T-Box positioning precision verification method, device and system

Abstract

The invention provides a T-Box positioning precision verification method, device and system, and belongs to the technical field of T-Box positioning, and the method comprises the steps: obtaining truth value trajectory data outputted by a POS system and positioning data outputted by the T-Box after the time synchronization of the POS system and the T-Box is realized; the POS system and the T-Box are fixed on a test vehicle; performing interpolation processing on the truth value trajectory data to obtain a truth value sequence, and compensating the truth value sequence based on a pre-calibrated space offset vector between the POS system and the T-Box to obtain a truth value position at an antenna of the T-Box; and determining the positioning error of the T-Box based on the true value position and the positioning data, and carrying out classified statistics on indexes for evaluating the positioning precision of the T-Box according to the road scene based on the positioning error. According to the method, the problems of low truth value credibility, insufficient dynamic scene coverage and inseparable errors in T-Box positioning can be solved.

Description

Technical Field

[0001] This invention relates to the field of T-Box positioning technology, and specifically to a method, apparatus and system for verifying the positioning accuracy of a T-Box. Background Technology

[0002] With the development of 5G communication and autonomous driving technologies, the T-Box (Telematics Box), as the core gateway for communication between vehicles and cloud platforms, directly impacts the reliability of critical functions such as geofencing, eCall emergency calls, and in-vehicle navigation. Currently, the industry commonly uses the following methods to verify T-Box positioning performance: Static site testing: Data is collected statically in an open field with known coordinates, and the RMS error (root mean square error) is calculated. This method cannot reflect real operating conditions such as dynamic multipath and signal blockage. Mobile phone or ordinary RTK (carrier phase differential technology) reference: Using a smartphone or single-frequency RTK receiver as the reference source, its own accuracy is limited (usually >1 m), and time synchronization depends on NTP (Network Time Protocol), which has jitter on the order of hundreds of milliseconds; Simulation playback test: The scenario was injected through a GNSS (Global Navigation Satellite System) signal simulator, but it was difficult to reproduce the actual ionosphere, multipath and IMU (Inertial Measurement Unit) coupling effects.

[0003] The methods described above generally suffer from problems such as low truth reliability, insufficient coverage of dynamic scenarios, and indivisible errors. Summary of the Invention

[0004] In view of this, it is necessary to provide a T-Box positioning accuracy verification method, device and system to solve the technical problems of low truth reliability, insufficient dynamic scene coverage and indivisible errors in T-Box positioning.

[0005] To address the aforementioned problems, in a first aspect, the present invention provides a method for verifying the positioning accuracy of a T-Box, comprising: After the POS system and T-Box achieve time synchronization, the true trajectory data output by the POS system and the positioning data output by the T-Box are acquired; the POS system and the T-Box are fixed on the test vehicle. The true trajectory data is interpolated to obtain a true sequence, and the true sequence is compensated based on the pre-calibrated spatial offset vector between the POS system and the T-Box to obtain the true position at the antenna of the T-Box. Based on the true location and the positioning data, the positioning error of the T-Box is determined, and based on the positioning error, indicators for evaluating the positioning accuracy of the T-Box are statistically analyzed according to road scene classification; the indicators include: CEP, R95, RMS and maximum error index.

[0006] In one possible implementation, the POS system and the T-Box are synchronized in time, including: The POS system outputs a second pulse signal to the T-Box, thereby achieving time synchronization between the POS system and the T-Box.

[0007] In one possible implementation, the POS system is a tightly coupled GNSS / INS integrated navigation system.

[0008] In one possible implementation, the spatial offset vector is obtained by calibration using a total station, laser tracker, or photogrammetry.

[0009] In one possible implementation, interpolation processing is performed on the truth trajectory data to obtain a truth sequence, including: The true value trajectory data is interpolated using cubic spline interpolation or Kalman smoothing algorithm to generate a true value sequence.

[0010] In one possible implementation, the T-Box positioning accuracy verification method also includes: The instantaneous velocity of the POS system is calculated based on the true trajectory data, and the instantaneous velocity is determined as the true velocity. The reporting speed of the T-Box is verified based on the vector difference between the reporting speed of the T-Box and the true speed.

[0011] In one possible implementation, the T-Box positioning accuracy verification method also includes: Determine the time deviation between the GNSS timestamp of the T-Box and the trigger time of the second pulse signal of the POS system; The standard deviation and maximum jump value of the time deviation are statistically analyzed, and the T-Box is evaluated based on the standard deviation and maximum jump value of the time deviation to determine whether it meets the time tolerance requirements of the automotive-grade communication protocol.

[0012] In one possible implementation, the T-Box positioning accuracy verification method also includes: Determine the ratio of CEP to R95, and assess the concentration of the T-Box positioning error distribution based on the ratio; Based on the concentration of the T-Box positioning error distribution, the number of positioning failures and the duration of positioning failures of the T-Box are counted; wherein, a positioning failure is defined as the T-Box positioning horizontal error exceeding a preset error threshold and the duration of the positioning failure exceeding a preset time threshold.

[0013] Secondly, the present invention also provides a T-Box positioning accuracy verification device, including a memory and a processor, wherein, The memory is used to store programs; The processor, coupled to the memory, is used to execute the program stored in the memory to implement the steps of the T-Box positioning accuracy verification method as described in any of the preceding claims.

[0014] Thirdly, the present invention also provides a T-Box positioning accuracy verification system, comprising: the aforementioned T-Box positioning accuracy verification device, and a POS system and a T-Box fixed on a test vehicle; wherein the POS system and the T-Box are both communicatively connected to the T-Box positioning accuracy verification device, and the POS system is also communicatively connected to the T-Box.

[0015] The beneficial effects of adopting the above implementation method are as follows: The T-Box positioning accuracy verification method, device, and system provided by the present invention, by setting up a high-precision POS system and the T-Box under test together on the test vehicle, can perform testing even when the vehicle is in motion, thus reflecting real-world conditions such as dynamic multipath and signal obstruction. Furthermore, the POS system and the T-Box under test are synchronized in time, avoiding verification errors caused by time asynchrony. This method does not rely on NTP (Network Time Protocol), therefore there is no millisecond-level jitter, and it does not require the injection of a GNSS (Global Navigation Satellite System) signal simulator into the scenario.

[0016] Data is collected synchronously under multiple typical road scenarios. The true trajectory data is interpolated to obtain a true sequence. The true sequence is compensated based on a pre-calibrated spatial offset vector to obtain the true position of the antenna of the T-Box. Then, multi-dimensional error indicators such as CEP, R95, and RMS in the horizontal / vertical directions are calculated according to the scenario.

[0017] When vehicles are tested in a dynamic state, multi-dimensional error indicators such as CEP, R95, and RMS can be calculated for different scenarios to solve the problem of insufficient coverage of dynamic scenarios. By synchronizing the time between the POS system and the T-Box under test, and by interpolating the true trajectory data and compensating based on the spatial offset vector, the problem of low reliability of the true value is solved. Multi-dimensional error indicators such as CEP, R95, and RMS are calculated to achieve error separability.

[0018] Therefore, this invention solves the problems of low truth value reliability, insufficient dynamic scene coverage, and indivisible errors in the prior art. It is suitable for T-Box mass production verification, OTA regression testing, and chip selection evaluation, and has the advantages of high precision, high automation, and strong engineering applicability. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 A flowchart of an embodiment of the T-Box positioning accuracy verification method provided by the present invention; Figure 2 This is a schematic block diagram of an embodiment of the T-Box positioning accuracy verification system provided by the present invention; Figure 3 A schematic diagram of an embodiment of the electronic device provided by the present invention. Detailed Implementation

[0021] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0022] In the description of the embodiments of this application, unless otherwise stated, "a plurality of" means two or more.

[0023] In the embodiments of the present invention, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, apparatus, product or device that includes a series of steps or modules is not necessarily limited to those steps or modules that are explicitly listed, but may include other steps or modules that are not explicitly listed or that are inherent to such process, method, product or device.

[0024] The naming or numbering of steps in the embodiments of the present invention does not mean that the steps in the method flow must be executed in the time / logical order indicated by the naming or numbering. The execution order of the named or numbered process steps can be changed according to the technical purpose to be achieved, as long as the same or similar technical effect can be achieved.

[0025] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a mutually exclusive, independent, or alternative embodiment. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0026] High-precision POS systems (such as GNSS / INS integrated navigation) can provide centimeter-level, high-frequency (≥100 Hz), and full-attitude dynamic ground truth trajectories, but they have not yet been systematically integrated into the T-Box mass production verification process. Therefore, a standardized verification scheme is needed that is based on a high-confidence ground truth source, supports complex road scenarios, and can output multi-dimensional accuracy indicators.

[0027] This invention provides a method, apparatus, and system for verifying the positioning accuracy of a T-Box, which will be described below.

[0028] This invention provides a method for verifying the positioning accuracy of a T-Box. This method can be implemented by executing an application on a server, which can be a cloud server or an edge server. Figure 1 As shown, the method includes: S101. After the POS system and the T-Box (TelematicsBOX) achieve time synchronization, the true trajectory data output by the POS system and the positioning data output by the T-Box are acquired; the POS system and the T-Box are fixed on the test vehicle.

[0029] Understandably, the POS system (High Precision Position and Attitude System) is NovAtel SPAN-CPT, which includes the OEM7720 GNSS board and SPAN-IGM-A1 IMU, supports RTK+INS combined calculation, and has a dynamic positioning accuracy better than 2 cm + 1 ppm. T-Box under test: A mass-produced sample integrating a dual-frequency GNSS (L1+L5) chip, supporting NMEA-0183 protocol output, with a reporting frequency of 1 Hz; Installation method: The POS main antenna and the T-Box external antenna are rigidly fixed side by side to the center line of the vehicle roof, with a spacing of about 30cm; Offset calibration: The offset vector of the T-Box antenna phase center relative to the POS reference point was measured using a Leica TS60 total station, with a calibration uncertainty of ±3 mm.

[0030] S102. The true trajectory data is interpolated to obtain a true sequence, and the true sequence is compensated based on the pre-calibrated spatial offset vector between the POS system and the T-Box to obtain the true position at the antenna of the T-Box.

[0031] Understandably, NovAtel Inertial Explorer software is used to solve the high-precision POS trajectory; cubic spline interpolation is performed on the high-precision POS trajectory to generate a sequence aligned with the T-Box timestamp; and the offset vector is compensated to obtain the true position at the T-Box antenna.

[0032] S103. Based on the true location and the positioning data, determine the positioning error of the T-Box, and based on the positioning error, statistically analyze the indicators used to evaluate the positioning accuracy of the T-Box according to the road scene classification; the indicators include: CEP, R95, RMS and maximum error index.

[0033] Understandably, CEP (Circular Error Probability) is a core indicator for measuring positioning accuracy. It indicates that 50% of the positioning results will fall within a circle centered on the target point and with the CEP as the radius. In other words, the smaller the CEP value, the more accurate the positioning.

[0034] The R95 metric is a key indicator in performance analysis, representing the response time of 95% of requests, which is less than or equal to this value. R95 is the 95th percentile of response time, meaning that only 5% of requests will be slower than this value.

[0035] RMS (Root Mean Square) is obtained by taking the square root of the average of the sum of squares of the values.

[0036] The maximum error specification (also known as the maximum permissible error) defines the maximum allowable deviation of a T-Box under specific conditions. In other words, it is the maximum permissible difference between the T-Box measurement result and the true value.

[0037] This invention provides a high-precision, high-reliability, and scenario-wide T-Box positioning accuracy verification method and system, solving problems such as missing true values, weak dynamic evaluation capabilities, and single indicators in existing technologies.

[0038] In some embodiments, the POS system synchronizes time with the T-Box, including: The POS system outputs a second pulse signal to the T-Box, thereby achieving time synchronization between the POS system and the T-Box.

[0039] Understandably, the second pulse signal (PPS) output by the POS is synchronized with the PPS of the GNSS module of the T-Box to establish a unified time reference; the test route, which includes at least two typical road scenarios, is used to simultaneously collect high-frequency true trajectory data output by the POS and positioning data output by the T-Box.

[0040] In some embodiments, the POS system is a tightly coupled GNSS / INS integrated navigation system.

[0041] Understandably, the tight coupling of GNSS (Global Navigation Satellite System) and INS (Inertial Navigation System) aims to improve the accuracy and reliability of navigation systems. GNSS typically relies on satellite signals to determine position, while INS estimates position and velocity by measuring acceleration and angular velocity. Combining these two systems can provide a more accurate and stable navigation solution.

[0042] The GNSS / INS tightly coupled integrated navigation system has a dynamic positioning accuracy better than 0.02 m + 1 ppm and an output frequency of not less than 100 Hz.

[0043] In some embodiments, the spatial offset vector is obtained by calibration using a total station, laser tracker, or photogrammetry.

[0044] Understandably, the spatial offset vector is obtained by calibration in the laboratory or field using a total station, laser tracker, or photogrammetry, with a calibration uncertainty of less than ±5 mm.

[0045] In some embodiments, interpolation processing is performed on the truth trajectory data to obtain a truth sequence, including: The true value trajectory data is interpolated using cubic spline interpolation or Kalman smoothing algorithm to generate a true value sequence.

[0046] Understandably, cubic spline interpolation, or spline interpolation for short, is a process of obtaining a set of curve functions by solving a set of three moment equations through a smooth curve derived from a series of shape points.

[0047] Kalman smoothing is a state-space model-based filtering algorithm used to estimate the state of a system. It uses system observations and prior knowledge to iteratively update the estimates, providing a more accurate state estimate.

[0048] In some embodiments, the T-Box positioning accuracy verification method further includes: The instantaneous velocity of the POS system is calculated based on the true trajectory data, and the instantaneous velocity is determined as the true velocity. The reporting speed of the T-Box is verified based on the vector difference between the reporting speed of the T-Box and the true speed.

[0049] It is understandable that the T-Box's reporting speed refers to the speed of the vehicle collected by the T-Box.

[0050] Verification of the speed information output by the T-Box includes: The instantaneous velocity is calculated by differentiation from the true POS trajectory and used as the true velocity. Calculate the vector difference between the velocity reported by the T-Box and the true velocity; The root mean square (VRMS) and 95th percentile (V95) of the statistical velocity error.

[0051] In some embodiments, the T-Box positioning accuracy verification method further includes: Determine the time deviation between the GNSS timestamp of the T-Box and the trigger time of the second pulse signal of the POS system; The standard deviation and maximum jump value of the time deviation are statistically analyzed, and the T-Box is evaluated based on the standard deviation and maximum jump value of the time deviation to determine whether it meets the time tolerance requirements of the automotive-grade communication protocol.

[0052] It is understood that when the standard deviation of the time deviation is less than a preset standard deviation threshold, and the maximum jump value is less than a preset jump value threshold, the T-Box is determined to meet the time tolerance requirements of the automotive-grade communication protocol.

[0053] The time tolerance requirements for automotive-grade communication protocols vary depending on the protocol type, application scenario, and security level. Key indicators include latency, jitter, and synchronization accuracy, and must meet functional safety and real-time requirements.

[0054] In some embodiments, the T-Box positioning accuracy verification method further includes: Determine the ratio of CEP to R95, and assess the concentration of the T-Box positioning error distribution based on the ratio; Based on the concentration of the T-Box positioning error distribution, the number of positioning failures and the duration of positioning failures of the T-Box are counted; wherein, a positioning failure is defined as the T-Box positioning horizontal error exceeding a preset error threshold and the duration of the positioning failure exceeding a preset time threshold.

[0055] Understandably, the ratio of CEP to R95 is used to assess the concentration of the error distribution. Statistics on the number of positioning failures and their duration, where "failure" is defined as a horizontal error exceeding a preset threshold (e.g., 50m) and a duration greater than 2 seconds.

[0056] In some embodiments, the present invention proposes a method for verifying the positioning accuracy of a T-Box based on a high-precision POS, comprising: (1) The POS system and the T-Box are rigidly placed together on the test vehicle, and the spatial offset between them is calibrated; (2) Microsecond-level time synchronization is achieved through the PPS hardware signal output by the POS system; (3) Collect data synchronously in multiple road scenarios; (4) Perform truth interpolation on the data collected by the POS system and align the T-Box timestamps to compensate for installation offset; (5) Calculate multi-dimensional error indicators such as CEP, R95, and RMS for different scenarios; (6) Generate a structured verification report.

[0057] Meanwhile, the present invention also provides a verification system for implementing the above method, including a POS device, a T-Box, a synchronization module, a data recording unit and an analysis server (i.e., a T-Box positioning accuracy verification device).

[0058] Beneficial effects include: (1) High truth accuracy: The POS system provides centimeter-level dynamic truth values, which is far superior to traditional reference sources; (2) Comprehensive scenario coverage: Supports complex working conditions such as urban canyons and tunnel exits; (3) Errors can be separated: installation and synchronization errors are eliminated through spatiotemporal alignment; (4) Complete indicator system: outputs multi-dimensional results such as CEP, R95, failure statistics, etc.

[0059] In some embodiments, the following example illustrates the implementation process of the present invention by describing the pre-production accuracy verification of a new energy vehicle manufacturer's next-generation 4G / 5G T-Box.

[0060] 1. Hardware Deployment Test vehicle: A certain brand of pure electric vehicle; POS system: NovAtel SPAN-CPT, including OEM7720 GNSS board and SPAN-IGM-A1 IMU, supports RTK+INS combined calculation, and has a dynamic positioning accuracy better than 2 cm + 1 ppm; T-Box under test: A mass-produced sample integrating a dual-frequency GNSS (L1+L5) chip, supporting NMEA-0183 protocol output, with a reporting frequency of 1 Hz; Installation method: The POS main antenna and the T-Box external antenna are rigidly fixed side by side to the center line of the vehicle roof, with a spacing of about 30cm; Offset calibration: The offset vector of the T-Box antenna phase center relative to the POS reference point was measured using a Leica TS60 total station, with a calibration uncertainty of ±3 mm.

[0061] 2. Test route design The test route is 28.6 km long and covers the following six typical scenarios: S1: Open highway section (unobstructed, >8 km); S2: Urban CBD area (high-rise buildings on both sides >30 m, continuous obstruction >4 km); S3: Three-level elevated bridge ramps (including frequent GNSS signal interruptions and multipathing). S4: Tunnel exit (GNSS signal recovery process from zero to positive); S5: Tree-lined boulevard (tree canopy coverage >70%) S6: Exiting the underground parking lot (cold start + weak signal environment).

[0062] 3. Data Collection Start the POS system and T-Box, and allow them to warm up for 10 minutes; The PPS signal output by the POS system is distributed to the T-Box development interface via GPIO to trigger its time synchronization; Drive at a constant speed (30–80 km / h) along the test route and record the entire journey: POS raw observation data (.obs / .nav) and combined solution results (.csv, 100 Hz); T-Box NMEA statements (GGA, RMC, etc., 1 Hz); Vehicle CAN bus speed and gear information (used to assist in scene recognition).

[0063] 4. Data Post-processing Use NovAtel Inertial Explorer software to calculate high-precision POS trajectories; Cubic spline interpolation is performed on the high-precision POS trajectory to generate a sequence aligned with the T-Box timestamp; Compensate the offset vector to obtain the true location of the T-Box antenna; Parse the T-Box GGA statement into WGS-84 latitude and longitude coordinates; Calculate the horizontal error (Haversine distance) and the vertical error.

[0064] 5. Error Analysis and Report Generation The statistics are grouped and analyzed by scene label, and the results are shown in Table 1 below: Table 1: Validation results of different scene labels

[0065] Errors in various scenarios: List of location failure events (3 in total, all occurring in S4 / S6, with a maximum duration of 4.2 seconds). The speed error VRMS = 0.32 m / s, which meets the requirements of automotive-grade communication protocol (<0.5 m / s).

[0066] The final output is a PDF verification report containing the above conclusions and recommendations, which will be used for T-Box software version release decisions.

[0067] In some embodiments, a method for verifying the positioning accuracy of a T-Box based on a high-precision true-value POS device includes the following steps: The high-precision position and attitude system (POS) and the T-Box under test are rigidly mounted at a fixed position on the same test vehicle, and the spatial offset vector of the T-Box antenna phase center relative to the POS reference point is pre-calibrated. The second pulse signal (PPS) output by the POS is synchronized with the GNSS module PPS of the T-Box to establish a unified time reference; Drive on a test route that includes at least two typical road scenarios, and simultaneously collect high-frequency true trajectory data output by POS and positioning data output by T-Box; The POS true trajectory data is interpolated to generate a true sequence aligned with the T-Box positioning data timestamp, and the true position at the T-Box antenna is obtained by compensation based on the spatial offset vector. Based on the aligned true value position and T-Box positioning results, the positioning errors in the horizontal and vertical directions are calculated, and CEP, R95, RMS and maximum error indicators are statistically analyzed according to road scene classification. Generate a verification report that includes multi-dimensional accuracy metrics and scenario-based performance comparisons.

[0068] The high-precision POS is a tightly coupled GNSS / INS navigation system with a dynamic positioning accuracy better than 0.02m + 1 ppm and an output frequency of not less than 100 Hz.

[0069] The typical road scenarios include at least two of the following categories: open and unobstructed road sections, urban canyon areas, upper and lower levels of elevated bridges, tunnel entrances and exits, tree-lined roads, and underground parking lot exits.

[0070] The spatial offset vector is obtained by calibration in the laboratory or field using a total station, laser tracker, or photogrammetry, with a calibration uncertainty of less than ±5 mm.

[0071] The interpolation process employs cubic spline interpolation or Kalman smoothing algorithm to ensure the spatiotemporal continuity and smoothness of the true value trajectory at the low-frequency sampling points of the T-Box.

[0072] The method also includes verifying the speed information output by the T-Box: The instantaneous velocity is calculated by differentiation from the true value trajectory collected by the POS system and used as the true value velocity; Calculate the vector difference between the velocity reported by the T-Box and the true velocity; The root mean square (VRMS) and 95th percentile (V95) of the statistical velocity error.

[0073] The method also includes verifying the time synchronization accuracy of the T-Box: Compare the deviation between the T-Box GNSS timestamp and the POS PPS trigger time; The standard deviation and maximum jump value of the statistical time deviation are analyzed to assess whether it meets the time tolerance requirements of automotive-grade communication protocols.

[0074] The verification report further includes: The ratio of CEP to R95 is used to assess the degree of concentration of the error distribution; Statistics on the number of positioning failures and their duration, where "failure" is defined as a horizontal error exceeding a preset threshold (e.g., 50m) and a duration greater than 2 seconds.

[0075] The T-Box positioning accuracy verification system described above includes: High-precision POS devices are used to provide centimeter-level dynamic truth trajectories; The T-Box under test is installed on the test vehicle and connected to the vehicle's power supply and antenna. The synchronous trigger module is used to distribute the PPS signal of the POS to the T-Box and the data recording unit; Multi-channel data recording unit synchronously stores POS raw observation data, T-Box NMEA / custom protocol data and vehicle CAN bus information; The error analysis server is equipped with an error calculation engine, a scene label recognition module, and a report generation module.

[0076] The error analysis server also integrates a digital map matching module, which is used to automatically identify the road scene type to which the current test road segment belongs and to add scene labels to the positioning error data.

[0077] It supports simultaneous access to multiple T-Boxes for parallel verification. Each T-Box reports data through an independent communication channel. The system calculates the accuracy index of each T-Box and generates a horizontal comparison report.

[0078] It is applicable to mass production consistency verification of automotive-grade T-Box, positioning performance regression testing before and after OTA upgrades, and selection evaluation of different GNSS chip solutions.

[0079] The present invention also provides a T-Box positioning accuracy verification device, comprising a memory and a processor, wherein, The memory is used to store programs; The processor, coupled to the memory, is used to execute the program stored in the memory to implement the steps of the T-Box positioning accuracy verification method as described in any of the preceding claims.

[0080] The T-Box positioning accuracy verification device provided in the above embodiments can realize the technical solutions described in the T-Box positioning accuracy verification method embodiments. The specific implementation principles of each module or unit can be found in the corresponding content in the T-Box positioning accuracy verification method embodiments, which will not be repeated here.

[0081] This invention also provides a T-Box positioning accuracy verification system, such as... Figure 2 As shown, it includes: the T-Box positioning accuracy verification device 201 mentioned above, and a POS system 202 and a T-Box 203 fixed on the test vehicle; wherein, the POS system 202 and the T-Box 203 are both communicatively connected to the T-Box positioning accuracy verification device 201, and the POS system 202 is also communicatively connected to the T-Box 203.

[0082] In summary, this invention discloses a method, apparatus, and system for verifying the positioning accuracy of a T-Box based on a high-precision ground truth POS device. This method rigidly co-places the high-precision POS and the T-Box under test on a test vehicle, achieving time synchronization via PPS signals and spatial alignment based on a pre-calibrated offset vector. Data is synchronously collected under various typical road scenarios, the POS ground truth is interpolated and aligned with the T-Box timestamp, and the result is used as the ground truth after compensating for installation offset. Multi-dimensional error indicators such as CEP, R95, and RMS in the horizontal / vertical directions are calculated for each scenario, generating a structured verification report. This invention solves the problems of low ground truth reliability, insufficient dynamic scene coverage, and indivisible errors in existing technologies. It is suitable for T-Box mass production verification, OTA regression testing, and chip selection evaluation, and has advantages such as high precision, high automation, and strong engineering applicability.

[0083] like Figure 3As shown, the present invention also provides an electronic device 300, which can be a server. The electronic device 300 includes a processor 301, a memory 302, and a display 303. Figure 3 Only some components of the electronic device 300 are shown, but it should be understood that it is not required to implement all of the components shown, and more or fewer components may be implemented instead.

[0084] In some embodiments, memory 302 may be an internal storage unit of electronic device 300, such as a hard disk or memory of electronic device 300. In other embodiments, memory 302 may also be an external storage device of electronic device 300, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc. equipped on electronic device 300.

[0085] Furthermore, the memory 302 may include both internal storage units of the electronic device 300 and external storage devices. The memory 302 is used to store application software and various types of data installed on the electronic device 300.

[0086] In some embodiments, processor 301 may be a central processing unit (CPU), microprocessor, or other data processing chip, used to run program code stored in memory 302 or process data, such as the T-Box positioning accuracy verification method of the present invention.

[0087] In some embodiments, display 303 may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, or an OLED (Organic Light-Emitting Diode) touchscreen. Display 303 is used to display information from electronic device 300 and to display a visual user interface. Components 301-303 of electronic device 300 communicate with each other via a system bus.

[0088] In some embodiments of the present invention, when the processor 301 executes the T-Box positioning accuracy verification program in the memory 302, the following steps can be implemented: After the POS system and T-Box achieve time synchronization, the true trajectory data output by the POS system and the positioning data output by the T-Box are acquired; the POS system and the T-Box are fixed on the test vehicle. The true trajectory data is interpolated to obtain a true sequence, and the true sequence is compensated based on the pre-calibrated spatial offset vector between the POS system and the T-Box to obtain the true position at the antenna of the T-Box. Based on the true location and the positioning data, the positioning error of the T-Box is determined, and based on the positioning error, indicators for evaluating the positioning accuracy of the T-Box are statistically analyzed according to road scene classification; the indicators include: CEP, R95, RMS and maximum error index.

[0089] It should be understood that when the processor 301 executes the T-Box positioning accuracy verification program in the memory 302, in addition to the functions mentioned above, it can also perform other functions, as detailed in the description of the corresponding method embodiments above.

[0090] Furthermore, the embodiments of the present invention do not specifically limit the type of electronic device 300 mentioned. Electronic device 300 can be a mobile phone, tablet computer, personal digital assistant (PDA), wearable device, laptop computer, or other portable electronic device. Exemplary embodiments of portable electronic devices include, but are not limited to, portable electronic devices running iOS, Android, Microsoft, or other operating systems. The aforementioned portable electronic device can also be other portable electronic devices, such as a laptop computer with a touch-sensitive surface (e.g., a touch panel). It should also be understood that in some other embodiments of the present invention, electronic device 300 may not be a portable electronic device, but rather a desktop computer with a touch-sensitive surface (e.g., a touch panel).

[0091] In another aspect, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to perform the T-Box positioning accuracy verification method provided by the methods described above, the method comprising: After the POS system and T-Box achieve time synchronization, the true trajectory data output by the POS system and the positioning data output by the T-Box are acquired; the POS system and the T-Box are fixed on the test vehicle. The true trajectory data is interpolated to obtain a true sequence, and the true sequence is compensated based on the pre-calibrated spatial offset vector between the POS system and the T-Box to obtain the true position at the antenna of the T-Box. Based on the true location and the positioning data, the positioning error of the T-Box is determined, and based on the positioning error, indicators for evaluating the positioning accuracy of the T-Box are statistically analyzed according to road scene classification; the indicators include: CEP, R95, RMS and maximum error index.

[0092] Those skilled in the art will understand that all or part of the processes of the methods described in the above embodiments can be implemented by a computer program instructing related hardware, and the program can be stored in a computer-readable storage medium. The computer-readable storage medium may be a disk, optical disk, read-only memory, or random access memory, etc.

[0093] The T-Box positioning accuracy verification method, device, and system provided by the present invention have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only for the purpose of helping to understand the method and core ideas of the present invention. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A method for verifying the positioning accuracy of a T-Box, characterized in that, include: After the POS system and T-Box achieve time synchronization, the true trajectory data output by the POS system and the positioning data output by the T-Box are acquired; the POS system and the T-Box are fixed on the test vehicle. The true trajectory data is interpolated to obtain a true sequence, and the true sequence is compensated based on the pre-calibrated spatial offset vector between the POS system and the T-Box to obtain the true position at the antenna of the T-Box. Based on the true location and the positioning data, the positioning error of the T-Box is determined, and based on the positioning error, indicators for evaluating the positioning accuracy of the T-Box are statistically analyzed according to road scene classification; the indicators include: CEP, R95, RMS and maximum error index.

2. The T-Box positioning accuracy verification method according to claim 1, characterized in that, The POS system synchronizes time with the T-Box, including: The POS system outputs a second pulse signal to the T-Box, thereby achieving time synchronization between the POS system and the T-Box.

3. The T-Box positioning accuracy verification method according to claim 1, characterized in that, The POS system is a tightly coupled GNSS / INS integrated navigation system.

4. The T-Box positioning accuracy verification method according to claim 1, characterized in that, The spatial offset vector is obtained by calibration using a total station, laser tracker, or photogrammetry.

5. The T-Box positioning accuracy verification method according to claim 1, characterized in that, The truth trajectory data is interpolated to obtain a truth sequence, including: The true value trajectory data is interpolated using cubic spline interpolation or Kalman smoothing algorithm to generate a true value sequence.

6. The T-Box positioning accuracy verification method according to claim 1, characterized in that, Also includes: The instantaneous velocity of the POS system is calculated based on the true trajectory data, and the instantaneous velocity is determined as the true velocity. The reporting speed of the T-Box is verified based on the vector difference between the reporting speed of the T-Box and the true speed.

7. The T-Box positioning accuracy verification method according to claim 1, characterized in that, Also includes: Determine the time deviation between the GNSS timestamp of the T-Box and the trigger time of the second pulse signal of the POS system; The standard deviation and maximum jump value of the time deviation are statistically analyzed, and the T-Box is evaluated based on the standard deviation and maximum jump value of the time deviation to determine whether it meets the time tolerance requirements of the automotive-grade communication protocol.

8. The T-Box positioning accuracy verification method according to any one of claims 1-7, characterized in that, Also includes: Determine the ratio of CEP to R95, and assess the concentration of the T-Box positioning error distribution based on the ratio; Based on the concentration of the T-Box positioning error distribution, the number of positioning failures and the duration of positioning failures of the T-Box are counted; wherein, a positioning failure is defined as the T-Box positioning horizontal error exceeding a preset error threshold and the duration of the positioning failure exceeding a preset time threshold.

9. A T-Box positioning accuracy verification device, characterized in that, Including memory and processor, among which, The memory is used to store programs; The processor, coupled to the memory, is used to execute the program stored in the memory to implement the steps of the T-Box positioning accuracy verification method as described in any one of claims 1 to 8.

10. A T-Box positioning accuracy verification system, characterized in that, include: The T-Box positioning accuracy verification device according to claim 9, and the POS system and T-Box fixed on the test vehicle; wherein the POS system and the T-Box are both communicatively connected to the T-Box positioning accuracy verification device, and the POS system is also communicatively connected to the T-Box.

Images