medium storing computer instructions, wherein, The computer program product is configured to cause a computer to perform the calibration method of the GNSS speed test device based on a calibration auxiliary vehicle according to any one of claims 1 to 7.

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