CN106773783A - The semi-physical simulation test system and method for a kind of CORS system - Google Patents
The semi-physical simulation test system and method for a kind of CORS system Download PDFInfo
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- CN106773783A CN106773783A CN201611191700.9A CN201611191700A CN106773783A CN 106773783 A CN106773783 A CN 106773783A CN 201611191700 A CN201611191700 A CN 201611191700A CN 106773783 A CN106773783 A CN 106773783A
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B17/00—Systems involving the use of models or simulators of said systems
- G05B17/02—Systems involving the use of models or simulators of said systems electric
Abstract
The present invention provides a kind of the semi-physical simulation test system and method for CORS system, wherein, the system includes parameter configuration and control computer, the first signal source, secondary signal source, Reference network simulation computer, mobile subscriber's simulation computer, reference station receiver, movement station receiver user, Reference System data processing centre computer and measures of effectiveness computer.The semi-physical simulation test system and method for a kind of CORS system that the present invention is provided, can realize the function of being tested CORS system in the case where Reference network, user change.
Description
Technical field
The present invention relates to communication and navigation technical field, and in particular to a kind of semi-physical simulation of CORS system
Test system and method.
Background technology
Global navigation satellite system CORS is the important component of Fundamental Geographic Information System framework, is
Ground geographical information collection facility main in the world at present, is the technical way of coordinate frame construction and maintenance, in base
Plinth mapping, urban planning, Territorial management, town and country construction, environment measuring, prevent and reduce natural disasters, the multinomial Modern Information such as traffic monitoring
There is extensive use in management and field of scientific study.
In order to meet Dynamic High-accuracy navigator fix service requirement, realize Centimeter Level in regional extent, be evenly distributed, can
By property real-time positioning application high, network RTK based on region CORS network (real-time kinematic,
Location technology is arisen at the historic moment in real time dynamically).Technology of network RTK needs to set up a CORS (Continuously Operating
Reference stations, CORS system) system.Technology of network RTK refers to be uniformly distributed in certain area
Multiple (three or more than three) CORSs, netted covering is constituted in this area, and by the use of internet as communication
Reference station Real-time monitored value, is sent to calculating center by link, according to the accurately known coordinate information of each reference station, in the calculation
The heart complete to the ionosphere in network range, troposphere, orbit error equal error modeling, and the station location of generation flowing in real time
Correcting information.By this correcting information press RTCM (Radio Technical Commission for Maritime services,
The international ocean shipping cause radiotechnics committee) difference text encoded, by wireless communication link (GSM/GPRS/CDMA
Deng) in real time to different demands, different type, different levels user provide by GPS observations (carrier phase, pseudorange),
Various corrections and status information, and other are about the system of service item, so as to determine when user terminal realizes high-precision real
Position.
Performance test analysis currently for CORS system (CORS) is directed to what some had built up
The regional site test of CORS system.Therefore conventional performance test analysis means flexibility is not strong, is required to
Set up physical reference station to be tested, while not having in the case where Reference network, user change to CORS
The function that systemic-function and performance are tested.
The content of the invention
The purpose of the embodiment of the present invention is to provide a kind of semi-physical simulation test system of CORS system
And method, the function of being tested CORS system in the case where Reference network, user change can be realized.
To achieve the above object, on the one hand the embodiment of the present invention provides a kind of semi physical of CORS system and imitates
True test system, the system includes that parameter configuration is imitated with control computer, the first signal source, secondary signal source, Reference network
Genuine computer, mobile subscriber's simulation computer, reference station receiver, movement station receiver user, Reference System data processing
Central computer and measures of effectiveness computer, wherein：The parameter configuration and control computer, for being first signal
Source, secondary signal source, Reference network simulation computer and mobile subscriber's simulation computer provide configuration parameter；First letter
Number source, for providing radiofrequency signal for the reference station receiver；The secondary signal source, for being connect for the movement station user
Receipts machine provides radiofrequency signal and for the measures of effectiveness computer provides gross data；The Reference network simulation computer, uses
In the configuration parameter sent according to the parameter configuration and control computer, emulation is synchronized to multiple reference stations, obtain institute
State the simulation observation data of multiple reference stations, and by the simulation observation data is activation to the Reference System Data processing
Heart computer；Mobile subscriber's simulation computer, One-Point Location is carried out for synchronization simulation multiple movement station user data, and
Rough coordinates are provided to Reference System data processing centre computer and receive Reference System data processing centre computer
The differential data of transmission；The reference station receiver, for providing ginseng to Reference System data processing centre computer
Examine the observation data at station；The movement station receiver user, for being carried to Reference System data processing centre computer
Rough coordinates for user simultaneously receive the differential data that Reference System data processing centre computer is sent, to the difference
Divided data carries out positioning calculation, and the calculation result of One-Point Location and Differential positioning is sent to the measures of effectiveness computer；
The measures of effectiveness computer, the emulation of One-Point Location and Differential positioning for mobile subscriber's simulation computer to be sent
As a result the One-Point Location and the calculation result of Differential positioning that, the movement station receiver user is sent are sent out with the secondary signal source
The gross data come is analyzed, and obtains including One-Point Location, Differential positioning, precision analysis, time availability and sky
Between availability analysis result, and the analysis result is shown in current interface in the way of numerical value and curve.
Further, the parameter configuration includes with control computer：Simulation parameter configuration module, for being described
The configuration of one signal source includes the configuration parameter with reference to station location, emulation beginning and ending time and Simulation Control instruction；It is the reference
Network simulation allocation of computer of standing includes the number of reference station and the configuration ginseng of position, emulation beginning and ending time and Simulation Control instruction
Number；For mobile subscriber's simulation computer configuration includes the number of user and running orbit, emulation beginning and ending time and emulation
The configuration parameter of control instruction；For secondary signal source configuration includes customer location, emulation beginning and ending time and Simulation Control
The configuration parameter of instruction.
Further, first signal source includes：Simulation result sending module, for being entered according to the reference station location
Planetary satellite orbit is calculated and navigation message generation emulation；Complete empty according to the reference station location and emulation beginning and ending time
Between environmental simulation, user trajectory emulation and observation data simulation, and generate radiofrequency signal and be sent to the reference station receiver.
Further, the secondary signal source includes：Simulation result sending module, for being carried out according to the customer location
Constellation satellite orbit is calculated, navigation message generates emulation, space environment simulation, user trajectory are emulated, observation data simulation, and raw
The movement station receiver user is sent into radiofrequency signal；Gross data sending module, the theory of the user for that will generate
Positional information is sent to the measures of effectiveness computer.
Further, the Reference network simulation computer includes：Data reception module, matches somebody with somebody for receiving the parameter
Put the configuration parameter sent with control computer；Constellation satellite orbit computing module, for calculating constellation satellite orbit；Navigation electricity
Literary generation module, the navigation message for generating satellite；Space environment simulation module, for according to the ionosphere mould being pre-configured with
Type, Tropospheric Models, neutral atmosphere model and multipath effect model complete the emulation of space environment error；Observation data simulation
Module, the simulation observation data of each reference station are obtained for the position emulation according to emulation beginning and ending time and each reference station；
Data transmission blocks, the simulation observation number for sending each reference station to Reference System data processing centre computer
According to.
Further, mobile subscriber's simulation computer includes：Constellation satellite orbit computing module, for calculating star
Seat satellite orbit；Navigation message generation module, the navigation message for generating satellite；Space environment simulation module, according to advance
The ionospheric model of configuration, Tropospheric Models, neutral atmosphere model, multipath effect model complete the emulation of space environment error；
Observation data simulation module, it is imitative for simulate that mobile subscriber receives according to the running orbit of emulation beginning and ending time and user
True observation data；One-Point Location module, for carrying out One-Point Location according to the simulated measurement data；Data transmission blocks,
Rough coordinates for sending mobile subscriber's current time to Reference System data processing centre computer；Data reception
Block, for receiving configuration parameter and Reference System data processing centre computer that parameter configuration sends with control computer
The differential data of transmission；Differential positioning module, at according to the simulation observation data and the Reference System data
The differential data that reason central computer sends carries out Differential positioning, and the One-Point Location that will obtain and the result of Differential positioning send
To the measures of effectiveness computer.
To achieve the above object, on the other hand the application also provides a kind of semi-physical simulation of CORS system
Method of testing, methods described includes：Parameter configuration and control computer are that the first signal source, secondary signal source, Reference network are imitated
Genuine computer and mobile subscriber's simulation computer provide configuration parameter；First signal source is penetrated for reference station receiver is provided
Frequency signal；The secondary signal source provides radiofrequency signal and for measures of effectiveness computer provides theory for movement station receiver user
Data；The configuration parameter that the Reference network simulation computer is sent according to the parameter configuration and control computer, to multiple
Reference station synchronizes emulation, obtains the simulation observation data of the multiple reference station, and by the simulation observation data is activation
To Reference System data processing centre computer；Mobile subscriber's simulation computer synchronization simulation multiple movement station number of users
According to carrying out One-Point Location, and provide rough coordinates to Reference System data processing centre computer and receive Reference System number
According to the differential data that processing center computer sends；Reference station receiver is to Reference System data processing centre computer
The observation data of reference station are provided；Movement station receiver user provides use to Reference System data processing centre computer
The rough coordinates at family simultaneously receive the differential data that Reference System data processing centre computer is sent, to the difference number
According to carrying out positioning calculation, and the calculation result of One-Point Location and Differential positioning is sent to the measures of effectiveness computer；It is described
It is One-Point Location that measures of effectiveness computer sends mobile subscriber's simulation computer and the simulation result of Differential positioning, described
The theory that the One-Point Location and the calculation result of Differential positioning that movement station receiver user is sent are sent with the secondary signal source
Data are analyzed, and obtain including One-Point Location, Differential positioning, precision analysis, time availability and space availability
Analysis result, and the analysis result is shown in current interface in the way of numerical value and curve.
Further, the configuration parameter includes being first signal source configuration including referring to station location, emulating
The configuration parameter that only time and Simulation Control are instructed；For the Reference network simulation computer configuration including reference station
The configuration parameter that number is instructed with position, emulation beginning and ending time and Simulation Control；For mobile subscriber's simulation computer is configured
Number including user and running orbit, emulation beginning and ending time and Simulation Control instruction configuration parameter；It is described second
The configuration parameter including customer location, emulation beginning and ending time and Simulation Control instruction of signal source configuration.
Further, the configuration that the Reference network simulation computer is sent according to the parameter configuration and control computer
Parameter, synchronizing emulation to multiple reference stations includes：The Reference network simulation computer is connected to emulation beginning and ending time, reference
After the number stood and position, the number identical number of threads with reference station is opened, be used to realize the observation number of multiple reference stations
According to while emulate；It is complete with control computer send configuration to parameter configuration after respective thread is configured for each reference station
Into status information；Correspondingly, methods described also includes：Mobile subscriber's simulation computer according to the emulation beginning and ending time for receiving,
The number and running orbit of user, open the number identical number of threads with user, are used to realize imitative while multiple users
Very, while each user sends authentication information with Ntrip protocol formats to Reference System data processing centre computer.
Further, methods described also includes：Reference System data processing centre computer connects according to the reference station
The simulation observation number of multiple reference stations that the observation data of the reference station that receipts machine is sent, the Reference network simulation computer are sent
The rough coordinates that the rough coordinates and mobile subscriber's simulation computer sent according to, the movement station receiver user are sent
Carry out real-time kinematical RTK resolving, at the same will resolve the differential data that obtains be sent to the movement station receiver user with it is described
Mobile subscriber's simulation computer.
Present invention beneficial effect compared with prior art at least includes：
The invention provides a kind of the semi-physical simulation test system and method for CORS system, makes the company of complexity
The test of reforwarding row Reference System can be completed in laboratory, and a certain region is directed in sky for the reference station of actual motion
Between analysis in terms of availability, time availability mainly set up actual physical reference station and received using the movement station of physics
Machine, the data for receiving physical reference station by CORS data processing centres software provide service, movement station to mobile station receiver
Receiver is moved in test zone, and the positioning result according to mobile station receiver is analyzed.Realized by way of emulation
Reference network and the course of work of user, are CORS system thing without the actual Reference network of deployment and user
The deployment of reason Reference network provides the simulating, verifying of early stage.
The invention provides a kind of the semi-physical simulation test system and method for CORS system, is referred in system
Stand and can be configured according to user's request with the number of mobile subscriber and position, can flexibly realize to CORS system
Test of the system data processing centre's software on reference station and user's carrying capacity, moves without using physical reference station and physics
Stand receiver.
Can be different according to the selection of tester offer in the emulation of Reference network and user's observation data in the invention
The Tropospheric Models of model, ionospheric model, the emulation of neutral atmosphere model, make the observation data of Reference network and user more
Close to the data that true reference station and user receive, make the property to Reference System data processing centre network RTK algorithms
It is able to verify that result has credibility.
The semi-physical simulation test system and method for a kind of CORS system that the invention is provided, synchronous operation
Reference station in kind and the reference station for emulating, user in kind and the user of emulation so that emulation CORS system
The system of true operation is more nearly, the result more has credibility.
Without considering that test result is influenceed by mobile network's stability in terms of testing time availability；
The invention provides interface and the mode of a kind of real-time operation, and the personnel of checking can at any time increase the quantity and fortune of user
Flowing mode, the simulation results show in real time, while provide test result being stored in the form of form, make CORS
System is easy to be convenient in the test checking of the aspects such as space availability, time availability, service ability, is easy to pinpoint the problems.
Brief description of the drawings
Technical scheme in order to illustrate more clearly the embodiments of the present invention, institute in being described to the embodiment of the present invention below
The accompanying drawing for needing to use is briefly described, it should be apparent that, drawings in the following description are only some implementations of the invention
Example, for those of ordinary skill in the art, on the premise of not paying creative work, can also implement according to the present invention
The content and these accompanying drawings of example obtain other accompanying drawings.
Fig. 1 is the structural representation of the semi-physical simulation test system of the CORS system described in the present embodiment
Figure；
Fig. 2 is the flow chart of the semi-physical simulation method of testing of CORS system in the present embodiment；
Fig. 3 is the workflow diagram of Reference network simulation computer in the present embodiment；
Fig. 4 is the workflow diagram of mobile subscriber's simulation computer in the present embodiment；
Fig. 5 is that Reference System data processing centre computer carries out real-time kinematical RTK data processing in the present embodiment
Flow chart.
Through accompanying drawing, it should be noted that similar label is used to describe same or analogous element, feature and structure.
Specific embodiment
The disclosure for providing description referring to the drawings to help comprehensive understanding to be limited by claim and its equivalent
Various embodiments.Hereinafter description includes the various details for helping understand, but these details will be considered as only being example
Property.Therefore, it will be appreciated by those of ordinary skill in the art that do not depart from the scope of the present disclosure and spirit in the case of, can be right
Various embodiments described herein makes various changes and modifications.In addition, in order to clear and succinct, known function and construction are retouched
Stating to be omitted.
Term and vocabulary used in following description and claims are not limited to document implication, but only by inventor
For enabling the disclosure clearly and as one man to be understood.Therefore, to those skilled in the art it should be apparent that carrying
The description of various embodiments of this disclosure is merely to exemplary purpose under being provided with, and it is unrestricted by appended claims and its
The purpose of the disclosure that equivalent is limited.
It should be understood that unless context is clearly indicated in addition, otherwise singulative also includes plural.Thus, for example,
Reference to " assembly surface " includes the reference to one or more such surfaces.
Fig. 1 is referred to, the application implementation method provides a kind of semi-physical simulation test system of CORS system
System, the system includes parameter configuration and control computer 1, the first signal source 2, secondary signal source 3, Reference network simulation calculation
Machine 4, mobile subscriber's simulation computer 5, reference station receiver 6, movement station receiver user 7, Reference System Data processing
Heart computer 8 and measures of effectiveness computer 9.
In the present embodiment, the parameter configuration and control computer 1, for being first signal source, the second letter
Number source, Reference network simulation computer and mobile subscriber's simulation computer provide configuration parameter.
First signal source 2, for providing radiofrequency signal for the reference station receiver.
The secondary signal source 3, for providing radiofrequency signal and for the efficiency is commented for the movement station receiver user
Estimate computer and gross data is provided.
The Reference network simulation computer 4, for the configuration ginseng sent according to the parameter configuration and control computer
Multiple reference stations are synchronized emulation by number, obtain the simulation observation data of the multiple reference station, and by the simulation observation
Data is activation is to Reference System data processing centre computer.
Mobile subscriber's simulation computer 5, One-Point Location is carried out for synchronization simulation multiple movement station user data, and
Rough coordinates are provided to Reference System data processing centre computer and receive Reference System data processing centre computer
The differential data of transmission.
The reference station receiver 6, for providing reference station to Reference System data processing centre computer
Observation data.
The movement station receiver user 7, for providing user to Reference System data processing centre computer
Rough coordinates and receive the differential data that Reference System data processing centre computer is sent, to the differential data
Positioning calculation is carried out, and the calculation result of One-Point Location and Differential positioning is sent to the measures of effectiveness computer.
The measures of effectiveness computer 9, for the One-Point Location and difference of sending mobile subscriber's simulation computer
The calculation result of the simulation result of positioning, the One-Point Location that the movement station receiver user is sent and Differential positioning and described
The gross data that binary signal source is sent is analyzed, and obtains including One-Point Location, Differential positioning, precision analysis, the time can
With property and the analysis result of space availability, and the analysis result is shown in current interface in the way of numerical value and curve
In.
Specifically, the parameter configuration includes with control computer 1：
Simulation parameter configuration module, for including with reference to station location, emulation beginning and ending time for first signal source configuration
And the configuration parameter of Simulation Control instruction；For Reference network simulation computer configuration includes the number of reference station and position
Put, emulate the configuration parameter of beginning and ending time and Simulation Control instruction；For mobile subscriber's simulation computer configuration includes using
The configuration parameter of the number and running orbit, emulation beginning and ending time and Simulation Control instruction at family；For the secondary signal source is matched somebody with somebody
Put the configuration parameter including customer location, emulation beginning and ending time and Simulation Control instruction.
In the present embodiment, first signal source 2 includes：
Simulation result sending module, for carrying out the calculating of constellation satellite orbit and navigation electricity according to the reference station location
Text generation emulation；According to the reference station location and emulation the beginning and ending time complete space environment simulation, user trajectory emulation and
Data simulation is observed, and generates radiofrequency signal and be sent to the reference station receiver.
In the present embodiment, the secondary signal source 2 includes：
Simulation result sending module, for being entered according to the customer location, planetary satellite orbit is calculated, navigation message is given birth to
Emulated into emulation, space environment simulation, user trajectory, observe data simulation, and generate radiofrequency signal and be sent to the movement station
Receiver user；
Gross data sending module, calculates for the theoretical position information of the user of generation to be sent into the measures of effectiveness
Machine.
In the present embodiment, the Reference network simulation computer 4 includes：
Data reception module, for receiving the configuration parameter that the parameter configuration sends with control computer；
Constellation satellite orbit computing module, for calculating constellation satellite orbit；
Navigation message generation module, the navigation message for generating satellite；
Space environment simulation module, for according to ionospheric model, Tropospheric Models, the neutral atmosphere model being pre-configured with
And multipath effect model completes the emulation of space environment error；
Observation data simulation module, each ginseng is obtained for the position emulation according to emulation beginning and ending time and each reference station
Examine the simulation observation data at station；
Data transmission blocks, for sending the imitative of each reference station to Reference System data processing centre computer
True observation data.
In the present embodiment, mobile subscriber's simulation computer includes：
Constellation satellite orbit computing module, for calculating constellation satellite orbit；
Navigation message generation module, the navigation message for generating satellite；
Space environment simulation module, according to the ionospheric model, Tropospheric Models, neutral atmosphere model being pre-configured with, many
Footpath effect model completes the emulation of space environment error；
Observation data simulation module, connects for simulating mobile subscriber according to the running orbit of emulation beginning and ending time and user
The simulation observation data for receiving；
One-Point Location module, for carrying out One-Point Location according to the simulated measurement data；
Data transmission blocks, for sending mobile subscriber's current time to Reference System data processing centre computer
Rough coordinates；
Data reception module, for receiving configuration parameter and the Reference System that parameter configuration sends with control computer
The differential data that data processing centre's computer sends；
Differential positioning module, for according to the simulation observation data and the Reference System Data processing scheming
The differential data that calculation machine sends carries out Differential positioning, and the One-Point Location that will obtain and the result of Differential positioning are sent to the effect
Computer can be assessed.
Fig. 2 is referred to, the application implementation method also provides a kind of semi-physical simulation test of CORS system
Method, methods described includes：
S1：Parameter configuration and control computer be the first signal source, secondary signal source, Reference network simulation computer and
Mobile subscriber's simulation computer provides configuration parameter；
S2：First signal source provides radiofrequency signal for reference station receiver；
S3：The secondary signal source provides radiofrequency signal and for measures of effectiveness computer is provided for movement station receiver user
Gross data；
S4：The configuration parameter that the Reference network simulation computer is sent according to the parameter configuration and control computer,
Emulation is synchronized to multiple reference stations, the simulation observation data of the multiple reference station are obtained, and by the simulation observation number
According to transmission to Reference System data processing centre computer；
S5：Mobile subscriber's simulation computer synchronization simulation multiple movement station user data carry out One-Point Location, and to
Reference System data processing centre computer provides rough coordinates and receives Reference System data processing centre computer hair
The differential data for sending；
S6：Reference station receiver provides the observation number of reference station to Reference System data processing centre computer
According to；
S7：Movement station receiver user is sat to the outline that Reference System data processing centre computer provides user
The differential data that Reference System data processing centre computer is sent is marked and received, the differential data is positioned
Resolve, and the calculation result of One-Point Location and Differential positioning is sent to the measures of effectiveness computer；
S8：One-Point Location and Differential positioning that the measures of effectiveness computer sends mobile subscriber's simulation computer
Simulation result, the One-Point Location that the movement station receiver user is sent and Differential positioning calculation result and described second letter
The gross data that number source is sent is analyzed, and obtains including One-Point Location, Differential positioning, precision analysis, time availability
And the analysis result of space availability, and the analysis result is shown in current interface in the way of numerical value and curve.
In the present embodiment, the configuration parameter include for first signal source configuration including with reference to station location,
Emulation beginning and ending time and the configuration parameter of Simulation Control instruction；Be the Reference network simulation computer configuration including reference
The configuration parameter that the number stood is instructed with position, emulation beginning and ending time and Simulation Control；It is mobile subscriber's simulation calculation
The configuration parameter of the number including user and running orbit, emulation beginning and ending time and Simulation Control instruction of machine configuration；For institute
State the configuration parameter including customer location, emulation beginning and ending time and Simulation Control instruction of secondary signal source configuration.
In the present embodiment, the Reference network simulation computer is sent according to the parameter configuration and control computer
Configuration parameter, synchronizing emulation to multiple reference stations includes：
After the Reference network simulation computer is connected to emulation beginning and ending time, the number of reference station and position, open and ginseng
The number identical number of threads at station is examined, is used to be emulated while the observation data for realizing multiple reference stations；Referred to for each
Stand after configuring respective thread, to parameter configuration and control computer send configuration completion status information；
Correspondingly, methods described also includes：Mobile subscriber's simulation computer is according to emulation beginning and ending time, the user for receiving
Number and running orbit, open with the number identical number of threads of user, be used to realize emulated while multiple users, together
When each user authentication information is sent to Reference System data processing centre computer with Ntrip protocol formats.
In the present embodiment, methods described also includes：
The observation number of the reference station that Reference System data processing centre computer is sent according to the reference station receiver
Simulation observation data, the movement station receiver user of the multiple reference stations sent according to, the Reference network simulation computer
The rough coordinates that the rough coordinates and mobile subscriber's simulation computer sent are sent carry out real-time kinematical RTK resolving, together
When will resolve the differential data that obtains and be sent to the movement station receiver user with mobile subscriber's simulation computer.
In a concrete application scene, Fig. 3 is referred to, Reference network simulation computer can be when receiving configuration ginseng
Number, after it is determined that receiving configuration parameter, can open the thread of respective numbers, such that it is able to send according to the quantity of reference station
Parameter configuration completes information to the internal operation emulation installed and control software.After the instruction for starting emulation is received, just may be used
The parameter such as pseudorange, P (polarizing angle) V (speed) A (azimuth) J (elevation angle) of calculating satellite is calculated with by the software, carry out ground
Revolutions are corrected and calculate the attitude of satellite.When judging that satellite is available, one, two, three ranks of pseudorange, many can be further calculated
It is general to strangle frequency and carrier phase.After the completion of all of satellite is all calculated, can pack observation data, and be referred to by each
The thread stood sends observation data in the software in Reference System data processing centre computer.
Fig. 4 is referred to, mobile subscriber's simulation computer can be calculated each satellite according to the flow of type, it
After can generate observation data and One-Point Location, and rough coordinates are sent to by Reference System data processing centre by thread
In the software of computer, the treatment of differential data can be then carried out.Specifically, after it is determined that receiving differential data, can be by
One-Point Location, Differential positioning result and gross data are analyzed, it is possible to the result of display comparison analysis on interface.
Fig. 5 is referred to, Reference System data processing centre computer, can first to reading when RTK data processings are carried out
The data for taking carry out cycle-slip detection and repair, it is ensured that double difference observational equation can be constituted after data are accurate, card is may then pass through
Germania (kalman) is filtered, and judges whether the result of filtering is qualified.Fuzziness can be carried out when qualified to fix.Just may be used afterwards
To carry out extraction of the base station apart from correlated error, and combined with virtual reference station Correction of Errors number, generate virtual observation number
According to such that it is able to further be positioned to mobile station user, so as to complete the process of RTK data processings.
Present invention beneficial effect compared with prior art at least includes：
The invention provides a kind of the semi-physical simulation test system and method for CORS system, makes the company of complexity
The test of reforwarding row Reference System can be completed in laboratory, and a certain region is directed in sky for the reference station of actual motion
Between analysis in terms of availability, time availability mainly set up actual physical reference station and received using the movement station of physics
Machine, the data for receiving physical reference station by CORS data processing centres software provide service, movement station to mobile station receiver
Receiver is moved in test zone, and the positioning result according to mobile station receiver is analyzed.Realized by way of emulation
Reference network and the course of work of user, are CORS system thing without the actual Reference network of deployment and user
The deployment of reason Reference network provides the simulating, verifying of early stage.
The invention provides a kind of the semi-physical simulation test system and method for CORS system, is referred in system
Stand and can be configured according to user's request with the number of mobile subscriber and position, can flexibly realize to CORS system
Test of the system data processing centre's software on reference station and user's carrying capacity, moves without using physical reference station and physics
Stand receiver.
Can be different according to the selection of tester offer in the emulation of Reference network and user's observation data in the invention
The Tropospheric Models of model, ionospheric model, the emulation of neutral atmosphere model, make the observation data of Reference network and user more
Close to the data that true reference station and user receive, make the property to Reference System data processing centre network RTK algorithms
It is able to verify that result has credibility.
The semi-physical simulation test system and method for a kind of CORS system that the invention is provided, synchronous operation
Reference station in kind and the reference station for emulating, user in kind and the user of emulation so that emulation CORS system
The system of true operation is more nearly, the result more has credibility.
Without considering that test result is influenceed by mobile network's stability in terms of testing time availability；
The invention provides interface and the mode of a kind of real-time operation, and the personnel of checking can at any time increase the quantity and fortune of user
Flowing mode, the simulation results show in real time, while provide test result being stored in the form of form, make CORS
System is easy to be convenient in the test checking of the aspects such as space availability, time availability, service ability, is easy to pinpoint the problems.
It should be noted that the various embodiments of the disclosure as described above are generally related to input data to a certain extent
Treatment and output data generation.The treatment of this input data and output data generation can be in hardware or soft with combination of hardware
Realized in part.For example, can in mobile device or similar or related circuit using specific electronic components for realize with
The function of the various embodiments association of the disclosure as described above.Alternatively, according to the instruction for being stored operate one or more
Multiple processors can realize the function of being associated with the various embodiments of the disclosure as described above.If it is, then these instructions
Can be stored on one or more non-transitory processor readable mediums, this is in the scope of the present disclosure.Processor can
The example for reading medium includes read-only storage (ROM), random access memory (RAM), CD-ROM, tape, floppy disk and optics number
According to storage device.In addition, for realizing that functional computer program, instruction and the instruction segment of the disclosure can be by disclosure arts
Programmer easily explain.
Each implementation method in this specification is described by the way of progressive, identical similar between each implementation method
Part mutually referring to what each implementation method was stressed is the difference with other embodiment.
Although the various embodiments with reference to the disclosure have shown and described the disclosure, those skilled in the art will manage
Solution, in the case where the spirit and scope of the present disclosure being defined by the appended claims and the equivalents thereof are not departed from, can enter to it
Various changes in row form and details.
Claims (10)
1. a kind of semi-physical simulation test system of CORS system, it is characterised in that the system includes parameter
Configuration with control computer, the first signal source, secondary signal source, Reference network simulation computer, mobile subscriber's simulation computer,
Reference station receiver, movement station receiver user, Reference System data processing centre computer and measures of effectiveness computer,
Wherein：
The parameter configuration and control computer, for being first signal source, secondary signal source, Reference network simulation calculation
Machine and mobile subscriber's simulation computer provide configuration parameter；
First signal source, for providing radiofrequency signal for the reference station receiver；
The secondary signal source, for providing radiofrequency signal and for the measures of effectiveness is calculated for the movement station receiver user
Machine provides gross data；
The Reference network simulation computer, it is right for the configuration parameter sent according to the parameter configuration and control computer
Multiple reference stations synchronize emulation, obtain the simulation observation data of the multiple reference station, and by the simulation observation data
Send to Reference System data processing centre computer；
Mobile subscriber's simulation computer, One-Point Location is carried out for synchronization simulation multiple movement station user data, and to ginseng
Station system data processing center computer is examined rough coordinates are provided and the computer transmission of Reference System data processing centre is received
Differential data；
The reference station receiver, the observation number for providing reference station to Reference System data processing centre computer
According to；
The movement station receiver user, the outline for providing user to Reference System data processing centre computer
Coordinate simultaneously receives the differential data that Reference System data processing centre computer is sent, and the differential data is determined
Position is resolved, and the calculation result of One-Point Location and Differential positioning is sent to the measures of effectiveness computer；
The measures of effectiveness computer, for the One-Point Location of sending mobile subscriber's simulation computer and Differential positioning
The calculation result of simulation result, the One-Point Location that the movement station receiver user is sent and Differential positioning and the secondary signal
The gross data that source is sent is analyzed, obtain including One-Point Location, Differential positioning, precision analysis, time availability with
And the analysis result of space availability, and the analysis result is shown in current interface in the way of numerical value and curve.
2. the semi-physical simulation test system of CORS system according to claim 1, it is characterised in that institute
State parameter configuration includes with control computer：
Simulation parameter configuration module, for for first signal source configuration include with reference to station location, emulate the beginning and ending time and
The configuration parameter of Simulation Control instruction；Include the number of reference station and position for the Reference network simulation computer is configured, imitate
True beginning and ending time and the configuration parameter of Simulation Control instruction；For mobile subscriber's simulation computer configuration includes that user's is individual
The configuration parameter of number and running orbit, emulation beginning and ending time and Simulation Control instruction；For secondary signal source configuration includes
The configuration parameter of customer location, emulation beginning and ending time and Simulation Control instruction.
3. the semi-physical simulation test system of CORS system according to claim 2, it is characterised in that institute
Stating the first signal source includes：
Simulation result sending module, for carrying out the calculating of constellation satellite orbit and navigation message life according to the reference station location
Into emulation；Space environment simulation, user trajectory emulation are completed according to the reference station location and emulation beginning and ending time and is observed
Data simulation, and generate radiofrequency signal and be sent to the reference station receiver.
4. the semi-physical simulation test system of CORS system according to claim 2, it is characterised in that institute
Stating secondary signal source includes：
Simulation result sending module, for being entered according to the customer location, planetary satellite orbit is calculated, navigation message generation is imitated
Very, space environment simulation, user trajectory emulation, observation data simulation, and generate radiofrequency signal and be sent to the movement station user
Receiver；
Gross data sending module, for the theoretical position information of the user of generation to be sent into the measures of effectiveness computer.
5. the semi-physical simulation test system of CORS system according to claim 2, it is characterised in that institute
Stating Reference network simulation computer includes：
Data reception module, for receiving the configuration parameter that the parameter configuration sends with control computer；
Constellation satellite orbit computing module, for calculating constellation satellite orbit；
Navigation message generation module, the navigation message for generating satellite；
Space environment simulation module, for according to be pre-configured with ionospheric model, Tropospheric Models, neutral atmosphere model and
Multipath effect model completes the emulation of space environment error；
Observation data simulation module, each reference station is obtained for the position emulation according to emulation beginning and ending time and each reference station
Simulation observation data；
Data transmission blocks, the emulation for sending each reference station to Reference System data processing centre computer is seen
Survey data.
6. the semi-physical simulation test system of CORS system according to claim 2, it is characterised in that institute
Stating mobile subscriber's simulation computer includes：
Constellation satellite orbit computing module, for calculating constellation satellite orbit；
Navigation message generation module, the navigation message for generating satellite；
Space environment simulation module, according to ionospheric model, Tropospheric Models, neutral atmosphere model, the multipath effect being pre-configured with
Model is answered to complete the emulation of space environment error；
Observation data simulation module, receives for simulating mobile subscriber according to the running orbit of emulation beginning and ending time and user
Simulation observation data；
One-Point Location module, for carrying out One-Point Location according to the simulated measurement data；
Data transmission blocks, the outline for sending mobile subscriber's current time to Reference System data processing centre computer
Coordinate；
Data reception module, for receiving configuration parameter and the Reference System data that parameter configuration sends with control computer
The differential data that processing center computer sends；
Differential positioning module, for according to the simulation observation data and Reference System data processing centre computer
The differential data of transmission carries out Differential positioning, and the One-Point Location that will obtain and the result of Differential positioning send to the efficiency and comment
Estimate computer.
7. a kind of semi-physical simulation method of testing of CORS system, it is characterised in that methods described includes：
Parameter configuration is the first signal source, secondary signal source, Reference network simulation computer and mobile use with control computer
Family simulation computer provides configuration parameter；
First signal source provides radiofrequency signal for reference station receiver；
The secondary signal source provides radiofrequency signal and for measures of effectiveness computer provides theoretical value for movement station receiver user
According to；
The configuration parameter that the Reference network simulation computer is sent according to the parameter configuration and control computer, joins to multiple
Examine station and synchronize emulation, obtain the simulation observation data of the multiple reference station, and by the simulation observation data is activation extremely
Reference System data processing centre computer；
Configuration parameter that mobile subscriber's simulation computer is sent according to the parameter configuration and control computer and described
Multiple mobile subscribers are synchronized emulation by the differential data that Reference System data processing centre computer is sent, and obtain list
The simulation result of point location and Differential positioning, and the simulation result is sent to the measures of effectiveness computer；
Reference station receiver provides the observation data of reference station to Reference System data processing centre computer；
Movement station receiver user synchronization simulation multiple movement station user data carries out One-Point Location, and to Reference System data
Processing center computer provides rough coordinates and receives the differential data that Reference System data processing centre computer sends；
The emulation of One-Point Location and Differential positioning that the measures of effectiveness computer sends mobile subscriber's simulation computer
As a result the One-Point Location and the calculation result of Differential positioning that, the movement station receiver user is sent are sent out with the secondary signal source
The gross data come is analyzed, and obtains including One-Point Location, Differential positioning, precision analysis, time availability and sky
Between availability analysis result, and the analysis result is shown in current interface in the way of numerical value and curve.
8. the semi-physical simulation method of testing of CORS system according to claim 7, it is characterised in that institute
Stating configuration parameter includes being first signal source configuration including referring to reference to station location, emulation beginning and ending time and Simulation Control
The configuration parameter of order；For Reference network simulation computer configuration number including reference station with position, emulation start-stop when
Between and Simulation Control instruction configuration parameter；It is the number and fortune including user of mobile subscriber's simulation computer configuration
The configuration parameter of row track, emulation beginning and ending time and Simulation Control instruction；Be the secondary signal source configuration including user
The configuration parameter of position, emulation beginning and ending time and Simulation Control instruction.
9. the semi-physical simulation method of testing of CORS system according to claim 8, it is characterised in that institute
The configuration parameter that Reference network simulation computer is sent according to the parameter configuration and control computer is stated, multiple reference stations are entered
Row synchronization simulation includes：
After the Reference network simulation computer is connected to emulation beginning and ending time, the number of reference station and position, open and reference station
Number identical number of threads, emulated while being used to the observation data for realizing multiple reference stations；Match somebody with somebody for each reference station
After putting respective thread, to parameter configuration and control computer send configuration completion status information；
Correspondingly, methods described also includes：Mobile subscriber's simulation computer is individual according to the emulation beginning and ending time, user for receiving
Number and running orbit, open the number identical number of threads with user, are used to realize emulated while multiple users, while often
Individual user sends authentication information with Ntrip protocol formats to Reference System data processing centre computer.
10. the semi-physical simulation method of testing of CORS system according to claim 7, it is characterised in that
Methods described also includes：
The observation data of the reference station that Reference System data processing centre computer is sent according to the reference station receiver, institute
The simulation observation data of multiple reference stations that Reference network simulation computer is sent, the movement station receiver user are stated to send
The rough coordinates that rough coordinates and mobile subscriber's simulation computer are sent carry out real-time kinematical RTK resolving, while will solution
The differential data for obtaining is sent to the movement station receiver user with mobile subscriber's simulation computer.
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