Navigation data playback method and system, equipment and storage medium

Abstract

The invention relates to a navigation data playback method and system, equipment and a storage medium. The method comprises the following steps: transmitting acquired satellite signals of a target navigation scene and vehicle data to each test device through a radio frequency signal acquisition device; wherein the satellite signal and the vehicle data of the target navigation scene are acquired by the radio frequency signal acquisition equipment, and the radio frequency signal acquisition equipment and the test equipment share an antenna to receive the satellite signal; acquiring differential data of the target navigation scene from the cloud, and outputting test equipment playback data for playing back the target navigation scene according to the satellite signal, the vehicle data and the differential data of the target navigation scene; the differential data of the target navigation scene is generated by the cloud based on the distribution position of the positioning base station and coarse positioning data, and the coarse positioning data is acquired by the test equipment and calculated based on satellite signals. By adopting the method, flexible data playback can be realized under the condition of not depending on a virtual simulation server.

Description

Technical Field

[0001] This application relates to the fields of navigation technology and big data processing technology, and in particular to a navigation data playback method, system, device, and storage medium. Background Technology

[0002] Traditional navigation data playback systems primarily acquire real inertial navigation data of the vehicle through an IMU (Inertial Measurement Unit, a device that measures the three-axis attitude angles and acceleration of an object). They then integrate environmental information of the vehicle obtained by a virtual camera with real GNSS (Global Navigation Satellite System) data. In a virtual simulation server, the system uses a specific data playback mechanism (such as the Rosbag data playback mechanism executed by the rosbagplay command) to play back the data collected from the vehicle on actual roads.

[0003] However, traditional navigation data playback systems cannot flexibly play back data for different scenarios, and rely on deployed virtual simulation servers to achieve data playback, which places high demands on equipment and makes it impossible to achieve flexible data playback without relying on virtual simulation servers. Summary of the Invention

[0004] Therefore, it is necessary to provide a navigation data playback method, system, device, and storage medium that can achieve flexible data playback without relying on a virtual simulation server, addressing the aforementioned technical problems.

[0005] Firstly, this application provides a navigation data playback method, including:

[0006] The satellite signals and vehicle data of the target navigation scene are collected by the radio frequency signal acquisition device and transmitted to each test device. The satellite signals and vehicle data of the target navigation scene are collected by the radio frequency signal acquisition device, and the radio frequency signal acquisition device and the test device share an antenna to receive satellite signals.

[0007] The differential data of the target navigation scene is obtained from the cloud, and the test equipment playback data for replaying the target navigation scene is output based on the satellite signals, vehicle data and differential data of the target navigation scene. The differential data of the target navigation scene is generated by the cloud based on the distribution location and coarse positioning data of at least one positioning reference station, and the coarse positioning data is obtained by the test equipment collecting satellite signals and calculating based on the satellite signals.

[0008] In one embodiment, the satellite signals of the target navigation scene acquired by the radio frequency signal acquisition device are transmitted to each test device, including:

[0009] The satellite signals of the target navigation scene are acquired through radio frequency signal acquisition equipment and transmitted to the power divider.

[0010] The satellite signals of the target navigation scenario are distributed to each test device via a power divider.

[0011] In one embodiment, based on satellite signals, vehicle data, and differential data of the target navigation scenario, test equipment playback data for replaying the target navigation scenario is output, including:

[0012] The differential data of the target navigation scenario is transmitted to each test device;

[0013] For each test device, based on the received satellite signals, vehicle data, and differential data of the target navigation scenario, the test device playback data for replaying the target navigation scenario is output.

[0014] In one embodiment, the navigation data playback method further includes:

[0015] If the distribution of at least one positioning reference station does not meet the preset positioning requirements, each test device is divided into base stations and rover stations, and at least one base station is selected as the target base station.

[0016] The radio frequency signal acquisition equipment at the base station is used as the base station data acquisition equipment, and the radio frequency signal acquisition equipment at the mobile station is used as the mobile station data acquisition equipment.

[0017] Based on the base station data collected by the base station data acquisition equipment, output base station playback data for replaying the target navigation scenario;

[0018] Based on the base station playback data output by the target base station and the rover data collected by the rover data acquisition device, rover playback data for replaying the target navigation scenario is output.

[0019] Thirdly, this application also provides a navigation data playback system, which includes: a radio frequency signal acquisition device, at least one positioning reference station, and at least one testing device; the positioning reference stations are all connected to the cloud, and the radio frequency signal acquisition device and the testing device share an antenna to receive satellite signals;

[0020] Radio frequency signal acquisition equipment is used to synchronously acquire vehicle data;

[0021] The testing equipment is used to calculate coarse positioning data based on satellite signals and transmit the coarse positioning data to the cloud;

[0022] The cloud is used to generate differential data from the coarse positioning data based on the distribution of at least one positioning reference station, and transmit the differential data of the coarse positioning data to the radio frequency signal acquisition device.

[0023] The radio frequency signal acquisition equipment is also used to transmit satellite signals and vehicle data of the target navigation scene to each test device, and to transmit differential data of the target navigation scene to each test device through the cloud;

[0024] The testing equipment is also used to output test equipment playback data for replaying the target navigation scenario based on the received satellite signals, vehicle data, and differential data of the target navigation scenario.

[0025] In one embodiment, both the radio frequency signal acquisition device and the test device are provided with a vehicle data interaction interface; the radio frequency signal acquisition device is provided with a radio frequency signal output interface, which is connected to a power divider, and the power divider is connected to the radio frequency signal input interface of each test device.

[0026] The radio frequency signal acquisition device is used to transmit vehicle data of the target navigation scenario to the vehicle data interaction interface of each test device through the set vehicle data interaction interface;

[0027] The radio frequency signal acquisition equipment is also used to transmit the satellite signals of the target navigation scenario to the power divider through the radio frequency signal output interface; the power divider is used to transmit the satellite signals of the target navigation scenario to the radio frequency signal input interface of each test device.

[0028] In one embodiment, the radio frequency signal acquisition device is equipped with a serial communication interface, the cloud is configured with a data forwarding port, and the test device is equipped with a differential data receiving interface.

[0029] Radio frequency signal acquisition equipment is used to send the acquired differential data of the target navigation scene to the data forwarding port in the cloud via a serial communication interface;

[0030] The cloud is used to transmit differential data of the target navigation scenario to the differential data receiving interface of each test device through the data forwarding port.

[0031] In one embodiment, when the distribution of at least one positioning reference station does not meet the preset positioning requirements, the test equipment is divided into base stations and rover stations, with at least one base station serving as the target base station; the radio frequency signal acquisition device at the base station serves as the base station data acquisition device, and the radio frequency signal acquisition device at the rover station serves as the rover station data acquisition device.

[0032] Base station data acquisition equipment is used to transmit the acquired base station data to the base station;

[0033] The base station is used to output base station playback data for replaying the target navigation scenario based on the received base station data, and the target base station is used to transmit the output base station playback data to the rover.

[0034] The mobile station data acquisition equipment is used to transmit the acquired mobile station data back to the mobile station;

[0035] The rover station is used to output rover playback data for replaying target navigation scenarios based on the received rover station data and base station playback data.

[0036] Thirdly, this application also provides a navigation data playback device, comprising:

[0037] The data acquisition and transmission module is used to transmit the satellite signals and vehicle data of the target navigation scene to each test device through the radio frequency signal acquisition device; wherein, the satellite signals and vehicle data of the target navigation scene are acquired by the radio frequency signal acquisition device, and the radio frequency signal acquisition device and the test device share an antenna to receive satellite signals;

[0038] The playback data output module is used to acquire differential data of the target navigation scene from the cloud, and output test equipment playback data for replaying the target navigation scene based on satellite signals, vehicle data and differential data of the target navigation scene. The differential data of the target navigation scene is generated by the cloud based on the distribution location and coarse positioning data of at least one positioning reference station, and the coarse positioning data is obtained by the test equipment collecting satellite signals and calculating based on the satellite signals.

[0039] Fourthly, this application also provides a storage medium on which a computer program is stored, which, when executed by a processor, performs the following steps.

[0040] The aforementioned navigation data playback method, system, equipment, and storage medium can transmit the collected satellite signals and vehicle data of the target navigation scene to various test devices via an RF signal acquisition device. The satellite signals and vehicle data of the target navigation scene are acquired by the RF signal acquisition device, and the RF signal acquisition device and the test devices share an antenna to receive satellite signals. Then, differential data of the target navigation scene is obtained from the cloud. Based on the satellite signals, vehicle data, and differential data of the target navigation scene, test device playback data for replaying the target navigation scene is output. The differential data of the target navigation scene is generated by the cloud based on the distribution locations and coarse positioning data of at least one positioning reference station. The coarse positioning data is obtained by the test devices acquiring satellite signals and calculating based on these satellite signals. This process eliminates the need for a virtual simulation server. Instead, it uses an RF signal acquisition device to acquire satellite signals and vehicle data, and the cloud calculates differential data based on the coarse positioning data of the test devices. Combining the satellite data, vehicle data, and differential data, the required test device playback data for the target navigation scene is flexibly output. Therefore, flexible data playback can be achieved without relying on a virtual simulation server. Attached Figure Description

[0041] To more clearly illustrate the technical solutions in the embodiments of this application or related technologies, the drawings used in the description of the embodiments of this application or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0042] Figure 1 This is a flowchart illustrating a navigation data playback method in one embodiment;

[0043] Figure 2 This is a flowchart illustrating the navigation data playback method in another embodiment;

[0044] Figure 3 This is a schematic diagram of data interaction in a cloud-based navigation data playback system according to one embodiment;

[0045] Figure 4 This is a schematic diagram illustrating navigation data playback based on the cloud and Labsat in one embodiment;

[0046] Figure 5 This is a schematic diagram illustrating the interaction between the base station and the mobile station in one embodiment of the playback data output;

[0047] Figure 6 This is a structural block diagram of a navigation data playback device in one embodiment;

[0048] Figure 7 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0049] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0050] In one exemplary embodiment, such as Figure 1 As shown, a navigation data playback method is provided, which can be applied to a navigation data playback system, including the following steps 102 to 104. Wherein:

[0051] Step 102: The satellite signals and vehicle data of the target navigation scene are collected and transmitted to each test device through the radio frequency signal acquisition device.

[0052] In this context, satellite signals and vehicle data for the target navigation scenario are collected by radio frequency (RF) signal acquisition equipment in a real-world environment. The RF signal acquisition equipment and testing equipment share an antenna to receive satellite signals in this environment. Navigation scenarios include, but are not limited to, different scenarios based on actual roads under various operating conditions, each with different performance indicators. Operating conditions can include: open, semi-open, semi-obstructed, severely obstructed, and no signal. Scenarios include, but are not limited to: elevated road scenarios, under-elevation road scenarios, and urban canyon scenarios. The RF signal acquisition equipment can specifically be Labsat, a device specifically designed for acquiring and replaying Global Navigation Satellite System (GNSS) RF signals, capable of accurately reproducing real signals in a laboratory testing environment. The satellite signals acquired by the RF signal acquisition equipment can specifically refer to: RF signals from the real sky acquired using Labsat during actual road testing (including different locations, different weather conditions, multipath effects, etc.). The testing equipment can specifically be: terminal equipment used to output playback data in a laboratory testing environment. Vehicle data can include: real IMU signals and wheel speed signals.

[0053] Optionally, during the data acquisition phase, the navigation data playback system can share an antenna between the RF signal acquisition device and the test equipment to receive satellite signals in each navigation scenario simultaneously and in real time. The RF signal acquisition device also simultaneously acquires vehicle data for each navigation scenario. Furthermore, for each test device, it can calculate its own coarse positioning data (GGA) based on the satellite signals received by the antenna and send the calculated GGA to the cloud in real time, while simultaneously sending a differential data acquisition request to the cloud. Based on this, the cloud can respond to the differential data acquisition request and, according to the distribution of at least one positioning reference station connected to the cloud, calculate differential data for correcting the coarse positioning data of the test device. Further, during the navigation data playback phase, the satellite signals and vehicle data for the target navigation scenario can be selected from the satellite signals and vehicle data acquired and stored by the RF signal acquisition device. This data is then transmitted to each test device via the RF signal acquisition device, enabling flexible and accurate navigation data playback for the target navigation scenario.

[0054] For example, a positioning reference station is precisely measured and fixed at a location with known coordinates, and can continuously receive raw signals from all GNSS satellites. The data measured by the positioning reference station can be transmitted to the cloud in real time via the Internet. Based on this, the cloud can obtain differential data by calculating the difference between the positioning data returned by the positioning reference station and the coarse positioning data returned by the test equipment.

[0055] For example, a processing flow including "data acquisition - cloud computing - differential correction" is provided, including: the test equipment acquires satellite signals based on the antenna, calculates its own coarse positioning data based on the satellite signals, transmits the coarse positioning data to the cloud, and the cloud calculates differential data based on the coarse positioning data of the test equipment with reference to the distribution of at least one positioning reference station.

[0056] Step 104: Obtain differential data of the target navigation scene from the cloud, and output test equipment playback data for replaying the target navigation scene based on satellite signals, vehicle data and differential data of the target navigation scene.

[0057] Among them, the differential data of the target navigation scenario is generated in the cloud based on the distribution location and coarse positioning data of at least one positioning reference station. The coarse positioning data is obtained by the test equipment collecting satellite signals and calculating based on the satellite signals.

[0058] Optionally, during the data acquisition phase, the cloud can transmit the calculated differential data for each navigation scenario to the radio frequency signal acquisition device in the navigation data playback system. This includes the differential data of the target navigation scenario. Combined with the satellite signals received and stored in real time by the radio frequency signal acquisition device, the radio frequency signal acquisition device can synchronously record the target navigation scenario in the time domain, facilitating the subsequent unlimited playback of high-fidelity test scenarios to meet testing requirements.

[0059] Based on this, during the data playback phase, the radio frequency signal acquisition device can send the differential data of the target navigation scene to the cloud, and the cloud can then forward the differential data of the target navigation scene to each test device. Based on this, each test device receives the satellite signals, vehicle data, and differential data of the target navigation scene, and can then output its own playback data for replaying the target navigation scene.

[0060] The aforementioned navigation data playback method transmits the collected satellite signals and vehicle data of the target navigation scene to various test devices via an RF signal acquisition device. The RF signal acquisition device and the test devices share an antenna to receive satellite signals. Then, differential data of the target navigation scene is obtained from the cloud. Based on the satellite signals, vehicle data, and differential data of the target navigation scene, playback data for the test devices used to replay the target navigation scene is output. The differential data of the target navigation scene is generated by the cloud based on the distribution locations and coarse positioning data of at least one positioning reference station. The coarse positioning data is calculated by the test devices based on the satellite signals. This process eliminates the need for a virtual simulation server. Instead, it uses an RF signal acquisition device to collect satellite signals and vehicle data, and the cloud calculates differential data based on the coarse positioning data from the test devices. Combining the satellite data, vehicle data, and differential data, the desired playback data for the target navigation scene is flexibly output. Therefore, flexible data playback can be achieved without relying on a virtual simulation server.

[0061] In one embodiment, the satellite signals of the target navigation scene acquired by the radio frequency signal acquisition device are transmitted to each test device, including:

[0062] The satellite signals of the target navigation scene are acquired through radio frequency signal acquisition equipment and transmitted to the power divider.

[0063] The satellite signals of the target navigation scenario are distributed to each test device via a power divider.

[0064] Among them, the power divider is similar to the signal splitter, which can split one signal into multiple identical signals.

[0065] Optionally, during the data playback stage, the navigation data playback system can use radio frequency signal acquisition equipment to transmit the acquired satellite signals of the target navigation scene to a power divider. The power divider then divides the satellite signals of the target navigation scene into multiple satellite signals of equal energy, which are then distributed to each test device so that each test device receives the same satellite signal.

[0066] In this embodiment, the satellite signals of the target navigation scene can be processed by a power divider to control the navigation data playback performance of each test device under the same signal strength.

[0067] In some embodiments, based on satellite signals, vehicle data, and differential data of the target navigation scenario, test equipment playback data for replaying the target navigation scenario is output, including:

[0068] The differential data of the target navigation scenario is transmitted to each test device;

[0069] For each test device, based on the received satellite signals, vehicle data, and differential data of the target navigation scenario, the test device playback data for replaying the target navigation scenario is output.

[0070] Differential data, satellite signals, and vehicle data all carry timestamps and are recorded and generated synchronously.

[0071] Optionally, during the data playback phase, the radio frequency signal acquisition device can send the differential data of the target navigation scenario to the cloud, and the cloud can then forward the differential data of the target navigation scenario to each test device. For each test device, the test device can package these time-synchronized data streams from different interfaces into a preset format based on the received satellite signals, vehicle data, and timestamps in the differential data of the target navigation scenario. After packaging, it outputs complete, time-lined test device playback data that can be used to replay the target navigation scenario. The test device playback data can be used to perfectly and repeatedly reconstruct a real navigation scenario in the laboratory for development, verification, and testing.

[0072] For example, in the laboratory, the playback results of the test equipment playback data can also be uploaded to the cloud for recording, for retrospection, analysis, and statistics.

[0073] In this embodiment, the test equipment can output test equipment playback data containing all information of the entire target navigation scenario and with a timeline, based on satellite signals, vehicle data, and differential data under the target navigation scenario. That is, it can accurately and flexibly output test equipment playback data for replaying the target navigation scenario according to the specified playback requirements.

[0074] In one possible implementation, the navigation data playback method also includes:

[0075] If the distribution of at least one positioning reference station does not meet the preset positioning requirements, each test device is divided into base stations and rover stations, and at least one base station is selected as the target base station.

[0076] The radio frequency signal acquisition equipment at the base station is used as the base station data acquisition equipment, and the radio frequency signal acquisition equipment at the mobile station is used as the mobile station data acquisition equipment.

[0077] Based on the base station data collected by the base station data acquisition equipment, output base station playback data for replaying the target navigation scenario;

[0078] Based on the base station playback data output by the target base station and the rover data collected by the rover data acquisition device, rover playback data for replaying the target navigation scenario is output.

[0079] The failure to meet the preset positioning requirements can refer to situations where the coverage area of ​​at least one positioning reference station is insufficient, making it impossible to directly calculate rover differential data based on the location of the positioning reference stations. The base station is stationary, while the rover is in motion. Base station data includes: base station satellite data, base station differential data, and vehicle data. Base station satellite data is collected by the base station data acquisition equipment through its antenna, while vehicle data is collected by the base station data acquisition equipment through its vehicle data interaction interface. Base station differential data is obtained by the base station data acquisition equipment by calculating the difference between the static coordinates and the coarse positioning data represented by the base station satellite data. Rover data includes rover satellite data, which is collected by the rover data acquisition equipment through its antenna. The base station playback data output by the target base station serves as the rover differential data.

[0080] Optionally, if the distribution locations of at least one positioning reference station do not meet the preset positioning requirements, during the data acquisition phase, each test device can be divided into base stations and rover stations, and at least one base station can be selected as the target base station. Based on this, the radio frequency signal acquisition device at the base station can be used as the base station data acquisition device, and the radio frequency signal acquisition device at the rover station can be used as the rover station data acquisition device. Thus, the base station data acquisition device can be used to acquire base station data, and the rover station data acquisition device can be used to acquire rover station data. Furthermore, the base station data acquired by the base station data acquisition device can be transmitted to the base station, allowing the base station to output base station playback data for replaying the target navigation scenario based on the received base station data (including base station satellite data, base station differential data, and vehicle data). Even further, the base station playback data output by the target base station and the rover station data acquired by the rover station data acquisition device can both be transmitted to the rover station, allowing the rover station to output rover station playback data for replaying the target navigation scenario based on the received base station playback data (rover station differential data) and rover station data (rover station satellite data).

[0081] For example, A1 in the positioning reference stations (A1~AN) can be used as a base station, and the rest A2~AN can be used as rover stations.

[0082] In this embodiment, when the distribution location of at least one positioning reference station does not meet the preset positioning requirements, on the one hand, the base station can output base station playback data based on the collected base station satellite data, base station differential data, and vehicle data. Furthermore, by using the base station playback data output by the target base station as the rover's rover differential data, the rover can output rover playback data based on the rover differential data and the collected rover satellite data. Based on this, all test equipment (including base stations and rover) can output playback data for replaying the target navigation scenario.

[0083] In one specific embodiment, such as Figure 2 As shown in the diagram, based on the above embodiments, a flowchart of a navigation data playback method is also provided, which mainly includes the following steps:

[0084] Under the condition that the distribution location of at least one positioning reference station meets the preset positioning requirements: (1) Collect satellite signals, vehicle data and differential data under different navigation scenarios. Specifically: receive satellite signals through the shared antenna of the radio frequency signal acquisition device and the test device; collect vehicle data of the target navigation scenario synchronously through the radio frequency signal acquisition device; calculate coarse positioning data based on satellite signals by the test device, calculate differential data for the coarse positioning data through the cloud, and transmit it to the radio frequency signal acquisition device. (2) Transmit vehicle data, satellite signals and differential data under the target navigation scenario to each test device. Specifically: transmit vehicle data of the target navigation scenario directly to each test device through the radio frequency signal acquisition device; transmit satellite signals of the target navigation scenario to the power divider through the radio frequency signal acquisition device, distribute satellite signals of the target navigation scenario to each test device through the power divider; transmit differential data of the target navigation scenario to the cloud through the radio frequency acquisition device, and transmit it to each test device through the cloud. (3) Output test device playback data. Specifically: For each test device, based on the received satellite signals, vehicle data, and differential data of the target navigation scenario, output test device playback data for replaying the target navigation scenario.

[0085] When the distribution of at least one positioning reference station does not meet the preset positioning requirements: (1) Select base stations and rover stations. Specifically: Divide each test device into base stations and rover stations, and select at least one base station as the target base station; use the radio frequency signal acquisition device at the base station as the base station data acquisition device, and use the radio frequency signal acquisition device at the rover station as the rover station data acquisition device. (2) Collect base station data and rover station data. Among them, base station data includes base station satellite data, base station differential data and vehicle data, and rover station data includes rover station satellite data. Specifically: base station satellite data is collected by the base station data acquisition device through the antenna, and rover station satellite data is collected by the rover station data acquisition device through the antenna. Vehicle data is collected synchronously by the base station data acquisition device through the vehicle data interaction interface. Base station differential data is calculated by the base station data acquisition device based on the static coordinates of the base station and the base station satellite data. (3) Output base station playback data. Specifically: For each base station, based on the base station satellite data, base station differential data and vehicle data collected by the base station data acquisition device, output base station playback data for playback of the target navigation scenario. (4) Output rover station playback data. Specifically: The base station playback data output by the target base station is used as the rover's differential data and transmitted to the rover. For each rover, based on the rover's differential data and the rover's satellite data collected by the rover's data acquisition equipment, rover playback data for replaying the target navigation scenario is output.

[0086] This application also provides a navigation data playback system, and the above-described navigation data playback methods can all be applied to this navigation data playback system. The navigation data playback system includes: a radio frequency signal acquisition device, at least one positioning reference station, and at least one testing device; the positioning reference stations are all connected to the cloud, and the radio frequency signal acquisition device and the testing device share an antenna to receive satellite signals;

[0087] Radio frequency signal acquisition equipment is used to synchronously acquire vehicle data;

[0088] The testing equipment is used to calculate coarse positioning data based on satellite signals and transmit the coarse positioning data to the cloud;

[0089] The cloud is used to generate differential data from the coarse positioning data based on the distribution of at least one positioning reference station, and transmit the differential data of the coarse positioning data to the radio frequency signal acquisition device.

[0090] The radio frequency signal acquisition equipment is also used to transmit satellite signals and vehicle data of the target navigation scene to each test device, and to transmit differential data of the target navigation scene to each test device through the cloud;

[0091] The testing equipment is also used to output test equipment playback data for replaying the target navigation scenario based on the received satellite signals, vehicle data, and differential data of the target navigation scenario.

[0092] Optionally, after the antenna shared by the RF signal acquisition equipment and the testing equipment receives the satellite signal, the satellite signal can first be transmitted to a power divider. The power divider then splits the received satellite signal into two paths, which are then distributed to the RF signal acquisition equipment and the testing equipment. Based on this, the RF signal acquisition equipment and the testing equipment can share an antenna to receive satellite signals.

[0093] For example, such as Figure 3 The diagram illustrates a data interaction schematic for a cloud-based navigation data playback system. The RF signal acquisition device and the test device share an antenna to receive satellite signals processed by a power divider, and the RF signal acquisition device simultaneously acquires vehicle data. Further, the test device calculates coarse positioning data based on the satellite signals and transmits this data to the cloud. The cloud then generates differential data based on the distribution locations of at least one positioning reference station and transmits this differential data to the RF signal acquisition device. Subsequently, the RF signal acquisition device can transmit the satellite signals and vehicle data of the target navigation scenario to each test device and send the differential data of the target navigation scenario to the cloud, which then transmits it to each test device. Based on this, the test device can output playback data for replaying the target navigation scenario based on the received satellite signals, vehicle data, and differential data.

[0094] The aforementioned navigation data playback system transmits satellite signals and vehicle data of the target navigation scene to various test devices via radio frequency (RF) signal acquisition equipment. The RF signal acquisition equipment and the test devices share an antenna to receive satellite signals. Then, differential data of the target navigation scene is obtained from the cloud. Based on the satellite signals, vehicle data, and differential data of the target navigation scene, playback data for the test devices used to replay the target navigation scene is output. The differential data of the target navigation scene is generated by the cloud based on the distribution locations and coarse positioning data of at least one positioning reference station. The coarse positioning data is calculated by the test devices based on the satellite signals. This process eliminates the need for a virtual simulation server. Instead, it uses RF signal acquisition equipment to collect satellite signals and vehicle data, and the cloud calculates differential data based on the coarse positioning data from the test devices. Combining the satellite data, vehicle data, and differential data, the system flexibly outputs the required playback data for the target navigation scene. Therefore, flexible data playback can be achieved without relying on a virtual simulation server.

[0095] In one embodiment, both the radio frequency signal acquisition device and the testing device are equipped with a vehicle data interaction interface; the radio frequency signal acquisition device is equipped with a radio frequency signal output interface, which is connected to a power divider, and the power divider is connected to the radio frequency signal input interface of each testing device; the radio frequency signal acquisition device is equipped with a serial communication interface, the cloud is configured with a data forwarding port, and the testing device is equipped with a differential data receiving interface.

[0096] The radio frequency signal acquisition device is used to transmit vehicle data of the target navigation scenario to the vehicle data interaction interface of each test device through the set vehicle data interaction interface;

[0097] The radio frequency signal acquisition equipment is also used to transmit the satellite signals of the target navigation scenario to the power divider through the radio frequency signal output interface; the power divider is used to transmit the satellite signals of the target navigation scenario to the radio frequency signal input interface of each test device;

[0098] The radio frequency signal acquisition device is used to send the acquired differential data of the target navigation scene to the data forwarding port of the cloud via a serial communication interface; the cloud is used to transmit the differential data of the target navigation scene to the differential data receiving interface of each test device via the data forwarding port.

[0099] Optionally, the RF signal acquisition device can specifically be Labsat. The vehicle data interaction interface between the RF signal acquisition device and the testing equipment can be identified as "CAN". The CAN bus is the core network communication protocol in the automotive electronics field. Various electronic control units in a vehicle, such as the engine, brakes, and sensors, exchange information through the CAN bus, which can be used to provide the vehicle's own real IMU signals and wheel speed signals. The RF signal output interface of the RF signal acquisition device can be identified as "RF_OUT". The RF signal input interface of the testing equipment can be identified as "RF_IN". The serial communication interface of the RF signal acquisition device can be identified as "RS232". The cloud data forwarding port can be identified as "PortMaster", which can be used to receive one channel of data, then copy and forward it to multiple channels. The differential data receiving interface of the testing equipment can be identified as "TTL", a parallel RGB data transmission interface based on a level standard.

[0100] For example, such as Figure 4As shown, taking Labsat as an example of an RF signal acquisition device, a schematic diagram of navigation data playback based on the cloud and Labsat is provided. During the data playback stage, Labsat can send the differential data of the target navigation scene to the "PortMaster" in the cloud via "RS232," and "PortMaster" forwards the differential data of the target navigation scene to the "TTL" of each test device. Simultaneously, Labsat can transmit the satellite signal of the target navigation scene to the power divider via "RF_OUT," and the power divider distributes the satellite signal of the target navigation scene to the "RF_IN" of each test device. Furthermore, Labsat can transmit the vehicle data of the target navigation scene to the "CAN" of each test device via "CAN." Based on this, each test device can output playback data for replaying the target navigation scene based on the received satellite signals, vehicle data, and differential data of the target navigation scene.

[0101] In this embodiment, when the distribution location of at least one positioning reference station meets the preset positioning requirements, differential data can be calculated through the cloud connected to at least one positioning reference station. This allows for the combination of the cloud, testing equipment, and radio frequency signal acquisition equipment to collect and output data for playback of target navigation scenarios under different target navigation scenarios. This enables flexible data playback without relying on a virtual simulation server.

[0102] In an exemplary embodiment, when the distribution location of at least one positioning reference station does not meet the preset positioning requirements, the test equipment is divided into base stations and rover stations, with at least one base station serving as the target base station; the radio frequency signal acquisition device at the base station serves as the base station data acquisition device, and the radio frequency signal acquisition device at the rover station serves as the rover station data acquisition device.

[0103] Base station data acquisition equipment is used to transmit the acquired base station data to the base station;

[0104] The base station is used to output base station playback data for replaying the target navigation scenario based on the received base station data, and the target base station is used to transmit the output base station playback data to the rover.

[0105] The mobile station data acquisition equipment is used to transmit the acquired mobile station data back to the mobile station;

[0106] The rover station is used to output rover playback data for replaying target navigation scenarios based on the received rover station data and base station playback data.

[0107] The base station data includes: base station satellite data, base station differential data, and vehicle data. Base station satellite data is collected by the base station data acquisition equipment via antennas, while vehicle data is collected by the base station data acquisition equipment via a vehicle data interaction interface. Base station differential data is obtained by the base station data acquisition equipment calculating the difference between the static coordinates and the coarse positioning data represented by the base station satellite data, based on the stored static coordinates of the base station. Rover data includes rover satellite data, which is collected by the rover data acquisition equipment via antennas. The base station playback data output by the target base station serves as the rover differential data.

[0108] Optionally, after receiving base station satellite data from the target navigation scenario, the antenna connected to the base station and the base station data acquisition equipment needs to be processed by a power divider, which then distributes the base station satellite data to the base station and the base station data acquisition equipment at the base station. Similarly, after receiving rover satellite data from the target navigation scenario, the antenna connected to the rover station and the rover data acquisition equipment at the rover station needs to be processed by a power divider, which then distributes the rover satellite data to the rover station and the rover data acquisition equipment at the rover station.

[0109] Optionally, taking Labsat as an example, where the base station data acquisition device at the base station is Labsat, and the rover data acquisition device at the rover station is also Labsat, and base station 1 is the target base station, such as... Figure 5The diagram illustrates the interaction between a base station and a rover for output playback data. The base station data acquisition device can transmit vehicle data of the target navigation scenario to the "CAN" interface of each base station via the designated vehicle data interaction interface. The base station data acquisition device can also transmit base station satellite data of the target navigation scenario to a power divider via its RF signal output interface "RF_OUT". The power divider then transmits the base station satellite signal of the target navigation scenario to the RF signal input interface "RF_IN" of each base station. Furthermore, the base station data acquisition device can send the base station differential data of the target navigation scenario to the differential data receiving interface "TLL" of the base station via the serial communication interface "RS232". Based on this, the base station can output base station playback data for playback of the target navigation scenario via "TLL" based on the received base station data of the target navigation scenario (including vehicle data, base station differential data, and base station satellite data). Further, the target base station (base station 1) can transmit its base station playback data to the "TLL" of each rover via "TLL" to serve as the rover's differential data. Simultaneously, the rover data acquisition equipment can transmit the rover satellite data of the target navigation scenario to the power divider via its RF signal output interface "RF_OUT". The power divider then transmits the rover satellite data of the target navigation scenario to the RF signal input interface "RF_IN" of each rover. Based on this, the rover can output the rover playback data of the target navigation scenario (including rover differential data and rover satellite data) through its "TLL" output for playback of the rover data of the target navigation scenario.

[0110] For example, taking the base station as test equipment A1, the rover as test equipment A2~AN, the base station data acquisition device at the base station as Labsat, and the rover data acquisition device at the rover as Labsat: (1) For the base station (A1), after the antenna receives the base station satellite data, it is processed by the power divider, and the power divider distributes the base station satellite data to A1 and the Labsat at A1. The Labsat calculates the difference between the static coordinates of A1 and the coarse positioning data represented by the base station satellite data to obtain the base station differential data of A1. At the same time, A1 synchronously collects vehicle data. Based on the received base station satellite data, base station differential data and vehicle data, A1 outputs base station playback data for playing back the target navigation scene, and transmits the output base station playback data to the rover (A2~AN). (2) For A2~AN, after the antenna receives the rover satellite data, it is processed by the power divider, and the power divider distributes the rover satellite data to A2~AN and the Labsat at A2~AN. A2~AN outputs rover playback data for replaying target navigation scenarios based on the received rover satellite data and rover differential data (which is base station playback data).

[0111] In this embodiment, when the distribution location of at least one positioning reference station does not meet the preset positioning requirements, on the one hand, the base station can output base station playback data based on the collected base station satellite data, base station differential data, and vehicle data. Furthermore, by using the base station playback data output by the target base station as the rover's rover differential data and outputting it to the rover, the rover can output rover playback data based on the rover differential data and the collected rover satellite data. Based on this, all test equipment (including base stations and rover) can output playback data for replaying the target navigation scenario.

[0112] It should be understood that although the steps in the flowcharts of the above embodiments are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the above embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0113] Based on the same inventive concept, this application also provides a navigation data playback device for implementing the navigation data playback method described above. The solution provided by this device is similar to the implementation described in the above method; therefore, the specific limitations in one or more navigation data playback device embodiments provided below can be found in the limitations of the navigation data playback method described above, and will not be repeated here.

[0114] In one exemplary embodiment, such as Figure 6 As shown, a navigation data playback device is provided, including: a data acquisition and transmission module 602 and a playback data output module 604, wherein:

[0115] The data acquisition and transmission module is used to transmit the satellite signals and vehicle data of the target navigation scene to each test device through the radio frequency signal acquisition device; wherein, the satellite signals and vehicle data of the target navigation scene are acquired by the radio frequency signal acquisition device, and the radio frequency signal acquisition device and the test device share an antenna to receive satellite signals;

[0116] The playback data output module is used to acquire differential data of the target navigation scene from the cloud, and output test equipment playback data for replaying the target navigation scene based on satellite signals, vehicle data and differential data of the target navigation scene. The differential data of the target navigation scene is generated by the cloud based on the distribution location and coarse positioning data of at least one positioning reference station, and the coarse positioning data is obtained by the test equipment collecting satellite signals and calculating based on the satellite signals.

[0117] The aforementioned navigation data playback device transmits satellite signals and vehicle data of the target navigation scene to various test devices via an RF signal acquisition device. The RF signal acquisition device collects the satellite signals and vehicle data of the target navigation scene, and both the RF signal acquisition device and the test devices share an antenna to receive satellite signals. Then, differential data of the target navigation scene is obtained from the cloud. Based on the satellite signals, vehicle data, and differential data of the target navigation scene, playback data for the test devices used to replay the target navigation scene is output. The differential data of the target navigation scene is generated by the cloud based on the distribution locations and coarse positioning data of at least one positioning reference station. The coarse positioning data is calculated by the test devices based on the satellite signals they collect. This process eliminates the need for a virtual simulation server. Instead, it uses the RF signal acquisition device to collect satellite signals and vehicle data, and the cloud calculates differential data based on the coarse positioning data from the test devices. Combining the satellite data, vehicle data, and differential data, the desired playback data for the target navigation scene is flexibly output. Therefore, flexible data playback can be achieved without relying on a virtual simulation server.

[0118] In one embodiment, the data acquisition and transmission module includes a satellite signal transmission unit, which is specifically used for:

[0119] The satellite signals of the target navigation scene are acquired through radio frequency signal acquisition equipment and transmitted to the power divider.

[0120] The satellite signals of the target navigation scenario are distributed to each test device via a power divider.

[0121] In one embodiment, the playback data output module includes:

[0122] The differential data transmission unit is used to transmit differential data of the target navigation scenario to each test device;

[0123] The playback data output unit is used to output playback data for each test device, based on the received satellite signals, vehicle data, and differential data of the target navigation scenario.

[0124] In one embodiment, the navigation data playback device further includes:

[0125] The test equipment division module is used to divide each test equipment into base stations and rover stations when the distribution location of at least one positioning reference station does not meet the preset positioning requirements, and to select at least one base station as the target base station.

[0126] The data acquisition device determination module is used to identify the radio frequency signal acquisition device at the base station as the base station data acquisition device and the radio frequency signal acquisition device at the rover station as the rover station data acquisition device.

[0127] The base station playback module is used to output base station playback data for replaying the target navigation scenario based on the base station data collected by the base station data acquisition device.

[0128] The rover playback module is used to output rover playback data for replaying the target navigation scenario based on the base station playback data output by the target base station and the rover data collected by the rover data acquisition device.

[0129] Each module in the aforementioned navigation data playback device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the processor of a computer device in hardware form or independent of it, or stored in the memory of a computer device in software form, so that the processor can call and execute the corresponding operations of each module.

[0130] In one exemplary embodiment, Figure 6 The navigation data playback device shown can be implemented using a computer device, which can be a server, and its internal structure diagram can be as follows. Figure 7 As shown, this computer device includes a processor, memory, input / output (I / O) interfaces, and a communication interface. The processor, memory, and I / O interfaces are connected via a system bus, and the communication interface is also connected to the system bus via the I / O interfaces. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides the environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The database stores navigation data playback data. The I / O interfaces are used for exchanging information between the processor and external devices. The communication interface is used for communicating with external terminals via a network connection. When executed by the processor, the computer program implements a navigation data playback method.

[0131] Those skilled in the art will understand that Figure 7The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0132] In one exemplary embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the embodiments of the navigation data playback method described above.

[0133] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the embodiments of the navigation data playback method described above.

[0134] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements various embodiments of the navigation data playback method described above.

[0135] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data must comply with relevant regulations.

[0136] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, database, or other media used in the embodiments provided in this application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, artificial intelligence (AI) processors, etc., and are not limited to these.

[0137] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0138] The above embodiments are merely illustrative of several implementation methods of this application, and their descriptions are relatively specific and detailed. However, they should not be construed as limiting the scope of this application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A navigation data playback method, characterized in that, The method includes: The satellite signals and vehicle data of the target navigation scene are collected by the radio frequency signal acquisition device and transmitted to each test device; wherein the satellite signals and vehicle data of the target navigation scene are collected by the radio frequency signal acquisition device, and the radio frequency signal acquisition device and the test device share an antenna to receive satellite signals; The differential data of the target navigation scene is obtained from the cloud, and based on the satellite signals, vehicle data and differential data of the target navigation scene, test equipment playback data for replaying the target navigation scene is output; wherein, the differential data of the target navigation scene is generated by the cloud based on the distribution location and coarse positioning data of at least one positioning reference station, and the coarse positioning data is obtained by the test equipment collecting satellite signals and calculating based on the satellite signals.

2. The method according to claim 1, characterized in that, The radio frequency signal acquisition device transmits the acquired satellite signals of the target navigation scene to each of the test devices, including: The radio frequency signal acquisition device transmits the acquired satellite signals of the target navigation scene to the power divider. The satellite signals of the target navigation scenario are distributed to each of the test devices via the power divider.

3. The method according to claim 1, characterized in that, The step of outputting test equipment playback data for replaying the target navigation scenario based on satellite signals, vehicle data, and differential data of the target navigation scenario includes: The differential data of the target navigation scenario is transmitted to each of the test devices; For each of the test devices, based on the received satellite signals, vehicle data, and differential data of the target navigation scenario, test device playback data for replaying the target navigation scenario is output.

4. The method according to claim 1, characterized in that, The method further includes: If the distribution location of at least one of the positioning reference stations does not meet the preset positioning requirements, each of the test devices is divided into base stations and mobile stations, and at least one of the base stations is selected as the target base station. The radio frequency signal acquisition device at the base station is used as the base station data acquisition device, and the radio frequency signal acquisition device at the mobile station is used as the mobile station data acquisition device; Based on the base station data collected by the base station data acquisition device, output base station playback data for replaying the target navigation scenario; Based on the base station playback data output by the target base station and the rover data collected by the rover data acquisition device, rover playback data for replaying the target navigation scenario is output.

5. A navigation data playback system, characterized in that, The navigation data playback system includes: a radio frequency signal acquisition device, at least one positioning reference station, and at least one testing device; the positioning reference stations are all connected to the cloud, and the radio frequency signal acquisition device and the testing device share an antenna to receive satellite signals. The radio frequency signal acquisition device is used to synchronously acquire vehicle data; The testing equipment is used to calculate coarse positioning data based on the satellite signal and transmit the coarse positioning data to the cloud. The cloud is used to generate differential data for the coarse positioning data based on the distribution location of at least one of the positioning reference stations, and transmit the differential data of the coarse positioning data to the radio frequency signal acquisition device; The radio frequency signal acquisition device is also used to transmit the satellite signal and vehicle data of the target navigation scene to each of the test devices, and to transmit the differential data of the target navigation scene to each of the test devices through the cloud; The test equipment is also used to output test equipment playback data for replaying the target navigation scenario based on the received satellite signals, vehicle data, and differential data of the target navigation scenario.

6. The navigation data playback system according to claim 5, characterized in that, Both the radio frequency signal acquisition device and the test device are equipped with a vehicle data interaction interface; the radio frequency signal acquisition device is equipped with a radio frequency signal output interface, which is connected to a power divider, and the power divider is connected to the radio frequency signal input interface of each of the test devices; The radio frequency signal acquisition device is used to transmit the vehicle data of the target navigation scenario to the vehicle data interaction interface of each of the test devices through the set vehicle data interaction interface. The radio frequency signal acquisition device is also used to transmit the satellite signal of the target navigation scenario to the power divider through the radio frequency signal output interface; the power divider is used to transmit the satellite signal of the target navigation scenario to the radio frequency signal input interface of each of the test devices.

7. The navigation data playback system according to claim 5, characterized in that, The radio frequency signal acquisition device is equipped with a serial communication interface, the cloud is configured with a data forwarding port, and the test device is equipped with a differential data receiving interface. The radio frequency signal acquisition device is used to send the differential data of the target navigation scene acquired through the serial communication interface to the data forwarding port of the cloud. The cloud is used to transmit differential data of the target navigation scenario to the differential data receiving interface of each of the test devices through the data forwarding port.

8. The navigation data playback system according to claim 5, characterized in that, If the distribution location of at least one of the positioning reference stations does not meet the preset positioning requirements, the test equipment is divided into base stations and rover stations, and at least one of the base stations serves as the target base station; the radio frequency signal acquisition device at the base station serves as the base station data acquisition device, and the radio frequency signal acquisition device at the rover station serves as the rover station data acquisition device. The base station data acquisition device is used to transmit the acquired base station data to the base station; The base station is used to output base station playback data for replaying the target navigation scenario based on the received base station data, and the target base station is used to transmit the output base station playback data to the mobile station. The mobile station data acquisition device is used to transmit the acquired mobile station data to the mobile station; The rover is used to output rover playback data for replaying the target navigation scenario based on the received rover data and base station playback data.

9. A navigation data playback device, characterized in that, The device includes: The data acquisition and transmission module is used to transmit the acquired satellite signals and vehicle data of the target navigation scene to each test device through the radio frequency signal acquisition device; wherein the satellite signals and vehicle data of the target navigation scene are acquired by the radio frequency signal acquisition device, and the radio frequency signal acquisition device and the test device share an antenna to receive satellite signals; The playback data output module is used to acquire differential data of the target navigation scene from the cloud, and output test equipment playback data for replaying the target navigation scene based on satellite signals, vehicle data and differential data of the target navigation scene; wherein, the differential data of the target navigation scene is generated by the cloud based on the distribution location and coarse positioning data of at least one positioning reference station, and the coarse positioning data is obtained by the test equipment collecting satellite signals and calculating based on the satellite signals.

10. A storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 4.

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