Full-Scene Automated Testing Methods, Devices, Computer Equipment, and Media for Positioners

Abstract

This invention discloses a method, apparatus, computer equipment, and medium for automated testing of locators across all scenarios. The method includes: recording GNSS signals from real-world scenarios to construct a standardized scenario file library; constructing a simulation scenario library based on generated custom trajectories; playing back GNSS signals from the scenario library to at least one locator under test, and performing linked testing of the GNSS positioning function and non-GNSS function of the locator under test based on the synchronous triggering of the GNSS signal playback process and the data reported by the locator under test; aligning the reference timestamp of the played-back GNSS signal with the timestamp of the data reported by the locator under test, and calculating test evaluation indicators based on the aligned data. This invention achieves automated linked testing of the locator's GNSS positioning function and non-GNSS function, automatically calculates multi-dimensional evaluation indicators, and allows testers to complete full-scenario verification in the laboratory without needing to conduct road tests, significantly improving testing efficiency and ensuring the repeatability and accuracy of test results.

Description

Technical Field

[0001] This invention relates to the field of IoT positioning device testing technology, and in particular to a method, apparatus, computer equipment and medium for full-scenario automated testing of locators. Background Technology

[0002] In the field of GNSS functional testing of locators, traditional outdoor field testing methods rely on test personnel carrying the locator under test through actual roads, mountains, urban canyons, and other scenarios. Test results are affected by uncontrollable factors such as weather, satellite status, and environmental interference, resulting in poor repeatability. Furthermore, a single test cycle can last over 40 minutes, failing to meet the needs of large-scale batch testing. Secondly, existing GNSS signal forwarding methods can only achieve real signal testing in indoor environments, primarily used for simple functional verification on production lines, and cannot simulate complex scenarios such as signal obstruction, multipath effects, and extreme conditions. More importantly, existing GNSS signal recording and playback equipment, such as LabSat3, is limited to basic signal recording and playback functions, only verifying the locator's basic positioning function. It fails to synchronously test the GNSS signal playback process with the locator's non-GNSS functions (such as electronic fence boundary detection, displacement alarm, and network disconnection data retransmission). In addition, when multiple locators are tested in parallel, existing technologies suffer from poor consistency in power attenuation after signal splitting, making it impossible to accurately calculate key evaluation indicators such as response delay and positioning accuracy.

[0003] In summary, existing technologies lack a fully automated testing method that can achieve reproducible scenarios, functional linkage testing, multi-station parallel calibration, and precise data timeline alignment. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and provide a method, device, computer equipment and medium for full-scenario automated testing of locators.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: In a first aspect, the present invention provides a method for automated testing of locators across all scenarios, including: Record GNSS signals from real-world scenarios to build a standardized scenario file library; A simulation scenario library is built based on the generated custom trajectories; Play back GNSS signals from the scene library to at least one measured positioner, and based on the synchronous triggering of the GNSS signal playback process and the data reported by the measured positioner, perform a linkage test on the GNSS positioning function and non-GNSS function of the measured positioner. Align the reference timestamp of the replayed GNSS signal with the timestamp of the data reported by the measured positioner, and calculate the test evaluation index based on the aligned data.

[0006] Furthermore, the recording of GNSS signals from real-world scenes to construct a standardized scene file library includes: The raw GNSS signals were recorded in at least one typical scenario in urban canyons, tunnels, elevated roads, underground parking lots and mountainous areas using a GNSS radio frequency signal recording and playback simulator. Vehicle bus data and inertial sensor data were collected simultaneously. Environmental feature labels were marked for each scenario to form a standardized scenario file library. For fault scenarios that occur during the locator testing phase, the corresponding GNSS signal characteristics are recorded on-site using a GNSS radio frequency signal recording and playback simulator to form a fault scenario library.

[0007] Furthermore, the construction of the simulation scene library based on the generated custom trajectory includes: A custom trajectory is generated using GNSS scene generation software. The parameters of the custom trajectory include latitude and longitude, velocity, motion attitude, ionospheric delay, and multipath effect.

[0008] Furthermore, the GNSS signals in the playback scene library are transmitted to at least one measured positioner, and based on the synchronous triggering of the GNSS signal playback process and the data reported by the measured positioner, a linkage test is performed on the GNSS positioning function and non-GNSS function of the measured positioner, including: The GNSS signal output from the GNSS radio frequency signal recording and playback simulator is distributed into multiple outputs through a passive power divider. Each output is connected in series with an adjustable digital attenuator, and the signal power error of each output is calibrated by a standard GNSS receiver.

[0009] Furthermore, the isolation of the passive power divider is greater than or equal to 30dB, and its distribution ratio is 1:8; the attenuation range of the adjustable digital attenuator is 0 to 60dB, and the calibration accuracy is 0.1dB; the signal power error is calibrated to within ±0.5dB.

[0010] Furthermore, the GNSS signals in the playback scene library are transmitted to at least one measured positioner, and based on the synchronous triggering of the GNSS signal playback process and the data reported by the measured positioner, a linkage test is performed on the GNSS positioning function and non-GNSS function of the measured positioner, which also includes: The GNSS RF signal recording and playback simulator uses a digital trigger interface and PTPv2 protocol to achieve synchronous triggering of GNSS signal playback and locator function testing. The synchronous triggering includes: when playback reaches a preset electronic fence boundary position, triggering the locator fence boundary detection and recording the response delay; when playback reaches a signal interruption scenario, triggering the verification of the locator's network disconnection data retransmission function; and synchronously triggering external condition simulation to verify the positioning stability under multi-factor coupling.

[0011] Furthermore, the process of aligning the reference timestamp of the replayed GNSS signal with the timestamp of the data reported by the measured positioner, and calculating test evaluation indicators based on the aligned data, includes: The PTPv2 protocol is used to align the reference coordinate timestamps of the GNSS radio frequency signal recording and playback simulator playback with the timestamps of the data reported by the locator at the millisecond level. Automatically calculate at least one of the following test evaluation indicators: positioning accuracy, acquisition sensitivity, tracking sensitivity, reacquisition time, and functional response delay, wherein the positioning accuracy includes CEP50 and / or CEP95.

[0012] Secondly, the present invention also provides an automated testing device for locators across all scenarios, comprising: The first building unit is used to record GNSS signals from real-world scenarios to build a standardized scenario file library; The second building unit is to construct a simulation scenario library based on the generated custom trajectory; The linkage test unit is used to play back GNSS signals from the scene library to at least one measured positioner, and to perform linkage tests on the GNSS positioning function and non-GNSS function of the measured positioner based on the synchronous triggering of the GNSS signal playback process and the data reported by the measured positioner. The calculation unit is used to align the reference timestamp of the replayed GNSS signal with the timestamp of the data reported by the measured positioner, and calculate the test evaluation index based on the aligned data.

[0013] Thirdly, the present invention also provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the locator full-scene automated testing method as described above.

[0014] Fourthly, the present invention also provides a computer-readable storage medium storing a computer program, the computer program including program instructions, which, when executed by a processor, cause the processor to perform the locator full-scene automated testing method as described above.

[0015] The advantages of this invention compared to existing technologies are as follows: By constructing a reproducible scenario system comprising real-world scenario libraries, simulation scenario libraries, and fault scenario libraries, and combining this with a synchronous triggering mechanism for GNSS signal playback and the reported data from the tracked locator, automated testing of the GNSS positioning and non-GNSS functions of the locator is achieved. Simultaneously, by precisely aligning the playback signal reference timestamp with the reported data timestamp, multi-dimensional evaluation indicators can be automatically calculated. This method reduces the full-function testing time for a single device from over 40 minutes to less than 10 minutes, supports parallel testing of up to eight locators, increases the fault reproducibility rate in complex scenarios to over 90%, and allows testers to complete full-scenario verification in the laboratory without needing to conduct road tests, significantly improving testing efficiency, reducing labor costs, and ensuring the repeatability and accuracy of test results.

[0016] The above description is merely an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention, it can be implemented according to the contents of the specification. In order to make the above and other objectives, features and advantages of the present invention more obvious and understandable, preferred embodiments are described in detail below. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 A flowchart illustrating the full-scenario automated testing method for locators provided in a specific embodiment of the present invention; Figure 2 A schematic block diagram of a locator full-scenario automated testing device provided in a specific embodiment of the present invention; Figure 3 This is a schematic block diagram of a computer device provided for a specific embodiment of the present invention. Detailed Implementation

[0019] The technical solution of the present invention will be clearly and completely described below with reference to specific embodiments. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] It should be understood that, when used in this specification and the appended claims, the terms "comprising" and "including" indicate the presence of the described features, integrals, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or collections thereof.

[0021] It should also be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the invention. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0022] It should also be further understood that the term "and / or" as used in this specification and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0023] like Figure 1 As shown, this embodiment of the invention provides a full-scenario automated testing method for locators, including the following steps: S10-S40.

[0024] S10. Record GNSS signals from real-world scenarios to build a standardized scenario file library.

[0025] The raw GNSS signals are recorded in real typical scenarios using a GNSS radio frequency signal recording and playback simulator, generating a standardized scenario file library.

[0026] In this embodiment, the GNSS radio frequency signal recording and playback simulator is a LabSat3 device.

[0027] In some embodiments, step S10 specifically includes: S101-S102.

[0028] S101. Record raw GNSS signals in at least one typical scenario in urban canyons, tunnels, elevated roads, underground parking lots and mountainous areas using a GNSS radio frequency signal recording and playback simulator, and simultaneously collect vehicle bus data and inertial sensor data. Label each scenario with environmental feature tags to form a standardized scenario file library. S102. For fault scenarios that occur during the locator testing phase, the corresponding GNSS signal characteristics are recorded on-site using a GNSS radio frequency signal recording and playback simulator to form a fault scenario library.

[0029] For steps S101-S102, in this embodiment, at least one of the typical scenarios is selected, such as urban canyons, long tunnels, multi-level viaducts, underground parking lots, and mountainous areas. A LabSat3 is installed on the test vehicle, with its GNSS antenna fixed to the roof. It is also connected to the vehicle's CAN bus interface to collect bus data such as vehicle speed and steering. Optionally, inertial sensors (such as a six-axis gyroscope and accelerometer) are connected to collect information such as vehicle attitude and acceleration. The vehicle travels through the aforementioned scenarios along a predetermined route, and the recording simulator simultaneously records the raw GNSS intermediate frequency signal, as well as the CAN bus and inertial sensor data. After recording, each scenario file is labeled with environmental feature tags, such as "dense high-rise buildings" for urban canyons, "1km long" for tunnels, and "two underground levels" for underground parking lots, forming a standardized scenario file library.

[0030] Furthermore, for specific fault scenarios exposed during the development or testing of the locator, such as location drift at an intersection or connection loss during a specific base station handover, testers can bring a recording simulator to the fault location to reproduce the fault on-site and record the corresponding GNSS signal characteristics. These signal characteristics are then saved separately as a fault scenario library file. Subsequent software or hardware updates can directly replay this fault scenario file to verify whether the fault has been fixed, preventing similar problems from recurring.

[0031] S20. Build a simulation scenario library based on the generated custom trajectories.

[0032] Using GNSS scene generation software, various simulation trajectories are customized and generated according to test requirements to form a simulation scene library.

[0033] In this embodiment, the GNSS scene generation software used is SatGen software.

[0034] In some embodiments, step S20 specifically includes the following steps: S201. Generate a custom trajectory using GNSS scene generation software. The parameters of the custom trajectory include latitude and longitude, velocity, motion attitude, ionospheric delay, and multipath effect.

[0035] In this embodiment, a simulation scenario library is constructed using SatGen. The user first sets the latitude and longitude coordinates of the test start and end points in the software, or draws a complete motion trajectory. Then, motion parameters are set, including the speed curve (e.g., accelerating from a standstill to 120 km / h, then maintaining a constant speed, and finally decelerating to a stop) and motion attitude (including straight lines, turns, uphill / downhill driving, etc.). Further, in advanced settings, the user can configure ionospheric delay parameters (e.g., setting the total electron concentration value) and multipath effect parameters (e.g., setting the number of reflected signals, attenuation coefficient, delay range, etc.) to simulate positioning errors caused by high-altitude environmental interference or signal reflection from tall buildings in urban areas. The software generates GNSS satellite signal simulation data based on these parameters and converts it into a file format recognizable by the recording and playback simulator. For example, to test the tracking sensitivity of the locator under high-speed motion, a trajectory of continuous high-speed travel at 180 km / h can be generated; to test the reacquisition performance of the locator under extreme conditions, a scenario of sudden signal interruption and subsequent recovery can be simulated.

[0036] S30. Play back the GNSS signals in the scene library to at least one measured positioner, and based on the synchronous triggering of the GNSS signal playback process and the data reported by the measured positioner, perform a linkage test on the GNSS positioning function and non-GNSS function of the measured positioner.

[0037] After completing the scene library construction in steps S10 and S20, this testing step begins. The selected GNSS signal files from the scene library are played back using a GNSS radio frequency signal recording and playback simulator, and the played-back signal is output to at least one measured positioner. During playback, a synchronous triggering mechanism based on the playback process of the GNSS signal and the data reported by the measured positioner enables the coordinated testing of the measured positioner's GNSS positioning function (such as positioning accuracy and sensitivity) and non-GNSS functions (such as electronic fence boundary crossing alarm, displacement alarm, network disconnection data retransmission, etc.).

[0038] In some embodiments, step S30 specifically includes the following steps: S301. The GNSS signal output from the GNSS radio frequency signal recording and playback simulator is distributed into multiple outputs via a passive power divider. Each output is connected in series with an adjustable digital attenuator, and the signal power error of each output is calibrated using a standard GNSS receiver. The isolation of the passive power divider is greater than or equal to 30dB, and its distribution ratio is 1:8; the attenuation range of the adjustable digital attenuator is 0 to 60dB, and the calibration accuracy is 0.1dB; the signal power error is calibrated to within ±0.5dB.

[0039] In this embodiment, to enable simultaneous testing of multiple locators, one RF output signal from the GNSS RF signal recording and playback simulator is input to the input of a passive power divider. This power divider proportionally distributes the input signal into multiple outputs. To ensure that the output signals do not interfere with each other, the isolation of the power divider should be set sufficiently high. Specifically, an isolation greater than or equal to 30dB can effectively prevent crosstalk from reflected signals from one output port to other ports. The number of outputs can be flexibly selected according to the number of test stations, for example, a 1:8 ratio, meaning one input corresponds to eight outputs, supporting simultaneous testing of up to eight locators. An adjustable digital attenuator is connected in series after each output. The attenuation range of this attenuator is preferably 0 to 60dB, with a step or calibration accuracy of 0.1dB, allowing for fine adjustment of the signal strength of each output.

[0040] To eliminate signal power deviations caused by factors such as cable length, connector loss, and inconsistencies in the ports of the power divider, calibration is required. The specific calibration method is as follows: Connect a standard GNSS receiver sequentially to the output of each attenuator, set a reference power value (e.g., -130dBm), and then adjust the digital attenuator for that channel so that the power value measured by the standard receiver is within ±0.5dB of the reference value. After calibrating all channels sequentially, connect all eight positioners to each channel simultaneously to ensure a high degree of consistency in the GNSS signal power received by each positioner.

[0041] In some embodiments, step S30 specifically includes the following steps: S302. Through the digital trigger interface and PTPv2 protocol of the GNSS radio frequency signal recording and playback simulator, synchronous triggering of GNSS signal playback and locator function testing is realized. Synchronous triggering includes: when playback reaches the preset electronic fence boundary position, triggering the locator fence boundary detection and recording the response delay; when playback reaches the signal interruption scenario, triggering the verification of the locator's network disconnection data retransmission function; and synchronously triggering external condition simulation to verify the positioning stability under multi-factor coupling.

[0042] In this embodiment, to achieve synchronized testing of GNSS signal playback and the non-GNSS functions of the locator, a digital trigger interface and a high-precision time synchronization protocol are used. Specifically, LabSat3 is equipped with a digital trigger input / output interface. Before testing, the user sets several trigger event markers in the scene file, such as at the geographical location of the electronic fence boundary, 10 meters before the tunnel entrance, and at the low-power simulation moment. When the playback signal reaches these markers, the recording and playback simulator outputs a TTL level pulse signal through the digital trigger output interface. This pulse signal can be transmitted to the test controller (such as an industrial computer or microcontroller) through the GPIO interface. The test controller then sends the corresponding functional trigger command to the locator under test through a serial port, Bluetooth, or a dedicated test command sending port, such as "start fence boundary detection" or "simulate low-power alarm". At the same time, the test controller records the precise timestamp of the trigger moment.

[0043] To ensure strict synchronization between the triggering time and the GNSS signal playback process, the PTPv2 protocol is used to synchronize the clocks of the recording and playback simulator, test controller, and the tracker under test, controlling the time deviation to the millisecond or even microsecond level. When playback reaches the preset electronic fence boundary position, the tracker is triggered to perform fence boundary crossing detection, and the tracker reports boundary crossing alarm data. The test system records the time delay from the triggering time to the time the alarm report is received, which is the response delay. When playback reaches a signal interruption scenario (such as a tunnel), the network disconnection data retransmission function of the tracker is triggered to verify its functionality: the tracker stores positioning data during the signal interruption and automatically retransmits it after the signal is restored. The test system checks the integrity and timestamp continuity of the retransmitted data.

[0044] S40. Align the reference timestamp of the replayed GNSS signal with the timestamp of the data reported by the measured positioner, and calculate the test evaluation index based on the aligned data.

[0045] In some embodiments, step S40 specifically includes the following steps: S401-S402.

[0046] S401. The reference coordinate timestamp of the GNSS radio frequency signal recording and playback simulator playback is aligned with the timestamp of the data reported by the locator at the millisecond level through the PTPv2 protocol.

[0047] S402. Automatically calculate at least one of the following test evaluation indicators: positioning accuracy, acquisition sensitivity, tracking sensitivity, reacquisition time, and functional response delay. Positioning accuracy includes CEP50 and / or CEP95.

[0048] For steps S401-S402, the reference coordinate data (including timestamp, longitude, latitude, altitude, velocity, etc.) played back by the GNSS radio frequency signal recording and playback simulator and the data packets reported by the locator through its communication network (such as 4G, NB-IoT) are simultaneously connected to the data analysis computer. Since the two data streams have different transmission paths, their timestamps are misaligned. The PTPv2 protocol is used to synchronize the clocks of the recording and playback simulator, the computer, and the locator (if the locator supports PTP), and a timestamp alignment algorithm is run in the computer: using the timestamp of the recording and playback simulator's playback data as a reference, the data point with the smallest time difference is searched in the data stream reported by the locator, and the two are matched. Abnormal points with a time difference exceeding a preset threshold (e.g., 10 milliseconds) are eliminated. After alignment, the computer automatically calculates at least one of the following test evaluation metrics: positioning accuracy, including circular probability error CEP50 (i.e., the radius of the circle in which 50% of the positioning points fall) and / or CEP95 (the radius of the circle in which 95% of the positioning points fall); acquisition sensitivity, i.e., the minimum signal power required for the locator to achieve initial positioning from a cold start; tracking sensitivity, i.e., the minimum signal power required for the locator to maintain tracking after positioning; reacquisition time, i.e., the time required to reacquire after signal interruption; and functional response delay, such as the time difference between triggering an electronic fence boundary crossing and reporting an alarm. The computer generates a test report from the calculation results and can compare and analyze it with historical test data.

[0049] In summary, by constructing a reproducible scenario system encompassing real-world scenario libraries, simulation scenario libraries, and fault scenario libraries, and combining this with a synchronous triggering mechanism between the GNSS signal playback process and the reported data from the tracked locator, automated testing of both GNSS and non-GNSS positioning functions of the locator was achieved. Furthermore, by precisely aligning the playback signal reference timestamp with the reported data timestamp, multi-dimensional evaluation indicators can be automatically calculated. This method reduces the full-function testing time for a single device from over 40 minutes to less than 10 minutes, supports parallel testing of up to eight locators, increases the fault reproducibility rate in complex scenarios to over 90%, and allows testers to complete full-scenario verification in the laboratory without needing to conduct road tests. This significantly improves testing efficiency, reduces labor costs, and ensures the repeatability and accuracy of test results.

[0050] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0051] This invention also provides a fully automated testing device for locators across all scenarios, which is used to execute the steps in any of the embodiments of the aforementioned fully automated testing method for locators across all scenarios. Specifically, please refer to... Figure 2 , Figure 2 This illustration shows a schematic block diagram of a locator full-scene automated testing device 100 provided in an embodiment of this application. The locator full-scene automated testing device 100 specifically includes: The first construction unit 110 is used to record GNSS signals from real-world scenarios to build a standardized scenario file library; the second construction unit 120 is used to build a simulation scenario library based on the generated custom trajectories; the linkage test unit 130 is used to play back GNSS signals from the scenario library to at least one measured positioner, and to perform linkage tests on the GNSS positioning function and non-GNSS function of the measured positioner based on the synchronous triggering of the GNSS signal playback process and the data reported by the measured positioner; the calculation unit 140 is used to align the reference timestamp of the played-back GNSS signal with the timestamp of the data reported by the measured positioner, and to calculate test evaluation indicators based on the aligned data.

[0052] In some embodiments, the first building unit 110 is specifically applied to: recording raw GNSS signals in at least one typical scenario in urban canyons, tunnels, elevated roads, underground parking lots, and mountainous areas using a GNSS radio frequency signal recording and playback simulator, and simultaneously collecting vehicle bus data and inertial sensor data, labeling each scenario with environmental feature tags to form a standardized scenario file library; and recording the corresponding GNSS signal features on-site using a GNSS radio frequency signal recording and playback simulator for fault scenarios that occur during the locator testing phase to form a fault scenario library.

[0053] In some embodiments, the second building unit 120 is specifically applied to: generating a custom trajectory through GNSS scene generation software, wherein the parameters of the custom trajectory include latitude and longitude, velocity, motion attitude, ionospheric delay and multipath effect.

[0054] In some embodiments, the linkage test unit 130 is specifically used to: distribute one GNSS signal output from the GNSS RF signal recording and playback simulator into multiple outputs via a passive power divider, with each output connected in series with an adjustable digital attenuator, and calibrate the signal power error of each output using a standard GNSS receiver. The isolation of the passive power divider is greater than or equal to 30dB, and its distribution ratio is 1:8; the attenuation range of the adjustable digital attenuator is 0 to 60dB, and the calibration accuracy is 0.1dB; the signal power error is calibrated to within ±0.5dB.

[0055] In some embodiments, the linkage test unit 130 is also specifically used to: realize the synchronous triggering of GNSS signal playback and locator function testing through the digital triggering interface and PTPv2 protocol of the GNSS radio frequency signal recording and playback simulator; the synchronous triggering includes: when playback reaches the preset electronic fence boundary position, triggering the locator fence boundary detection and recording the response delay; when playback reaches the signal interruption scenario, triggering the verification of the locator's network disconnection data retransmission function; and synchronously triggering external condition simulation to verify the positioning stability under multi-factor coupling.

[0056] In some embodiments, the computing unit 140 is also specifically used to: align the reference coordinate timestamp of the GNSS radio frequency signal recording and playback simulator playback with the timestamp of the data reported by the locator at the millisecond level via the PTPv2 protocol; and automatically calculate at least one test evaluation index among positioning accuracy, acquisition sensitivity, tracking sensitivity, reacquisition time, and functional response delay, wherein the positioning accuracy includes CEP50 and / or CEP95.

[0057] It should be noted that those skilled in the art can clearly understand that the specific implementation process of the above-mentioned locator full-scene automated testing device 100 and each unit can be referred to the corresponding description in the foregoing method embodiments. For the sake of convenience and brevity, it will not be repeated here.

[0058] The aforementioned locator full-scenario automated testing device can be implemented as a computer program, which can perform tests in various scenarios, such as... Figure 3 It runs on the computer device shown.

[0059] Please see Figure 3 , Figure 3 This is a schematic block diagram of a computer device provided in an embodiment of this application. The computer device 700 can be a server, wherein the server can be a standalone server or a server cluster composed of multiple servers.

[0060] like Figure 3 As shown, the computer device includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the steps of the locator full-scenario automated testing method as described above.

[0061] The computer device 700 includes a processor 720, a memory, and a network interface 750 connected via a system bus 710, wherein the memory may include a non-volatile storage medium 730 and internal memory 740.

[0062] The non-volatile storage medium 730 can store an operating system 731 and a computer program 732. When the computer program 732 is executed, it enables the processor 720 to execute a full-scenario automated testing method for the locator.

[0063] The processor 720 provides computing and control capabilities to support the operation of the entire computer device 700.

[0064] The internal memory 740 provides an environment for the execution of the computer program 732 in the non-volatile storage medium 730. When the computer program 732 is executed by the processor 720, the processor 720 can execute the full-scenario automated testing method for the locator.

[0065] This network interface 750 is used for network communication, such as sending assigned tasks. Those skilled in the art will understand that... Figure 3 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device 700 to which the present application is applied. The specific computer device 700 may include more or fewer components than shown in the figure, or combine certain components, or have different component arrangements. The processor 720 is used to run program code stored in memory to implement a full-scenario automated testing method for the locator.

[0066] Those skilled in the art will understand that Figure 3 The embodiments of the computer device shown do not constitute a limitation on the specific configuration of the computer device. In other embodiments, the computer device may include more or fewer components than illustrated, or combine certain components, or have different component arrangements. For example, in some embodiments, the computer device may include only memory and a processor. In such embodiments, the structure and function of the memory and processor are different from those shown. Figure 3 The embodiments shown are consistent and will not be repeated here.

[0067] It should be understood that, in the embodiments of this application, the processor 720 may be a Central Processing Unit (CPU), or it may be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor.

[0068] In another embodiment of the present invention, a computer-readable storage medium is provided. This computer-readable storage medium may be a non-volatile computer-readable storage medium. The computer-readable storage medium stores a computer program, wherein when executed by a processor, the computer program implements the locator full-scenario automated testing method disclosed in this embodiment of the present invention.

[0069] Those skilled in the art will readily understand that, for the sake of convenience and brevity, the specific working processes of the devices, apparatuses, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here. Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in terms of function in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this invention.

[0070] In the embodiments provided by this invention, it should be understood that the disclosed devices, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative. For instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. Units with the same function may be grouped into one unit. For example, multiple units or components may be combined or integrated into another device, or some features may be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, devices, or units, or may be electrical, mechanical, or other forms of connection.

[0071] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of the embodiments of the present invention, depending on actual needs.

[0072] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0073] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), magnetic disks, or optical disks.

[0074] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and these modifications or substitutions should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A full-scenario automated testing method for locators, characterized in that, include: Record GNSS signals from real-world scenarios to build a standardized scenario file library; A simulation scenario library is built based on the generated custom trajectories; Play back GNSS signals from the scene library to at least one measured positioner, and based on the synchronous triggering of the GNSS signal playback process and the data reported by the measured positioner, perform a linkage test on the GNSS positioning function and non-GNSS function of the measured positioner. Align the reference timestamp of the replayed GNSS signal with the timestamp of the data reported by the measured positioner, and calculate the test evaluation index based on the aligned data.

2. The locator full-scenario automated testing method according to claim 1, characterized in that, The recording of GNSS signals from real-world scenarios to construct a standardized scenario file library includes: The raw GNSS signals were recorded in at least one typical scenario in urban canyons, tunnels, elevated roads, underground parking lots and mountainous areas using a GNSS radio frequency signal recording and playback simulator. Vehicle bus data and inertial sensor data were collected simultaneously. Environmental feature labels were marked for each scenario to form a standardized scenario file library. For fault scenarios that occur during the locator testing phase, the corresponding GNSS signal characteristics are recorded on-site using a GNSS radio frequency signal recording and playback simulator to form a fault scenario library.

3. The locator full-scenario automated testing method according to claim 1, characterized in that, The simulation scenario library built based on the generated custom trajectory includes: A custom trajectory is generated using GNSS scene generation software. The parameters of the custom trajectory include latitude and longitude, velocity, motion attitude, ionospheric delay, and multipath effect.

4. The locator full-scenario automated testing method according to claim 2, characterized in that, The GNSS signals in the playback scene library are transmitted to at least one measured positioner, and based on the synchronous triggering of the GNSS signal playback process and the data reported by the measured positioner, the GNSS positioning function and non-GNSS function of the measured positioner are tested in a coordinated manner, including: The GNSS signal output from the GNSS radio frequency signal recording and playback simulator is distributed into multiple outputs through a passive power divider. Each output is connected in series with an adjustable digital attenuator, and the signal power error of each output is calibrated by a standard GNSS receiver.

5. The locator full-scenario automated testing method according to claim 4, characterized in that, The isolation of the passive power divider is greater than or equal to 30dB, and its distribution ratio is 1:8; the attenuation range of the adjustable digital attenuator is 0 to 60dB, and the calibration accuracy is 0.1dB; the signal power error is calibrated to within ±0.5dB.

6. The locator full-scenario automated testing method according to claim 2, characterized in that, The playback of GNSS signals from the scene library is transmitted to at least one measured positioner, and based on the synchronous triggering of the GNSS signal playback process and the data reported by the measured positioner, a joint test is performed on the GNSS positioning function and non-GNSS function of the measured positioner, which also includes: The GNSS RF signal recording and playback simulator uses a digital trigger interface and PTPv2 protocol to achieve synchronous triggering of GNSS signal playback and locator function testing. The synchronous triggering includes: when playback reaches a preset electronic fence boundary position, triggering the locator fence boundary detection and recording the response delay; when playback reaches a signal interruption scenario, triggering the verification of the locator's network disconnection data retransmission function; and synchronously triggering external condition simulation to verify the positioning stability under multi-factor coupling.

7. The locator full-scenario automated testing method according to claim 1, characterized in that, The process of aligning the reference timestamp of the replayed GNSS signal with the timestamp of the data reported by the measured positioner, and calculating test evaluation indicators based on the aligned data, includes: The PTPv2 protocol is used to align the reference coordinate timestamps of the GNSS radio frequency signal recording and playback simulator playback with the timestamps of the data reported by the locator at the millisecond level. Automatically calculate at least one of the following test evaluation indicators: positioning accuracy, acquisition sensitivity, tracking sensitivity, reacquisition time, and functional response delay, wherein the positioning accuracy includes CEP50 and / or CEP95.

8. A full-scenario automated testing device for locators, characterized in that, include: The first building unit is used to record GNSS signals from real-world scenarios to build a standardized scenario file library; The second building unit is to construct a simulation scenario library based on the generated custom trajectory; The linkage test unit is used to play back GNSS signals from the scene library to at least one measured positioner, and to perform linkage tests on the GNSS positioning function and non-GNSS function of the measured positioner based on the synchronous triggering of the GNSS signal playback process and the data reported by the measured positioner. The calculation unit is used to align the reference timestamp of the replayed GNSS signal with the timestamp of the data reported by the measured positioner, and calculate the test evaluation index based on the aligned data.

9. A computer device, characterized in that, It includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the locator full-scene automated testing method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, which includes program instructions. When the program instructions are executed by a processor, the processor performs the locator full-scene automated testing method as described in any one of claims 1 to 7.

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