Orientation performance test system, method and device of GNSS orientation equipment and medium

Abstract

The invention relates to the technical field of satellite testing, and discloses a system, a method and a device for testing the orientation performance of GNSS orientation equipment, and a medium, and the system is characterized in that a slave antenna is arranged on a guide rail with a master antenna as a circle center, the output end of the master antenna is connected with a first passive power divider, and the slave antenna is connected with a second passive power divider; the output end of the first passive power divider is connected with the first active power divider and the first power attenuator, and the output end of the second passive power divider is connected with the third active power divider and the second power attenuator; the output end of the first power attenuator is connected with a second active power divider, and the output end of the second power attenuator is connected with a fourth active power divider; the first active power divider is connected with a main antenna input end of directional testing equipment, the second active power divider is connected with main antenna input ends of all directional equipment and slave antenna input ends of the directional testing equipment, and the fourth active power divider is connected with slave antenna input ends of all the directional equipment; the controller communicates with the orientation test device and each orientation device, and accurately tests the orientation performance of the plurality of orientation devices in a real environment.

Description

Technical Field

[0001] This application relates to the field of satellite testing technology, specifically to a GNSS orientation performance testing system, method, apparatus, and medium. Background Technology

[0002] With the rapid development of Global Navigation Satellite System (GNSS) technology, GNSS orientation equipment is increasingly widely used in the field of orientation. To ensure that the orientation performance of GNSS orientation equipment meets the requirements of practical applications, rigorous testing and evaluation are necessary.

[0003] Traditional GNSS direction finding testing often relies on laboratory-simulated signals, which cannot fully replicate real-world interference scenarios such as multipath effects and ionospheric interference, as well as complex external influencing factors. These differences from real-world signal environments make it difficult to comprehensively reflect the actual performance of GNSS equipment. Simply dynamic testing environments (such as vehicle-mounted or mobile platforms) introduce motion errors, making it difficult to separate the GNSS direction finding equipment performance from external environmental interference. Existing static environment testing methods lack systematicity, and direction finding accuracy assessment relies on external reference devices (such as gyroscopes), which are costly and complex to operate.

[0004] Existing technologies suffer from drawbacks: the test environment for GNSS directional equipment differs greatly from the real environment, resulting in low reliability of test results and a limitation on the number of GNSS directional equipment that can be tested. Summary of the Invention

[0005] The purpose of this application is to provide a GNSS orientation performance testing system, method, apparatus, and medium to address the technical shortcomings of existing technologies, such as the large difference between the testing environment and the real environment for GNSS orientation performance testing, resulting in low reliability of test results and a limited number of GNSS orientation devices that can be tested.

[0006] To achieve the above objectives, the first aspect of this application provides a directional performance testing system for a GNSS directional device. The system includes: a main antenna, multiple movable slave antennas, a guide rail, a first passive power divider, a second passive power divider, a first active power divider, a second active power divider, a third active power divider, a fourth active power divider, a first power attenuator, a second power attenuator, a directional testing device, and a controller. Multiple movable slave antennas and guide rails are arranged around the main antenna as the center. The multiple movable slave antennas are set on the guide rails and can move along the guide rails. The output of the main antenna is connected to the input of the first passive power divider, and multiple movable slave antennas are connected to the input of the second passive power divider. The first output terminal and the second output terminal of the first passive power divider are respectively connected to the input terminal of the first active power divider and the input terminal of the first power attenuator; the first output terminal and the second output terminal of the second passive power divider are respectively connected to the input terminal of the third active power divider and the input terminal of the second power attenuator. The output of the first power attenuator is connected to the input of the second active power divider, and the output of the second power attenuator is connected to the input of the fourth active power divider. The output of the first active power divider is connected to the first input of the GNSS signal main antenna of the directional test equipment, and the output of the second active power divider is connected to the input of the GNSS signal main antenna of multiple GNSS directional equipment respectively. The output of the third active power divider is connected to the GNSS signal of the directional test equipment from the second input of the antenna, and the output of the fourth active power divider is connected to the GNSS signals of multiple GNSS directional devices from the antenna input. The controller's communication terminals are connected to the communication terminals of the orientation test equipment and multiple GNSS orientation devices, respectively, to test the orientation performance of the GNSS orientation devices.

[0007] In this embodiment of the application, the plurality of movable slave antennas include a first group of movable slave antennas and a second group of movable slave antennas. The first group of movable slave antennas is arranged around the main antenna with a first preset radius, and the second group of movable slave antennas is arranged around the main antenna with a second preset radius, wherein the first preset radius is greater than the second preset radius.

[0008] In this embodiment, the guide rail includes a first guide rail and a second guide rail. The first guide rail and the second guide rail are respectively arranged around the main antenna with a first preset radius and a second preset radius. A first group of guide rails moves from the antenna along the first guide rail, and a second group of guide rails moves from the antenna along the second guide rail.

[0009] A second aspect of this application provides a method for testing the orientation performance of a GNSS orientation device, using the orientation performance testing system for the GNSS orientation device described above, the method comprising: Control any one of the multiple movable antennas to connect to the input terminal of the second passive power divider and move along the guide rail; Powers multiple GNSS orientation devices and controls them for positioning and orientation. If multiple GNSS orientation devices successfully locate and orient themselves within a preset waiting time, acquire the first GGA positioning data and first ORI orientation data of the multiple GNSS orientation devices within a preset test time, and the first standard GGA positioning data and first standard ORI orientation data of the orientation test device within a preset test time. Based on the first GGA positioning data, the first ORI orientation data, the first standard GGA positioning data, and the first standard ORI orientation data, the first positioning error, the first orientation azimuth error, and the first pitch angle error are obtained. If the first positioning error, the first orientation azimuth error, and the first elevation angle error meet the first preset performance test conditions, the orientation performance of multiple GNSS orientation devices is determined to be qualified.

[0010] The third aspect of this application provides a directional performance testing system for a GNSS directional device. The system includes: a main antenna, multiple static slave antennas, a first passive power divider, a second passive power divider, a first active power divider, a second active power divider, a third active power divider, a fourth active power divider, a first power attenuator, a second power attenuator, a directional testing device, and a controller. Multiple static slave antennas are arranged in a circle around the main antenna; The output of the main antenna is connected to the input of the first passive power divider, and multiple static slave antennas are connected to the input of the second passive power divider. The first output terminal and the second output terminal of the first passive power divider are respectively connected to the input terminal of the first active power divider and the input terminal of the first power attenuator; the first output terminal and the second output terminal of the second passive power divider are respectively connected to the input terminal of the third active power divider and the input terminal of the second power attenuator. The output of the first power attenuator is connected to the input of the second active power divider, and the output of the second power attenuator is connected to the input of the fourth active power divider. The output of the first active power divider is connected to the first input of the GNSS signal main antenna of the directional test equipment, and the output of the second active power divider is connected to the input of the GNSS signal main antenna of multiple GNSS directional equipment respectively. The output of the third active power divider is connected to the GNSS signal of the directional test equipment from the second input of the antenna, and the output of the fourth active power divider is connected to the GNSS signals of multiple GNSS directional devices from the antenna input. The controller's communication terminals are connected to the communication terminals of the orientation test equipment and multiple GNSS orientation devices, respectively, to test the orientation performance of the GNSS orientation devices.

[0011] In this embodiment, the plurality of static slave antennas include a first group of static slave antennas, a second group of static slave antennas and a third group of static slave antennas. The first group of static slave antennas is arranged around the main antenna with a third preset radius, the second group of static slave antennas is arranged around the main antenna with a fourth preset radius, and the third group of static slave antennas is arranged around the main antenna with a fifth preset radius, wherein the third preset radius, the fourth preset radius and the fifth preset radius decrease sequentially.

[0012] In this embodiment of the application, the communication terminal of the controller is also connected to the communication terminals of the first power attenuator and the second power attenuator respectively to adjust the signal power attenuation value of the first power attenuator and the second power attenuator.

[0013] The fourth aspect of this application provides a method for testing the orientation performance of a GNSS orientation device, using the orientation performance testing system for the GNSS orientation device described above, the method comprising: Controls any one of the multiple static slave antennas to connect to the input terminal of the second passive power divider; Powers multiple GNSS orientation devices and controls them for positioning and orientation. When multiple GNSS orientation devices successfully achieve positioning and orientation, the second GGA positioning dataset and the second ORI orientation dataset of the multiple GNSS orientation devices, the second standard GGA positioning dataset and the second standard ORI orientation dataset of the orientation test device are acquired. The second GGA positioning dataset includes multiple second GGA positioning data, the second ORI orientation dataset includes multiple second ORI orientation data, the second standard GGA positioning dataset includes multiple second standard GGA positioning data, and the second standard ORI orientation dataset includes multiple second standard ORI orientation data. Based on the second GGA positioning dataset, the second ORI orientation dataset, the second standard GGA positioning dataset, and the second standard ORI orientation dataset, the second positioning error, the second orientation azimuth error, and the second elevation angle error are obtained. If the second positioning error, the second orientation azimuth error, and the second elevation angle error meet the second preset performance test conditions, the orientation performance of multiple GNSS orientation devices is determined to be qualified.

[0014] In this embodiment of the application, the method further includes: Obtain the power-on time of GNSS directional devices when power is supplied to multiple GNSS directional devices; When multiple GNSS orientation devices continuously output a preset number of second ORI orientation data that meet the second preset performance test conditions, the first target time is determined based on the time when multiple GNSS orientation devices continuously output a preset number of second ORI orientation data that meet the second preset performance test conditions. The initial orientation duration of multiple GNSS orientation devices is determined based on the difference between the first target time and the power-on time of the GNSS orientation device. If the initial orientation duration is less than the preset initial orientation duration threshold, the orientation performance of multiple GNSS orientation devices is determined to be qualified.

[0015] In this embodiment of the application, the method further includes: If the second positioning error, the second orientation azimuth error and the second pitch angle error meet the second preset performance test conditions, update the power attenuation values ​​of the first power attenuator and the second power attenuator based on the preset power attenuation value. Based on the updated power attenuation values ​​of the first and second power attenuators, the positioning and orientation steps of multiple GNSS orientation devices are repeated until the second positioning error, the second orientation azimuth error, and the second elevation angle error do not meet the second preset performance test conditions, at which point the orientation performance of the multiple GNSS orientation devices is determined to be qualified.

[0016] In this embodiment of the application, the method further includes: If multiple GNSS orientation devices successfully locate and orient themselves, control the second and fourth active power dividers to first cut off power and then re-supply them; Obtain the power-on time of the power divider when power is re-energized to the second and fourth active power dividers. Re-receive the second ORI orientation dataset from multiple GNSS orientation devices; If there are a predetermined number of consecutive ORI orientation data that meet the second predetermined performance test conditions in the re-received second ORI orientation dataset, the second target time is determined based on the time when multiple GNSS orientation devices continuously output a predetermined number of second ORI orientation data that meet the second predetermined performance test conditions. Based on the difference between the second target time and the power divider power-on time, determine the orientation time after signal loss and reacquisition of multiple GNSS orientation devices; If the orientation time after signal loss and reacquisition is less than the preset orientation time threshold after signal loss and reacquisition, the orientation performance of multiple GNSS orientation devices is determined to be qualified.

[0017] The fifth aspect of this application provides a directional performance testing device for GNSS directional equipment, comprising: The memory is configured to store instructions; The processor is configured to retrieve instructions from memory and, when executing the instructions, to implement the orientation performance testing method for the GNSS orientation device described above.

[0018] The sixth aspect of this application discloses a machine-readable storage medium storing instructions for causing a machine to perform a GNSS orientation device orientation performance test method as described above.

[0019] By employing the above technical solution and real outdoor GNSS signals, the orientation performance of GNSS orientation equipment in actual application environments can be accurately reflected. It can not only perform static orientation performance tests but also dynamic orientation performance tests, thus improving the accuracy of orientation performance testing for GNSS orientation equipment. Furthermore, it can perform parallel orientation performance tests on multiple GNSS orientation equipment.

[0020] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0021] The accompanying drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the following detailed description to explain the embodiments of this application, but do not constitute a limitation on the embodiments of this application. In the drawings: Figure 1 This illustration schematically shows a structural diagram of a GNSS orientation equipment orientation performance testing system according to an embodiment of this application; Figure 2 The illustration shows a flowchart of a method for testing the orientation performance of a GNSS orientation device according to an embodiment of this application; Figure 3 The illustration shows a flowchart of another method for testing the orientation performance of a GNSS orientation device according to an embodiment of this application.

[0022] Explanation of reference numerals in the attached figures: A - Main antenna; a4, b4, c4, d4, a5, b5, c5, d5 - Multiple movable slave antennas; 10 - First arc-shaped rail; 11 - Second arc-shaped rail; 12 - Third arc-shaped rail; 13 - Fourth arc-shaped rail; 14 - Fifth arc-shaped rail; 15 - Sixth arc-shaped rail; 16 - Seventh arc-shaped rail; 17 - Eighth arc-shaped rail; 20 - First passive power divider; 21 - Second passive power divider; 22 - 1 - First active power divider; 23 - Second active power divider; 24 - Third active power divider; 25 - Fourth active power divider; 30 - First power attenuator; 31 - Second power attenuator; 40 - Directional test equipment; 50 - Controller; 60, 61, 62 - Multiple GNSS directional devices; a1, b1, c1, d1, a2, b2, c2, d2, a3, b3, c3, d3 - Multiple static slave antennas. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for illustration and explanation of the embodiments of this application and are not intended to limit the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0024] It should be noted that the acquisition, transmission, storage, use, and processing of data in the technical solution of this application all comply with relevant laws and regulations. In the embodiments of this application, certain existing industry solutions such as software, components, and models may be mentioned. These should be considered exemplary, intended only to illustrate the feasibility of implementing the technical solution of this application, and do not imply that the applicant has already used or necessarily used such solutions.

[0025] It should be noted that if the embodiments of this application involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0026] Furthermore, if the embodiments of this application involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0027] Figure 1 The diagram illustrates the structure of a GNSS orientation performance testing system according to an embodiment of this application. Figure 1As shown, this application embodiment provides a directional performance testing system for a GNSS directional device. The system includes: a main antenna A, multiple movable slave antennas (a4, b4, c4, d4, a5, b5, c5, d5), guide rails (10, 11, 12, 13, 14, 15, 16, 17), a first passive power divider 20, a second passive power divider 21, a first active power divider 22, a second active power divider 23, a third active power divider 24, a fourth active power divider 25, a first power attenuator 30, a second power attenuator 31, a directional testing device 40, and a controller 50. Multiple movable sub-antennas (a4, b4, c4, d4, a5, b5, c5, d5) and guide rails (10, 11, 12, 13, 14, 15, 16, 17) are arranged in a circle around the main antenna A. The multiple movable sub-antennas (a4, b4, c4, d4, a5, b5, c5, d5) are set on the guide rails (10, 11, 12, 13, 14, 15, 16, 17) and can move along the guide rails (10, 11, 12, 13, 14, 15, 16, 17). The output terminal of the main antenna A is connected to the input terminal of the first passive power divider 20, and multiple movable slave antennas (a4, b4, c4, d4, a5, b5, c5, d5) are connected to the input terminal of the second passive power divider 21. The first output terminal and the second output terminal of the first passive power divider 20 are respectively connected to the input terminal of the first active power divider 22 and the input terminal of the first power attenuator 30. The first output terminal and the second output terminal of the second passive power divider 21 are respectively connected to the input terminal of the third active power divider 24 and the input terminal of the second power attenuator 31. The output terminal of the first power attenuator 30 is connected to the input terminal of the second active power divider 23, and the output terminal of the second power attenuator 31 is connected to the input terminal of the fourth active power divider 25. The output of the first active power divider 22 is connected to the first input of the GNSS signal main antenna of the directional test equipment 40, and the output of the second active power divider 23 is connected to the input of the GNSS signal main antenna of multiple GNSS directional devices (60, 61, 62). The output of the third active power divider 24 is connected to the second input of the antenna of the GNSS signal of the directional test device 40, and the output of the fourth active power divider 25 is connected to the GNSS signals of multiple GNSS directional devices (60, 61, 62) from the antenna input. The communication terminal of the controller 50 is connected to the communication terminals of the orientation test equipment 40 and multiple GNSS orientation devices (60, 61, 62) respectively, and is used to test the orientation performance of the GNSS orientation devices (60, 61, 62).

[0028] In this embodiment, the main antenna A is the directional center antenna of the GNSS directional equipment directional performance testing system, and the multiple movable slave antennas (a4, b4, c4, d4, a5, b5, c5, d5) are the directional sub-antennas of the GNSS directional equipment directional performance testing system. A power divider is a circuit element used to distribute input signal power to multiple output terminals, while a power attenuator is a device used to control signal power. It primarily achieves signal attenuation by converting radio frequency energy into heat energy; its basic working principle is to reduce signal strength using attenuation circuits (such as PI-type and T-type circuits). In this embodiment, signals are received through the main antenna and slave antennas, and after initial distribution using a passive power divider, both "active amplification" and "passive attenuation" processing paths are connected in parallel for each signal, simultaneously enabling flexible selection of slave antenna signals. The main antenna A serves as a fixed signal source and is connected to the first passive power divider 20 for signal distribution. Simultaneously, one of the multiple mobile slave antennas (a4, b4, c4, d4, a5, b5, c5, d5) is selected and connected to the second passive power divider 21, enabling selective input of the slave antenna signal. The two passive power dividers form a symmetrical preprocessing channel: one output from the first passive power divider 20 is sent to the first active power divider 22 for signal amplification, and the other is sent to the first power attenuator 30 for attenuation. This attenuator compensates for signal loss to ensure weak signal quality and processes strong signals to avoid receiver saturation before being input to the third active power divider 24. One output from the second passive power divider 21 is directly sent to the third active power divider 24, and the other is attenuated by the second power attenuator 31 before being input to the fourth active power divider 25. The signals processed by the hybrid network described above are ultimately routed to the device under test: the output of the first active power divider 22 provides the main antenna signal to the directional test device 40; the output of the second active power divider 23 provides the main antenna signal to multiple GNSS directional devices (60, 61, 62) on one hand, and the secondary antenna signal to the directional test device 40 on the other hand; the output of the fourth active power divider 25 provides the secondary antenna signal to multiple GNSS directional devices (60, 61, 62). The entire test process is coordinated by the controller 50, which is connected to the communication terminals of the directional test device 40 and multiple GNSS directional devices (60, 61, 62), thereby realizing automated testing of the ability of multiple GNSS directional devices to determine the target direction or azimuth.

[0029] The GNSS orientation performance testing system provided in this application embodiment can perform dynamic testing of the orientation performance of GNSS orientation equipment in a real environment, thereby effectively solving the problems of large differences between the test environment and the real environment, low reliability of test results, and limited number of GNSS orientation equipment to be tested in the prior art.

[0030] In one embodiment of this application, the plurality of movable slave antennas include a first group of movable slave antennas (a5, b5, c5, d5) and a second group of movable slave antennas (a4, b4, c4, d4). The first group of movable slave antennas (a5, b5, c5, d5) is arranged around the main antenna with a first preset radius, and the second group of movable slave antennas (a4, b4, c4, d4) is arranged around the main antenna with a second preset radius, wherein the first preset radius is greater than the second preset radius.

[0031] In this embodiment, the first preset radius can be 5 meters and the second preset radius can be 3 meters. The length of the first preset radius and the second preset radius are not specifically limited in this application, and can be set according to actual needs.

[0032] In one embodiment of this application, the guide rail includes a first guide rail and a second guide rail. The first guide rail and the second guide rail are respectively arranged around the main antenna with a first preset radius and a second preset radius. A first group of guide rails moves from the antenna along the first guide rail, and a second group of guide rails moves from the antenna along the second guide rail.

[0033] The guide rail includes a first guide rail and a second guide rail. The first guide rail includes a first arc-shaped guide rail 10, a second arc-shaped guide rail 11, a third arc-shaped guide rail 12, a fourth arc-shaped guide rail 13, a fifth arc-shaped guide rail 14, a sixth arc-shaped guide rail 15, a seventh arc-shaped guide rail 16, and an eighth arc-shaped guide rail 17. The first arc-shaped guide rail 10, the second arc-shaped guide rail 11, the third arc-shaped guide rail 12, and the fourth arc-shaped guide rail 13 are connected in sequence and arranged around the main antenna A with a first preset radius. The second guide rail includes a fifth arc-shaped guide rail 14, the sixth arc-shaped guide rail 15, the seventh arc-shaped guide rail 16, and the eighth arc-shaped guide rail 17. They are connected in sequence and arranged around the main antenna A with a second preset radius. The first group of movable antennas (a5, b5, c5, d5) is movably mounted on the first guide rail composed of the first arc-shaped guide rail 10, the second arc-shaped guide rail 11, the third arc-shaped guide rail 12, and the fourth arc-shaped guide rail 13. The second group of movable antennas (a4, b4, c4, d4) is movably mounted on the second guide rail composed of the fifth arc-shaped guide rail 14, the sixth arc-shaped guide rail 15, the seventh arc-shaped guide rail 16, and the eighth arc-shaped guide rail 17.

[0034] Figure 2 The illustration schematically shows a flowchart of a GNSS orientation performance testing method according to an embodiment of this application. Figure 2 As shown, this application provides a method for testing the orientation performance of a GNSS orientation device, using the orientation performance testing system for the GNSS orientation device described above. The method includes: Step S110: Control any one of the multiple movable antennas (a4, b4, c4, d4, a5, b5, c5, d5) to connect to the input terminal of the second passive power divider 21 and move along the guide rail; Step S120: Power on multiple GNSS orientation devices and control the multiple GNSS orientation devices to perform positioning and orientation; Step S130: If multiple GNSS orientation devices successfully locate and orient themselves within a preset waiting time, acquire the first GGA positioning data and first ORI orientation data of the multiple GNSS orientation devices within a preset test time, and the first standard GGA positioning data and first standard ORI orientation data of the orientation test device within a preset test time. Step S140: Based on the first GGA positioning data, the first ORI orientation data, the first standard GGA positioning data, and the first standard ORI orientation data, obtain the first positioning error, the first orientation azimuth error, and the first pitch angle error; Step S150: If the first positioning error, the first orientation azimuth error, and the first elevation angle error meet the first preset performance test conditions, determine that the orientation performance of multiple GNSS orientation devices is qualified.

[0035] In step S110, when performing directional performance testing of the GNSS directional device, by connecting any one of the multiple movable antennas to the input terminal of the second passive power divider and controlling the movable antenna to move along a preset guide rail, a foundation is laid for simulating the working state of the GNSS directional device under different baseline lengths or different antenna relative positions in subsequent tests.

[0036] In step S120, all GNSS orientation devices under test are powered on simultaneously or in a strict sequence to ensure they begin initialization at the same time, avoiding inconsistencies in state due to differences in startup time. All test frequencies of the GNSS orientation devices under test are uniformly set for positioning and orientation to ensure that all devices operate under the same mode for subsequent data acquisition, guaranteeing consistency in test conditions. Specifically, for the BeiDou system, the test frequencies for GNSS orientation devices include B1I, B3I, B1C, B2a, and B2b. In addition, there are many special frequencies for different civilian codes, which will not be listed in this embodiment. For the GPS system, the test frequencies for GNSS orientation devices include L1CA, L1, L2, and L5. For other satellite navigation systems, these will not be listed in this embodiment.

[0037] In step S130, after confirming that all GNSS orientation devices have successfully achieved positioning and orientation within a preset waiting time, the system systematically records the first GGA positioning data and the first ORI orientation data output by them within the preset test time. Simultaneously, the system synchronously collects the first standard GGA positioning data and the first standard ORI orientation data from the "orientation test device" at a higher precision reference source within the same time period, using these as the benchmark for subsequent error analysis. This embodiment does not specifically limit the preset test time; illustratively, the preset test time can be 180 seconds.

[0038] In step S140, the first GGA positioning data and the first ORI orientation data collected by the GNSS orientation device are compared and calculated with the first standard GGA positioning data and the first standard ORI orientation data used as true references to obtain the first positioning error, the first orientation azimuth error, and the first pitch angle error. The first positioning error is usually calculated by comparing the latitude, longitude, and altitude coordinates of the GNSS orientation equipment (first GGA positioning data) with the coordinates converted from the standard equipment (first standard GGA positioning data), and calculating its horizontal position error (which can be further subdivided into eastward error and northward error) and elevation error. Finally, it may be represented by a statistical quantity (such as root mean square error RMSE, circular probability error CEP). The first ORI orientation data includes the first ORI heading angle and the first ORI pitch angle to be measured. The first standard ORI orientation data includes the first standard ORI heading angle and the first standard ORI pitch angle. The first orientation azimuth error = the first ORI heading angle to be measured - the first standard ORI heading angle. The first pitch angle error = the first ORI pitch angle to be measured - the first standard ORI pitch angle.

[0039] In step S150, the error values ​​(first positioning error, first orientation azimuth error, first pitch angle error) calculated in step S140 are compared with the preset first performance test conditions (first positioning error threshold, first orientation azimuth error threshold, first pitch angle error threshold). Specifically, if the first positioning error is less than the first positioning error threshold, the first orientation azimuth error is less than the first orientation azimuth error threshold, and the first pitch angle error is less than the first pitch angle error threshold, the orientation performance of the GNSS orientation device is determined to be qualified.

[0040] This application embodiment simulates a dynamic scene by controlling a movable device to move along a guide rail from an antenna, while simultaneously performing positioning and orientation tests on multiple GNSS orientation devices. It collects positioning and orientation data within a preset time period and compares it with standard data to calculate positioning error, orientation azimuth error, and elevation angle error. Finally, it judges whether the device's orientation performance is qualified based on whether the error meets preset conditions. This achieves efficient and accurate testing of the orientation performance of multiple GNSS orientation devices in a dynamic environment, ensuring the reliability and consistency of the test results.

[0041] Refer to together Figure 1 This application provides a directional performance testing system for a GNSS directional device. The system includes: a main antenna A, multiple static slave antennas (a1, b1, c1, d1, a2, b2, c2, d2, a3, b3, c3, d3), a first passive power divider 20, a second passive power divider 21, a first active power divider 22, a second active power divider 23, a third active power divider 24, a fourth active power divider 25, a first power attenuator 30, a second power attenuator 31, a directional testing device 40, and a controller 50. Multiple static slave antennas (a1, b1, c1, d1, a2, b2, c2, d2, a3, b3, c3, d3) are arranged in a circle around the main antenna A; The output terminal of the main antenna A is connected to the input terminal of the first passive power divider 20, and multiple static slave antennas (a1, b1, c1, d1, a2, b2, c2, d2, a3, b3, c3, d3) are connected to the input terminal of the second passive power divider 21. The first output terminal and the second output terminal of the first passive power divider 20 are respectively connected to the input terminal of the first active power divider 22 and the input terminal of the first power attenuator 30. The first output terminal and the second output terminal of the second passive power divider 21 are respectively connected to the input terminal of the third active power divider 24 and the input terminal of the second power attenuator 31. The output terminal of the first power attenuator 30 is connected to the input terminal of the second active power divider 23, and the output terminal of the second power attenuator 31 is connected to the input terminal of the fourth active power divider 25. The output of the first active power divider 22 is connected to the first input of the GNSS signal main antenna of the directional test equipment 40, and the output of the second active power divider 23 is connected to the input of the GNSS signal main antenna of multiple GNSS directional devices (60, 61, 62). The output of the third active power divider 24 is connected to the second input of the antenna of the GNSS signal of the directional test device 40, and the output of the fourth active power divider 25 is connected to the GNSS signals of multiple GNSS directional devices (60, 61, 62) from the antenna input. The communication terminal of the controller 50 is connected to the communication terminals of the orientation test equipment 40 and multiple GNSS orientation devices (60, 61, 62) respectively, and is used to test the orientation performance of the GNSS orientation devices.

[0042] Based on the previous embodiment, this application replaces multiple dynamic slave antennas with multiple static slave antennas, while keeping the other components unchanged. This allows the GNSS directional equipment directional performance testing system to perform static testing of the directional performance of GNSS directional equipment in a real environment, thereby effectively solving the problems in the prior art such as large differences between the test environment and the real environment, low reliability of test results, and limited number of GNSS directional equipment tests.

[0043] In one embodiment of this application, the plurality of static slave antennas include a first group of static slave antennas (a3, b3, c3, d3), a second group of static slave antennas (a2, b2, c2, d2), and a third group of static slave antennas (a1, b1, c1, d1). The first group of static slave antennas (a3, b3, c3, d3) is arranged around the main antenna with a third preset radius, the second group of static slave antennas (a2, b2, c2, d2) is arranged around the main antenna with a fourth preset radius, and the third group of static slave antennas (a1, b1, c1, d1) is arranged around the main antenna with a fifth preset radius, wherein the third preset radius, the fourth preset radius, and the fifth preset radius decrease sequentially.

[0044] In this embodiment, the third preset radius can be 2 meters, the fourth preset radius can be 1 meter, and the fifth preset radius can be 0.5 meters. The lengths of the third, fourth, and fifth preset radii are not specifically limited in this application and can be set according to actual needs.

[0045] In one embodiment of this application, reference is also made to Figure 1 The communication terminals of the controller 50 are also connected to the communication terminals of the first power attenuator 30 and the second power attenuator 31, respectively, to adjust the signal power attenuation values ​​of the first power attenuator 30 and the second power attenuator 31. The signal power attenuation value can be automatically adjusted according to test requirements, with an adjustable range of 0dB to 30dB. In one example, the signal power attenuation value can be 1dB. By precisely adjusting the signal power attenuation values ​​of the first power attenuator 30 and the second power attenuator 31 according to test requirements, effective management and control of the signal strength input to subsequent equipment (such as GNSS directional equipment) can be achieved.

[0046] Figure 3 The illustration schematically shows a flowchart of another method for testing the orientation performance of a GNSS orientation device according to an embodiment of this application. Figure 3As shown, this application provides a method for testing the orientation performance of a GNSS orientation device, using the orientation performance testing system for the GNSS orientation device described above. The method includes: Step S210: Connect any one of the multiple static slave antennas to the input terminal of the second passive power divider; Step S220: Power on multiple GNSS orientation devices and control the multiple GNSS orientation devices to perform positioning and orientation; Step S230: If multiple GNSS orientation devices have successfully achieved positioning and orientation, acquire the second GGA positioning dataset and the second ORI orientation dataset of the multiple GNSS orientation devices, and the second standard GGA positioning dataset and the second standard ORI orientation dataset of the orientation test device. The second GGA positioning dataset includes multiple second GGA positioning data, the second ORI orientation dataset includes multiple second ORI orientation data, the second standard GGA positioning dataset includes multiple second standard GGA positioning data, and the second standard ORI orientation dataset includes multiple second standard ORI orientation data. Step S240: Based on the second GGA positioning dataset, the second ORI orientation dataset, the second standard GGA positioning dataset, and the second standard ORI orientation dataset, obtain the second positioning error, the second orientation azimuth error, and the second pitch angle error. Step S250: If the second positioning error, the second orientation azimuth error, and the second elevation angle error meet the second preset performance test conditions, determine that the orientation performance of multiple GNSS orientation devices is qualified.

[0047] In step S210, during the directional performance test of the GNSS directional device, a fixed antenna configuration is established by connecting any one of the multiple static antennas to the input of the second passive power divider, laying the foundation for subsequent evaluation of the GNSS directional device performance under static baseline conditions.

[0048] In step S220, all GNSS orientation devices under test are powered on simultaneously or in a strict sequence to ensure they begin initialization at the same time, avoiding inconsistencies in state due to differences in startup time. All test frequencies of the GNSS orientation devices under test are uniformly set for positioning and orientation to ensure that all devices operate under the same mode for subsequent data acquisition, guaranteeing consistency in test conditions. Specifically, for the BeiDou system, the test frequencies for GNSS orientation devices include B1I, B3I, B1C, B2a, and B2b. In addition, there are many special frequencies for different civilian codes, which will not be listed in this embodiment. For the GPS system, the test frequencies for GNSS orientation devices include L1CA, L1, L2, and L5. For other satellite navigation systems, these will not be listed in this embodiment.

[0049] In step S230, after confirming that all GNSS orientation devices have successfully achieved positioning and orientation, the second GGA positioning dataset and the second ORI orientation dataset of the GNSS orientation devices are collected. At the same time, the second standard GGA positioning dataset and the second standard ORI orientation dataset from the high-precision reference source "orientation test equipment" are collected simultaneously to provide sufficient raw data pairs for subsequent error analysis.

[0050] In step S240, the second GGA positioning data and the second ORI orientation data collected by the GNSS orientation device are compared and calculated with the second standard GGA positioning data and the second standard ORI orientation data used as true references to obtain the second positioning error, the second orientation azimuth error, and the second pitch angle error. The second positioning error typically involves comparing the latitude, longitude, and altitude coordinates of the GNSS orientation equipment (second GGA positioning data) with the coordinates converted from the standard equipment (second standard GGA positioning data). The horizontal position error (which can be further subdivided into eastward and northward errors) and elevation error are calculated. Ultimately, a statistical measure (such as root mean square error (RMSE) or circular probability error (CEP) may be used to represent the second positioning error. The second ORI orientation data includes the second measured ORI heading angle and the second measured ORI pitch angle. The second standard ORI orientation data includes the second standard ORI heading angle and the second standard ORI pitch angle. The second orientation azimuth error = second measured ORI heading angle - second standard ORI heading angle. The second pitch angle error = second measured ORI pitch angle - second standard ORI pitch angle.

[0051] In step S250, the error values ​​calculated in step S240 (second positioning error, second orientation azimuth error, second elevation angle error) are compared with pre-set second preset performance test conditions (second positioning error threshold, second orientation azimuth error threshold, second elevation angle error threshold). Specifically, if the second positioning error is less than the second positioning error threshold, the second orientation azimuth error is less than the second orientation azimuth error threshold, and the second elevation angle error is less than the second elevation angle error threshold, the orientation performance of the GNSS orientation equipment is determined to be qualified. The second positioning error, second orientation azimuth error, second elevation angle error, and the first positioning error, first orientation azimuth error, and first elevation angle error can be set according to actual needs; this embodiment does not specifically limit their magnitude relationships.

[0052] This application embodiment controls the static connection between the antenna and the power divider to simultaneously power multiple GNSS directional devices and collect positioning and orientation data. It calculates positioning error, directional azimuth error, and elevation angle error by combining standard positioning and orientation datasets. Finally, it judges whether the device's orientation performance is qualified based on whether the error meets preset conditions. This achieves accurate and efficient testing of the orientation performance of multiple GNSS directional devices in a static environment, ensuring the reliability and consistency of the test results.

[0053] Furthermore, embodiments of this application may also include the following steps: Step S310: Obtain the power-on time of the GNSS directional devices when power is supplied to multiple GNSS directional devices; Step S320: When multiple GNSS orientation devices continuously output a preset number of second ORI orientation data that meet the second preset performance test conditions, determine the first target time based on the time when multiple GNSS orientation devices continuously output a preset number of second ORI orientation data that meet the second preset performance test conditions; Step S330: Determine the initial orientation duration of multiple GNSS orientation devices based on the difference between the first target time and the power-on time of the GNSS orientation devices; Step S340: If the initial orientation duration is less than the preset initial orientation duration threshold, determine that the orientation performance of multiple GNSS orientation devices is qualified.

[0054] In step S310, at the start of the test, when power is simultaneously applied to multiple GNSS directional devices under test, the system automatically captures and records the exact time of this moment, defining it as the power-on time of the GNSS directional devices. This timestamp serves as the starting point for subsequent calculations of the time required for the device to achieve its first successful orientation, ensuring that the response speed of each device is measured on a unified timeline throughout the entire test process.

[0055] In step S320, after the GNSS orientation device is powered on, the orientation data (second ORI orientation data) output by the GNSS orientation device is continuously monitored. When a preset number of the continuously output second ORI orientation data meet the second preset performance test conditions, the moment when the GNSS orientation device continuously outputs the preset number of second ORI orientation data that meet the second preset performance test conditions is determined as the first target moment. The first target moment indicates that the GNSS orientation device has completed the initialization calculation and entered a stable and reliable orientation working state.

[0056] In step S330, for each GNSS orientation device, the first target time is subtracted from the power-on time of the GNSS orientation device, and the difference is the initial orientation time of the GNSS orientation device. The initial orientation time quantifies the total time required from cold start to outputting qualified orientation results, and is a core parameter for measuring the startup speed and response sensitivity of GNSS orientation devices.

[0057] In step S340, the calculated initial orientation time for each GNSS orientation device is compared with a preset initial orientation time threshold. If the initial orientation time is less than the preset threshold, it indicates that the GNSS orientation device can quickly enter the working state within the specified time, meeting the performance requirements of rapid response. Therefore, the orientation performance of the GNSS orientation device in terms of initial orientation time is deemed qualified. Conversely, if it exceeds the preset threshold, it indicates that the startup speed of the GNSS orientation device is too slow, and the orientation performance of the GNSS orientation device in terms of initial orientation time is unqualified, which may not meet the usage requirements.

[0058] This application embodiment calculates the initial orientation duration by accurately recording the power-on time of the GNSS orientation device and the time of the first continuous output of qualified orientation data, and compares it with a preset initial orientation duration threshold. This quantitatively evaluates the startup speed and rapid response capability of the GNSS orientation device, ensuring the accuracy and reliability of the device in terms of time performance indicators.

[0059] Furthermore, embodiments of this application may also include the following steps: Step S410: If the second positioning error, the second orientation azimuth error, and the second pitch angle error meet the second preset performance test conditions, update the power attenuation values ​​of the first power attenuator and the second power attenuator based on the preset power attenuation value. Step S420: Based on the updated power attenuation values ​​of the first and second power attenuators, repeat the positioning and orientation steps of multiple GNSS orientation devices until the second positioning error, the second orientation azimuth error, and the second elevation angle error do not meet the second preset performance test conditions, and then determine that the orientation performance of the multiple GNSS orientation devices is qualified.

[0060] In step S410, after the GNSS directional device has passed the basic accuracy test, the starting point of the test difficulty is actively increased. When the positioning error, azimuth error, and elevation angle error measured under standard signal strength all meet the requirements of the second preset performance test conditions, the power attenuation values ​​of the first and second power attenuators are reconfigured according to the pre-set step value (i.e., the preset power attenuation value). The purpose of this operation is to artificially reduce the strength of the GNSS signal to simulate weak signal environments such as signal obstruction or long-distance transmission that the GNSS directional device may encounter in actual applications, thereby testing the performance of the GNSS directional device when the signal quality deteriorates.

[0061] In step S420, after the power attenuation values ​​of the first and second power attenuators are reconfigured, multiple GNSS orientation devices are guided to re-orient themselves, and data is collected and errors are calculated using the same method. The process of increasing attenuation → retesting → evaluating errors is repeated continuously. As the signal strength gradually weakens, the measurement error of the GNSS orientation devices gradually increases until, at a certain attenuation level, the calculated second positioning error, second orientation azimuth error, and second elevation angle error fail to meet the second preset performance test conditions for the first time. At this point, the test terminates, and the performance exhibited by the GNSS orientation devices at the previous attenuation level (i.e., the last time all conditions were met) is confirmed as the ultimate working capability of the GNSS orientation devices in a weak signal environment. Based on this, it is determined whether the orientation performance of the GNSS orientation devices remains qualified under dynamic signal strength changes.

[0062] This application embodiment, after the GNSS orientation device meets the basic accuracy requirements, gradually increases the signal attenuation intensity to simulate a weak signal environment, and cyclically tests until the positioning and orientation error does not meet the second preset performance test conditions. This accurately evaluates the performance robustness and extreme working capability of the GNSS orientation device under different signal strengths, ensuring that the device can still maintain reliable orientation performance in real complex environments.

[0063] Furthermore, embodiments of this application may also include the following steps: Step S510: If multiple GNSS orientation devices have successfully located and oriented the device, control the second and fourth active power dividers to first cut off power and then re-supply them. Step S520: Obtain the power-on time of the power divider when power is re-energized to the second and fourth active power dividers. Step S530: Re-receive the second ORI orientation dataset from multiple GNSS orientation devices; Step S540: If there are a preset number of consecutive second ORI orientation data that meet the second preset performance test conditions in the re-received second ORI orientation dataset, determine the second target time based on the time when multiple GNSS orientation devices continuously output a preset number of second ORI orientation data that meet the second preset performance test conditions; Step S550: Determine the orientation duration after signal loss and reacquisition of multiple GNSS orientation devices based on the difference between the second target time and the power divider power-on time; Step S560: If the orientation time after signal loss and reacquisition is less than the preset orientation time threshold after signal loss and reacquisition, determine that the orientation performance of multiple GNSS orientation devices is qualified.

[0064] In step S510, after multiple devices under test have been stably operating in the positioning and orientation state, the test system will instantly cut off the power supply to the second and fourth active power dividers connecting the static antenna to the GNSS orientation device, causing the GNSS orientation device to momentarily lose signal input, and then immediately restore power. This operation simulates a scenario that may occur in actual applications where the signal is completely blocked and then reappears, creating conditions for subsequent testing of the GNSS orientation device's ability to recover from satellite signal interruption.

[0065] In step S520, the moment when the power supply to the second and fourth active power dividers is reconnected (power divider power-on moment) is recorded. The power divider power-on moment is the time reference for measuring the recovery capability of the GNSS directional equipment, and all subsequent calculations about the recovery speed will take this as the starting point.

[0066] In step S530, starting from the moment the second and fourth active power dividers are powered back on, the latest orientation data (second ORI orientation data) output by the GNSS orientation device is continuously acquired. These data streams reflect in real time the entire process of the GNSS orientation device gradually attempting to reacquire satellites from a lost-lock state, re-initializing, until it restores stable output.

[0067] In step S540, when it is found that there are a preset number of consecutive second ORI orientation data that meet the second preset performance test conditions, the time when the preset number of second ORI orientation data that meet the second preset performance test conditions are continuously output will be determined to be the second target time. The second target time marks that the GNSS orientation device has successfully recovered from the signal interruption and re-entered a stable and reliable orientation state.

[0068] In step S550, for each GNSS directional device under test, the second target time is subtracted from the power divider power-on time when the power divider is re-energized. The calculated time difference is the directional duration after signal loss and reacquisition of the GNSS directional device. The directional duration after signal loss and reacquisition quantifies the total time required for the device to output a qualified directional result again after the signal is interrupted and recovered. It is a key indicator for measuring the device's rapid recovery capability in dynamic obstruction environments.

[0069] In step S560, the orientation time after signal re-acquisition is compared with a preset threshold for orientation time after signal re-acquisition. If the orientation time after signal re-acquisition is less than the preset threshold, it indicates that the GNSS orientation device can quickly recover its orientation capability after a brief signal obstruction, meeting the rapid re-acquisition performance requirements for use in complex environments. Therefore, the GNSS orientation device is deemed to have passed the orientation test after signal re-acquisition. Conversely, if the recovery time is too long, it indicates that the GNSS orientation device's adaptability after signal interruption is insufficient.

[0070] This application embodiment simulates the extreme condition of GNSS signal interruption and recovery by powering off and re-energizing the second and fourth active power dividers. It also accurately measures the time taken for the GNSS orientation device to output qualified orientation data again after signal reconnection, thereby quantitatively evaluating the GNSS orientation device's ability to quickly reacquire and recover after signal loss. This ensures that the GNSS orientation device can quickly recover stable orientation in complex dynamic environments, meeting the reliability requirements of practical applications.

[0071] Optionally, embodiments of this application also provide a directional performance testing device for GNSS directional equipment, comprising: The memory is configured to store instructions; The processor is configured to retrieve instructions from memory and, when executing the instructions, to implement the orientation performance testing method for GNSS orientation devices as described above.

[0072] It is understood that the GNSS orientation performance testing device provided in this application embodiment can realize each process of the GNSS orientation performance testing method in the above embodiment and achieve the same technical effect. To avoid repetition, it will not be described again here.

[0073] Optionally, embodiments of this application also provide a machine-readable storage medium storing instructions for causing a machine to perform the orientation performance testing method for a GNSS orientation device as described above.

[0074] It is understood that the machine-readable storage medium provided in the embodiments of this application can implement each process of the GNSS orientation performance testing method of the above embodiments and achieve the same technical effect. To avoid repetition, it will not be described again here.

[0075] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0076] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0077] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0078] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0079] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0080] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, like read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0081] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0082] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0083] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A GNSS orientation performance testing system, characterized in that, The system includes: a main antenna, multiple movable slave antennas, a guide rail, a first passive power divider, a second passive power divider, a first active power divider, a second active power divider, a third active power divider, a fourth active power divider, a first power attenuator, a second power attenuator, a directional testing device, and a controller. The plurality of movable slave antennas and the guide rail are arranged around the main antenna as the center, the plurality of movable slave antennas are arranged on the guide rail, and the plurality of movable slave antennas can move along the guide rail; The output terminal of the main antenna is connected to the input terminal of the first passive power divider, and the plurality of movable slave antennas are connected to the input terminal of the second passive power divider; The first output terminal and the second output terminal of the first passive power divider are respectively connected to the input terminal of the first active power divider and the input terminal of the first power attenuator; the first output terminal and the second output terminal of the second passive power divider are respectively connected to the input terminal of the third active power divider and the input terminal of the second power attenuator. The output terminal of the first power attenuator is connected to the input terminal of the second active power divider, and the output terminal of the second power attenuator is connected to the input terminal of the fourth active power divider. The output terminal of the first active power divider is connected to the first input terminal of the GNSS signal main antenna of the directional test equipment, and the output terminal of the second active power divider is connected to the input terminals of the GNSS signal main antennas of multiple GNSS directional devices respectively. The output of the third active power divider is connected to the second input of the GNSS signal from the antenna of the directional testing device, and the output of the fourth active power divider is connected to the GNSS signal from the antenna input of the multiple GNSS directional devices respectively. The controller's communication terminal is connected to the communication terminals of the orientation test device and multiple GNSS orientation devices, respectively, for testing the orientation performance of the GNSS orientation devices.

2. The system according to claim 1, characterized in that, The plurality of movable slave antennas include a first group of movable slave antennas and a second group of movable slave antennas. The first group of movable slave antennas is arranged around the main antenna with a first preset radius, and the second group of movable slave antennas is arranged around the main antenna with a second preset radius, wherein the first preset radius is larger than the second preset radius.

3. The system according to claim 2, characterized in that, The guide rail includes a first guide rail and a second guide rail. The first guide rail and the second guide rail are respectively arranged around the main antenna with the first preset radius and the second preset radius. The first group of secondary antennas moves along the first guide rail, and the second group of secondary antennas moves along the second guide rail.

4. A method for testing the orientation performance of a GNSS orientation device, characterized in that, The method of using the directional performance testing system for GNSS directional equipment as described in any one of claims 1-3 includes: Control any one of the multiple movable antennas to connect to the input terminal of the second passive power divider and move along the guide rail; Power is supplied to the plurality of GNSS orientation devices, and the plurality of GNSS orientation devices are controlled to perform positioning and orientation; If multiple GNSS orientation devices successfully locate and orient themselves within a preset waiting time, the first GGA positioning data and first ORI orientation data of the multiple GNSS orientation devices within a preset test time, and the first standard GGA positioning data and first standard ORI orientation data of the orientation test device within the preset test time are acquired. Based on the first GGA positioning data, the first ORI orientation data, the first standard GGA positioning data, and the first standard ORI orientation data, the first positioning error, the first orientation azimuth error, and the first pitch angle error are obtained. If the first positioning error, the first orientation azimuth error, and the first pitch angle error meet the first preset performance test conditions, the orientation performance of the multiple GNSS orientation devices is determined to be qualified.

5. A GNSS orientation performance testing system, characterized in that, The system includes: a main antenna, multiple static slave antennas, a first passive power divider, a second passive power divider, a first active power divider, a second active power divider, a third active power divider, a fourth active power divider, a first power attenuator, a second power attenuator, a directional testing device, and a controller. The plurality of static slave antennas are arranged in a circle around the main antenna; The output terminal of the main antenna is connected to the input terminal of the first passive power divider, and the plurality of static slave antennas are connected to the input terminal of the second passive power divider; The first output terminal and the second output terminal of the first passive power divider are respectively connected to the input terminal of the first active power divider and the input terminal of the first power attenuator; the first output terminal and the second output terminal of the second passive power divider are respectively connected to the input terminal of the third active power divider and the input terminal of the second power attenuator. The output terminal of the first power attenuator is connected to the input terminal of the second active power divider, and the output terminal of the second power attenuator is connected to the input terminal of the fourth active power divider. The output terminal of the first active power divider is connected to the first input terminal of the GNSS signal main antenna of the directional test equipment, and the output terminal of the second active power divider is connected to the input terminals of the GNSS signal main antennas of multiple GNSS directional devices respectively. The output of the third active power divider is connected to the second input of the GNSS signal from the antenna of the directional testing device, and the output of the fourth active power divider is connected to the GNSS signal from the antenna input of the multiple GNSS directional devices respectively. The controller's communication terminal is connected to the communication terminals of the orientation test device and multiple GNSS orientation devices, respectively, for testing the orientation performance of the GNSS orientation devices.

6. The system according to claim 5, characterized in that, The plurality of static slave antennas include a first group of static slave antennas, a second group of static slave antennas and a third group of static slave antennas. The first group of static slave antennas is arranged around the main antenna with a third preset radius, the second group of static slave antennas is arranged around the main antenna with a fourth preset radius, and the third group of static slave antennas is arranged around the main antenna with a fifth preset radius, wherein the third preset radius, the fourth preset radius and the fifth preset radius decrease sequentially.

7. The system according to claim 5, characterized in that, The controller's communication terminal is also connected to the communication terminals of the first power attenuator and the second power attenuator respectively to adjust the signal power attenuation values ​​of the first power attenuator and the second power attenuator.

8. A method for testing the orientation performance of a GNSS orientation device, characterized in that, The method of using the directional performance testing system for GNSS directional equipment as described in any one of claims 5-7 includes: Control any one of the plurality of static slave antennas to connect to the input terminal of the second passive power divider; Power is supplied to the plurality of GNSS orientation devices, and the plurality of GNSS orientation devices are controlled to perform positioning and orientation; When multiple GNSS orientation devices successfully achieve positioning and orientation, the second GGA positioning dataset and the second ORI orientation dataset of the multiple GNSS orientation devices, the second standard GGA positioning dataset and the second standard ORI orientation dataset of the orientation test device are acquired. The second GGA positioning dataset includes multiple second GGA positioning data, the second ORI orientation dataset includes multiple second ORI orientation data, the second standard GGA positioning dataset includes multiple second standard GGA positioning data, and the second standard ORI orientation dataset includes multiple second standard ORI orientation data. Based on the second GGA positioning dataset, the second ORI orientation dataset, the second standard GGA positioning dataset, and the second standard ORI orientation dataset, the second positioning error, the second orientation azimuth error, and the second pitch angle error are obtained. If the second positioning error, the second orientation azimuth error, and the second pitch angle error meet the second preset performance test conditions, the orientation performance of the multiple GNSS orientation devices is determined to be qualified.

9. The method according to claim 8, characterized in that, The method further includes: Obtain the power-on time of the GNSS directional devices when power is supplied to multiple GNSS directional devices; When multiple GNSS orientation devices continuously output a preset number of second ORI orientation data that meet the second preset performance test conditions, the first target time is determined based on the time when multiple GNSS orientation devices continuously output a preset number of second ORI orientation data that meet the second preset performance test conditions; The initial orientation duration of the multiple GNSS orientation devices is determined based on the difference between the first target time and the power-on time of the GNSS orientation device. If the initial orientation duration is less than a preset initial orientation duration threshold, the orientation performance of the multiple GNSS orientation devices is determined to be qualified.

10. The method according to claim 8, characterized in that, The method further includes: If the second positioning error, the second orientation azimuth error and the second pitch angle error meet the second preset performance test conditions, update the power attenuation values ​​of the first power attenuator and the second power attenuator based on the preset power attenuation value. Based on the updated power attenuation values ​​of the first and second power attenuators, the steps of controlling the multiple GNSS orientation devices to perform positioning and orientation are repeated until the second positioning error, the second orientation azimuth error, and the second pitch angle error do not meet the second preset performance test conditions, at which point the orientation performance of the multiple GNSS orientation devices is determined to be qualified.

11. The method according to claim 8, characterized in that, The method further includes: If multiple GNSS orientation devices successfully locate and orient themselves, control the second and fourth active power dividers to first cut off power and then re-supply them; Obtain the power-on time of the power divider when power is re-energized to the second and fourth active power dividers; Re-receive the second ORI orientation dataset from the multiple GNSS orientation devices; If there are a predetermined number of consecutive ORI orientation data that meet the second predetermined performance test conditions in the second ORI orientation dataset that has been received again, the second target time is determined according to the time when the multiple GNSS orientation devices continuously output a predetermined number of second ORI orientation data that meet the second predetermined performance test conditions. Based on the difference between the second target time and the power divider power-on time, the orientation duration after signal loss and reacquisition of the multiple GNSS orientation devices is determined; If the orientation time after signal loss and reacquisition is less than a preset orientation time threshold after signal loss and reacquisition, the orientation performance of the multiple GNSS orientation devices is determined to be qualified.

12. A directional performance testing device for GNSS directional equipment, characterized in that, include: The memory is configured to store instructions; The processor is configured to retrieve the instructions from the memory and, when executing the instructions, to implement the method for testing the orientation performance of a GNSS orientation device according to any one of claims 4, 8 to 11.

13. A machine-readable storage medium, characterized in that, The machine-readable storage medium stores instructions for causing the machine to perform a method for testing the orientation performance of a GNSS orientation device according to any one of claims 4, 8 to 11.

Images