CN114578393B - Device for rapidly detecting performance of satellite navigation terminal mounted on carrier platform - Google Patents
Device for rapidly detecting performance of satellite navigation terminal mounted on carrier platform Download PDFInfo
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- CN114578393B CN114578393B CN202210463975.2A CN202210463975A CN114578393B CN 114578393 B CN114578393 B CN 114578393B CN 202210463975 A CN202210463975 A CN 202210463975A CN 114578393 B CN114578393 B CN 114578393B
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- G01—MEASURING; TESTING
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- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
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Abstract
The application discloses device of quick detection adorns in satellite navigation terminal performance of carrier platform includes: the opposite real-time receiving terminal is used for receiving real satellite signals in real time and resolving and analyzing the real satellite signals to obtain corresponding time information and ephemeris files; the control equipment generates simulation control parameters according to a preset test scene, the time information and the ephemeris file, compares a test result output by the tested satellite navigation terminal with the simulation control parameters, and completes satellite navigation performance detection of the tested satellite navigation terminal on the carrier platform in batches; the satellite navigation detection signal simulation equipment is used for generating a detection signal according to the time information, the ephemeris file and the simulation control parameter; and the transmitting antenna is used for broadcasting the detection signal to all the tested satellite navigation terminals which are arranged on the carrier platform in the test field. The method and the device have the advantages of effectively simplifying the detection flow, being high in detection efficiency and low in construction cost, reducing the detection cost and meeting various detection use requirements.
Description
Technical Field
The application relates to the technical field of detection of a detected satellite navigation terminal, in particular to a device for rapidly detecting the performance of the detected satellite navigation terminal installed on a carrier platform.
Background
With the development of science and technology, carrier platforms such as automobiles and small airplanes are changed into mass products consumed by thousands of households, and continuous, real-time and accurate positioning is one of important guarantees for safe driving of the carrier platforms. The global satellite navigation system has the characteristics of global and all-weather, and in most cases, the global satellite navigation system is adopted by the motion platform, and other modes are only needed for auxiliary positioning in some special areas. Therefore, the performance of the satellite navigation terminal to be tested, which is mounted on the carrier platform, needs to be comprehensively tested, including research and development tests, factory tests and measurement tests after long-term use, so that the safety of the motion platform is ensured.
The existing technical scheme mainly aims at the satellite navigation performance detection of a satellite navigation terminal single machine of a carrier platform. The satellite navigation terminal performance and the carrier platform integration performance are different, on one hand, a terminal antenna can be shielded, reflected, diffracted and the like by the carrier platform, on the other hand, the antenna of the partial carrier platform adopts the same-shaped structural design, and the partial structure of the carrier platform is also a part of the antenna, so that the satellite navigation terminal performance to be detected including the carrier platform needs to be comprehensively detected.
Patent CN212391544U proposes a performance testing system for intelligent internet vehicles, which utilizes a communication comprehensive tester, a satellite signal generator, a data collector and an intelligent system to perform electromagnetic anti-interference performance and channel anti-interference performance testing of the whole vehicle under the fusion of single vehicle intelligence and vehicle networking technology in a anechoic chamber. The method needs to be used in cooperation with a large anechoic chamber, needs to build the large anechoic chamber, has high construction cost and requirements on a construction site, can only detect a single vehicle, has low detection efficiency, is only suitable for research and development tests of a navigation terminal of a carrier platform, needs to be combined with field sports cars to complete a complete performance test of the navigation terminal provided with the carrier platform, and cannot meet the use requirements of measurement detection after large-batch delivery detection and long-time use of the carrier platform.
Disclosure of Invention
The application provides a device for rapidly detecting the performance of a satellite navigation terminal installed on a carrier platform, which aims to solve the technical problems that the prior satellite navigation terminal performance is low in detection efficiency and high in cost when being comprehensively detected, and the requirement for batch factory detection and long-time measurement detection of the carrier platform cannot be met.
The technical scheme adopted by the application is as follows:
a device for rapidly detecting the performance of a satellite navigation terminal installed on a carrier platform comprises:
the opposite real-time receiving terminal is used for receiving real satellite signals in real time and resolving and analyzing the real satellite signals to obtain corresponding time information and ephemeris files;
the control device generates simulation control parameters according to a preset test scene, the time information and the ephemeris file, compares a test result output by the tested satellite navigation terminal with the simulation control parameters, and completes satellite navigation performance detection of the tested satellite navigation terminal on the carrier platform in batches, wherein the preset test scene requirement comprises a navigation signal state received in a typical scene where a moving carrier is located, the navigation signal state comprises a visible satellite model number and a navigation signal channel model parameter, the simulation control parameters comprise a satellite number, power, time delay and Doppler frequency shift, the test result comprises positioning information, navigation messages, speed measurement information and visible satellite state information, and the typical scene is a scene comprising streets and viaducts erected in a tall building;
the satellite navigation detection signal simulation equipment is used for generating corresponding detection signals according to the time information, the ephemeris file and the simulation control parameters, wherein the detection signals are navigation simulation signals received by a carrier platform in a real test scene in a static state or a motion state, the detection signals are synchronous with real satellite navigation signals, are aligned with the real satellite navigation signals in two dimensions of pseudo code delay and carrier frequency, and have power at least 6dB higher than that of the real satellite navigation signals;
and the transmitting antenna is arranged in the test field, is in signal connection with the satellite navigation detection signal simulation equipment, and is used for broadcasting the detection signal generated by the satellite navigation detection signal simulation equipment to all tested satellite navigation terminals which are arranged on the carrier platform and are kept in the test field.
Furthermore, the control device is further configured to control the detected satellite navigation terminals installed on the carrier platforms to start up and operate after the detection signals are broadcast, receive the detection signals, and output corresponding test results.
Further, still include:
and the communication interaction access equipment is respectively in communication connection with the tested satellite navigation terminal installed on the carrier platform and the control equipment, and is used for collecting and transmitting the test result output by the tested satellite navigation terminal installed on the carrier platform to the control equipment.
Furthermore, the communication interaction access device comprises a serial port communication interface and a wireless communication interface, wherein the serial port communication interface comprises a gigabit network port, an RS232 serial port and an RS485 serial port, and the wireless communication interface comprises Bluetooth, ZigBee, WiFi, 3G, 4G and 5G wireless communication interfaces.
Further, when the transmitting antenna is arranged in a test site, the method specifically comprises the following steps:
when the radius R2 of the test site is less than or equal to (c ≦ CA-H) /tan (5 °)), N =1 transmit antenna is laid out, wherein,Ain order to be able to set the height of the transmitting antenna,Hheight of the carrier platform, ((A-H) Tan (5 °)) is the maximum radius covered by a single transmit antenna;
radius R2 when testing site>((A-H) /tan (5 °)), the test field is divided into M areas, and the number of transmitting antennas is arranged N = M, where M is at least R2/((M)A-H) Perform (5 ℃ C.).
Further, when the sky real-time receiving terminal receives real satellite signals in real time, the corresponding real satellite signals are selectively received through spatial filtering according to the known detection signal broadcasting direction;
alternatively, the first and second electrodes may be,
when the sky real-time receiving terminal receives real satellite signals in real time, the sky real-time receiving terminal is arranged outside the maximum coverage range of detection signals sent by the transmitting antenna;
alternatively, the first and second electrodes may be,
and when the opposite-to-sky real-time receiving terminal receives real satellite signals in real time, a signal isolation device is arranged between the opposite-to-sky real-time receiving terminal and the transmitting antenna.
Further, when the satellite navigation detection signal simulation device generates a corresponding detection signal according to the time information, the ephemeris file and the simulation control parameter, the satellite navigation detection signal simulation device completes day synchronization according to the received time information, and generates the detection signal according to the ephemeris file and the simulation control parameter.
Further, when the control device generates simulation control parameters according to a preset test scene, the time information and the ephemeris file, the control device completes day synchronization according to the received time information, and generates simulation control parameters according to the preset test scene and the received ephemeris file and sends the simulation control parameters to the satellite navigation detection signal simulation device.
Further, the carrier platform comprises a ground fixed carrier platform, a water surface or underwater fixed carrier platform, a ground movable carrier platform, an air-to-air movable carrier platform and a water surface or underwater movable carrier platform.
Further, the control device compares the test result output by the tested satellite navigation terminal with the simulation control parameter, and completes the satellite navigation performance detection of the tested satellite navigation terminal of the carrier platform in batches, specifically comprising:
the control equipment makes a difference between the positioning information output by the measured satellite navigation terminal and the known position information simulated by the satellite navigation detection signal simulation equipment to obtain the positioning precision of the measured satellite navigation terminal;
the control equipment makes a difference between the speed measurement information output by the satellite navigation terminal to be measured and the known speed measurement information simulated by the satellite navigation detection signal simulation equipment to obtain the speed measurement precision of the satellite navigation terminal to be measured;
the control device obtains first positioning time according to the time when the positioning precision output by the tested satellite navigation terminal first reaches the positioning precision index requirement and the time of the simulation starting time of the satellite navigation detection signal simulation device, the first positioning time is divided into warm start first positioning time and cold start first positioning time according to the starting test state of the tested satellite navigation terminal, wherein the tested satellite navigation terminal can stably output a positioning result and receives complete almanac information, then the power-off restart test is warm start, and the power-on test is cold start after the almanac information in the tested satellite navigation terminal is invalid or cleared.
Compared with the prior art, the method has the following beneficial effects:
the application provides a device for rapidly detecting the performance of a satellite navigation terminal installed on a carrier platform, which comprises: the opposite real-time receiving terminal is used for receiving real satellite signals in real time and resolving and analyzing the real satellite signals to obtain corresponding time information and ephemeris files; the control equipment generates simulation control parameters according to a preset test scene, the time information and the ephemeris file, compares a test result output by the tested satellite navigation terminal with the simulation control parameters, and completes satellite navigation performance detection of the tested satellite navigation terminal on the carrier platform in batches; the satellite navigation detection signal simulation equipment is used for generating corresponding detection signals according to the time information, the ephemeris file and the simulation control parameters; and the transmitting antenna is arranged in the test field, is in signal connection with the satellite navigation detection signal simulation equipment, and is used for broadcasting the detection signal generated by the satellite navigation detection signal simulation equipment to all tested satellite navigation terminals which are arranged on the carrier platform and are kept in the test field.
The method obtains corresponding time information, ephemeris file and simulation control parameter based on the real satellite signal, and generates a navigation simulation signal received by a carrier platform in a static state or a motion state in a real test scene as a detection signal to broadcast all the tested satellite navigation terminals arranged on the carrier platform in a preset test scene to realize the batch completion of the satellite navigation performance detection of the tested satellite navigation terminals on the carrier platform, because the detection signal is synchronous with the real satellite navigation signal, the detection signal is aligned with the real satellite navigation signal in two dimensions of pseudo code delay and carrier frequency, and the power is at least 6dB higher than the real satellite navigation signal, the detection signal of the method has high consistency with the real navigation signal, and the true degree of the detection signal obtained after simulation is ensured, meanwhile, through the corresponding power setting, the satellite navigation terminal to be tested can only receive the detection signal played by the transmitting antenna, and the test result is not influenced by the external real satellite signal, so that a large anechoic chamber is not required to be built, and meanwhile, because the navigation analog signal received by the carrier platform in a static state or a motion state in a real test scene is used as the detection signal, the carrier platform can be kept still in a test field during testing, the satellite navigation terminal performance detection of the carrier platform is realized in the existing environment, the satellite navigation terminal performance detection comprises static navigation performance and navigation performance of a typical dynamic scene, the combination of field vehicles is not required, the construction cost is low, the requirements on the area and facilities of the construction field are low, the detection flow is effectively simplified, and the detection cost is reduced; the installation configuration is flexible, the test is convenient, and the satellite navigation terminal to be tested can be detected indoors and outdoors; the test efficiency is high, can carry out batch test to many carrier platforms simultaneously, not only is fit for the research and development test of the navigation terminal of carrier platform, still supports the complete performance test of the navigation terminal of installation carrier platform, satisfies the measurement after carrier platform is dispatched from the factory and is detected in batches and use for a long time and detects the operation requirement.
In addition to the objects, features and advantages described above, other objects, features and advantages will be apparent from the present application. The present application will now be described in further detail with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application. In the drawings:
fig. 1 is a schematic diagram of an apparatus for rapidly detecting performance of a satellite navigation terminal installed on a carrier platform according to a preferred embodiment of the present application.
Fig. 2 is a schematic diagram of an apparatus for rapidly detecting performance of a satellite navigation terminal mounted on a carrier platform according to another preferred embodiment of the present application.
Fig. 3 is a flowchart illustrating a method for rapidly detecting performance of a satellite navigation terminal installed on a carrier platform according to a preferred embodiment of the present application.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
Referring to fig. 1, a preferred embodiment of the present application provides an apparatus for rapidly detecting performance of a satellite navigation terminal installed on a carrier platform, including a sky real-time receiving terminal, a control device, a satellite navigation detection signal simulation device, and a transmitting antenna, wherein:
the sky real-time receiving terminal is used for receiving real satellite signals in real time and resolving and analyzing the real satellite signals to obtain corresponding time information and ephemeris files;
the control equipment generates simulation control parameters according to a preset test scene, the time information and an ephemeris file, compares a test result output by a tested satellite navigation terminal with the simulation control parameters, and completes satellite navigation performance detection of the tested satellite navigation terminal on a carrier platform (such as an automobile or an airplane) in batches, wherein the preset test scene requirement comprises a navigation signal state received in a typical scene where a moving carrier is located, the navigation signal state comprises a visible satellite model and a navigation signal channel model parameter, the simulation control parameter comprises a satellite number, power, time delay and Doppler frequency shift, the test result comprises positioning information, a navigation message, speed measurement information and visible satellite state information, and the typical scene is a scene comprising a street and an overhead bridge erected by a tall building;
the satellite navigation detection signal simulation equipment is used for generating corresponding detection signals according to the time information, the ephemeris file and the simulation control parameters, wherein the detection signals are navigation simulation signals received by a carrier platform in a real test scene in a static state or a motion state, the detection signals are synchronous with real satellite navigation signals, are aligned with the real satellite navigation signals in two dimensions of pseudo code delay and carrier frequency, and have power at least 6dB higher than that of the real satellite navigation signals;
the transmitting antenna is an omnidirectional transmitting antenna, is arranged in the test field and is in signal connection with the satellite navigation detection signal simulation equipment, and is used for carrying out omnidirectional broadcasting on the detection signal generated by the satellite navigation detection signal simulation equipment to all tested satellite navigation terminals which are arranged on the carrier platform and are kept in the test field.
The embodiment provides a device for rapidly detecting the performance of a satellite navigation terminal installed on a carrier platform, which comprises: the opposite real-time receiving terminal is used for receiving real satellite signals in real time and resolving and analyzing the real satellite signals to obtain corresponding time information and ephemeris files; the control equipment generates simulation control parameters according to a preset test scene, the time information and the ephemeris file, compares a test result output by the tested satellite navigation terminal with the simulation control parameters, and completes satellite navigation performance detection of the tested satellite navigation terminal on the carrier platform in batches; the satellite navigation detection signal simulation equipment is used for generating corresponding detection signals according to the time information, the ephemeris file and the simulation control parameters; and the transmitting antenna is arranged in the test field, is in signal connection with the satellite navigation detection signal simulation equipment, and is used for broadcasting the detection signal generated by the satellite navigation detection signal simulation equipment to all tested satellite navigation terminals which are arranged on the carrier platform and are kept in the test field.
In this embodiment, corresponding time information, ephemeris file and simulation control parameter are obtained based on the real satellite signal, and a navigation simulation signal received by the carrier platform in a static state or a motion state in a real test scene is generated based on the time information, the ephemeris file and the simulation control parameter and is used as a detection signal to broadcast all the tested satellite navigation terminals mounted on the carrier platform in a preset test scene, so as to realize the satellite navigation performance detection of the tested satellite navigation terminals on the carrier platform in batch, because the detection signal is synchronous with the real satellite navigation signal, is aligned with the real satellite navigation signal in two dimensions of pseudo code delay and carrier frequency, and has at least 6dB higher power than the real satellite navigation signal, the detection signal of this embodiment has high consistency with the real navigation signal, the truth of the detection signal obtained after simulation is ensured, meanwhile, the power of the detection signal is at least 6dB higher than that of the real satellite navigation signal through corresponding power setting, the navigation terminal of the satellite to be tested can only receive the detection signal played by a transmitting antenna, and the test result is not influenced by the external real satellite signal, so that a large anechoic chamber is not required to be built, meanwhile, because the navigation analog signal received by a carrier platform in a static state or a motion state in a real test scene is taken as the detection signal, particularly when the generated detection signal is the navigation analog signal received by a simulation carrier platform in a typical motion state (comprising high-rise forest streets, high bridges and the like), the carrier platform does not need to move in the test process, only needs to be placed in the test field, and when the navigation analog signal is received by the simulation carrier platform in the typical motion state, according to the relative motion relation, when the simulated satellite navigation signal is taken as a reference point, although the carrier platform is static relative to the test production field, the carrier platform is relatively moving relative to the simulated satellite navigation signal at the moment, so that the performance of the satellite navigation terminal carried by the carrier platform in the motion state can be approximately obtained, the field area is saved, the time required by measurement is shortened, the test cost is reduced, the test efficiency is improved, therefore, compared with the prior art that a field roadster is required to realize the performance test of the satellite navigation terminal when the carrier platform moves, the carrier platform can be kept in the test field when the test is not carried out, the performance test of the satellite navigation terminal of the carrier platform is realized in the existing environment, the navigation performance of the carrier platform comprises static navigation performance and the navigation performance of a typical dynamic scene, the field roadster is not required to be combined, and the construction cost is low, the requirements on the area and facilities of a construction site are low, the detection flow is effectively simplified, and the detection cost is reduced; the installation configuration is flexible, the test is convenient, and the satellite navigation terminal to be tested can be detected indoors and outdoors; the test efficiency is high, batch test can be simultaneously carried out on a plurality of carrier platforms, the test platform is not only suitable for research and development test of the navigation terminal of the carrier platform, but also supports complete performance test of the navigation terminal provided with the carrier platform, and meets the use requirements of batch delivery test and measurement test after long-time use of the carrier platform.
In a preferred embodiment of the present application, the control device is further configured to control the detected satellite navigation terminals installed on each carrier platform to start up and operate after the detection signal is broadcast, receive the detection signal, and output a corresponding test result.
In the embodiment, after the detection signal is broadcast, the detected satellite navigation terminal is started to operate under the control of the control device, and compared with manual starting, the detection efficiency can be effectively improved and the manual operation intensity can be reduced by controlling the start operation of the detected satellite navigation terminal by using the control device.
In a preferred embodiment of the present application, the apparatus for rapidly detecting performance of a satellite navigation terminal installed on a carrier platform further includes:
and the communication interaction access equipment is respectively in communication connection with the tested satellite navigation terminal installed on the carrier platform and the control equipment, and is used for collecting and transmitting the test result output by the tested satellite navigation terminal installed on the carrier platform to the control equipment. The communication interaction access device comprises a serial port communication interface and a wireless communication interface, wherein the serial port communication interface comprises a gigabit network port, an RS232 serial port and an RS485 serial port, and the wireless communication interface comprises wireless communication interfaces such as Bluetooth, ZigBee, WiFi, 3G, 4G and 5G.
In the embodiment, data is collected through the communication interaction access device, the communication interaction access device supports the reporting of test results of a tested motion platform through multiple modes including an RS232 mode, an RS485 serial port, a gigabit network port, a 4G mode, a 5G mode and the like, and the communication interaction access device has the advantages of rich interfaces, wide applicability and more compact structure; the method supports access to a car networking system or other systems, forms a satellite navigation terminal performance detection result database of the carrier platform, and perfects the detection standard of the existing carrier platform.
In a preferred embodiment of the present application, when the transmitting antenna is disposed in a test site, the method specifically includes:
because the satellite navigation terminal only receives navigation signals with an elevation angle of more than 5 degrees, as shown in fig. 2, the test site is generally a storage site where the carrier platform is located, and when the test site is an outdoor test site, the test site comprises an outdoor parking apron or parking apron, and it is assumed that a single moving carrier occupies a space (of a vehicle) of L meters (length) W meters (width) H meters (height); the maximum radius R1 covered by a single transmit antenna is (, etcA-H) Tan (5 deg.), radius R2 ≦ when located outside the test site (R2 ≦ and (C)A-H) /tan (5 °)), N =1 transmit antenna is laid out, wherein,Afor the installation height of the transmitting antenna, the transmitting antenna is installed by adopting a bracket with 6 meters in the embodiment,Hthe height of a carrier platform, namely the height of the top of a vehicle of the embodiment from the ground is 2 meters, the lowest elevation angle of a satellite navigation terminal to be measured on the vehicle for receiving satellite signals is 10 degrees, and the embodiment can cover all vehicles in an area with the radius of 22.5 meters by arranging a transmitting antenna to meet the requirement of the satelliteThe performance of the navigation terminal is required to be detected, so that the test cost is saved, a certain number of satellite navigation terminals to be tested can be tested in batches, and the detection efficiency is greatly improved.
Radius R2 of test site when located outdoors>((A-H) /tan (5 °)), the test field is divided into M areas, and the number of transmitting antennas is arranged N = M, where M is at least R2/((M)A-H) The utility model provides a whole is got to/tan (5 °), this application satisfies the M transmitting antenna of demand through setting up, can guarantee that the quantity of transmitting antenna quantity is minimum, the detected signal of simultaneous transmission can cover again and be located outdoor test site comprehensively, ensure to cover all vehicles in the test site area territory and satisfy satellite navigation terminal performance detection requirement, both practiced thrift test cost, can carry out batch test to the satellite navigation terminal that is surveyed of a certain quantity simultaneously, reduce detection cost by a wide margin, and the detection efficiency is improved.
Similarly, when the test site is located indoors, such as an indoor parking lot or an indoor parking apron, the transmitting antenna may be fixed at the top of the indoor space, as shown in fig. 1, the specific principle of disposing the transmitting antenna is similar to that of the test site located outdoors, and those skilled in the art may make corresponding adjustments as needed, which is not described herein again.
In a preferred embodiment of the present application, when the sky real-time receiving terminal receives real satellite signals in real time, the corresponding real satellite signals are selectively received through spatial filtering according to a known detection signal broadcasting direction.
In this embodiment, in order to prevent the inter-satellite real-time receiving terminal from being interfered by the detection signal played by the transmitting antenna in the process of receiving the real satellite signal in real time, the inter-satellite real-time receiving terminal selectively receives the corresponding real satellite signal through spatial filtering according to the known detection signal broadcasting direction, and simultaneously filters the detection signal played by the transmitting antenna, thereby avoiding the problem of quality degradation of the generated signal caused by self-excitation of the detection signal to the inter-satellite real-time receiving terminal, and ensuring the accuracy of the detection result.
In a preferred embodiment of the present application, when the sky real-time receiving terminal receives real satellite signals in real time, the sky real-time receiving terminal is set outside a maximum coverage range of detection signals sent by the transmitting antenna.
In this embodiment, in order to prevent the opposite-to-sky real-time receiving terminal from being interfered by the detection signal played by the transmitting antenna in the process of receiving the real satellite signal in real time, the opposite-to-sky real-time receiving terminal is set outside the maximum coverage range of the detection signal sent by the transmitting antenna under the condition that the field size is appropriate, so that the opposite-to-sky real-time receiving terminal cannot receive the detection signal sent by the transmitting antenna, thereby avoiding the problem of reduced quality of the generated signal caused by self-excitation of the detection signal to the opposite-to-sky real-time receiving terminal, and ensuring the accuracy of the detection result.
In a preferred embodiment of the present application, when the opposite-sky real-time receiving terminal receives real satellite signals in real time, a signal isolation device is disposed between the opposite-sky real-time receiving terminal and the transmitting antenna.
In this embodiment, in order to prevent the real-time satellite signal receiving terminal from being interfered by the detection signal played by the transmitting antenna in the real-time satellite signal receiving process, under the condition that the field size is limited, a signal isolation device (for example, a signal shielding device is arranged) is arranged between the real-time satellite signal receiving terminal and the transmitting antenna to shield the detection signal played by the transmitting antenna, so that the real-time satellite signal receiving terminal cannot receive the detection signal sent by the transmitting antenna, thereby avoiding the problem of quality degradation of the generated signal caused by self-excitation of the real-time satellite signal receiving terminal by the detection signal, and ensuring the accuracy of the detection result.
In a preferred embodiment of the present application, when the satellite navigation detection signal simulation device generates a corresponding detection signal according to the time information, the ephemeris file, and the simulation control parameter, the satellite navigation detection signal simulation device completes synchronization to the day according to the received time information, and generates the detection signal according to the ephemeris file and the simulation control parameter.
In a preferred embodiment of the present application, when the control device generates the simulation control parameters according to the preset test scenario, the time information, and the ephemeris file, the control device completes synchronization to the day according to the received time information, and generates the simulation control parameters according to the preset test scenario and the received ephemeris file, and sends the simulation control parameters to the satellite navigation detection signal simulation device.
In this embodiment, the control device completes the synchronization of the day according to the received time information, and the purpose is to ensure that the generated detection signal maintains signal parameters similar to normal satellite signals as much as possible, ensure that the carrier platform receives the detection signal seamlessly and stably, and generate simulation control parameters according to a preset test scenario and a received ephemeris file, so that, except for being at least 6dB higher in power than the real satellite navigation signal, the detection signal generated by the satellite navigation detection signal simulation device in a simulation manner can be consistent with the navigation simulation signal received by the carrier platform in a static state or a motion state in the real test scenario, for example, the detection signal is synchronized in time and aligned with the real satellite navigation signal in two dimensions of pseudo code delay and carrier frequency, and the authenticity of the detection signal obtained after simulation is ensured.
In the embodiment, the carrier platform comprises a ground fixed carrier platform, an air fixed carrier platform, a water surface or underwater fixed carrier platform, a ground movable carrier platform, an air movable carrier platform, and a water surface or underwater movable carrier platform. Wherein, the ground fixed carrier platform can be a ground fixed building, a fixed device and the like, the air-to-air fixed carrier platform can be an aerial device with stable position coordinates, and the water surface or underwater fixed carrier platform can be a water surface or underwater fixed facility; the ground mobile carrier platform can be an automobile, an engineering vehicle, a train, a shield machine and the like, and the air-to-air mobile carrier platform can be an airplane, an unmanned aerial vehicle, a missile, a spacecraft, a space station and the like; the water surface or underwater movable carrier platform comprises a water surface ship, a submarine, an underwater robot and the like.
The embodiment can realize the batch rapid detection of the satellite navigation terminals on various carrier platforms, has wide application range and extremely high market application value.
In a preferred embodiment of the present application, the control device compares the test result output by the measured satellite navigation terminal with the simulation control parameter, and completes the satellite navigation performance detection of the measured satellite navigation terminal of the carrier platform in batches, specifically including:
the control equipment makes a difference between the positioning information output by the measured satellite navigation terminal and the known position information simulated by the satellite navigation detection signal simulation equipment to obtain the positioning precision of the measured satellite navigation terminal;
the control equipment makes a difference between the speed measurement information output by the satellite navigation terminal to be measured and the known speed measurement information simulated by the satellite navigation detection signal simulation equipment to obtain the speed measurement precision of the satellite navigation terminal to be measured;
the control device obtains first positioning time according to the time when the positioning precision output by the tested satellite navigation terminal first reaches the positioning precision index requirement and the time of the simulation starting time of the satellite navigation detection signal simulation device, the first positioning time is divided into warm start first positioning time and cold start first positioning time according to the starting test state of the tested satellite navigation terminal, wherein the tested satellite navigation terminal can stably output a positioning result and receives complete almanac information and then is powered off and restarted to be warm started, and the almanac information in the tested satellite navigation terminal is invalid or is powered on and tested to be cold started after being cleared.
In the embodiment, the test result output by the measured satellite navigation terminal is compared with the known information simulated by the satellite navigation detection signal simulation equipment, so that the relevant parameter indexes of the measured satellite navigation terminal, such as positioning precision, speed measurement precision and first positioning time, including warm start first positioning time, cold start first positioning time and the like, can be obtained, and scientific and accurate data support is provided for evaluating the navigation performance of the measured satellite navigation terminal.
As shown in fig. 3, after the installation of the whole device is completed, the process of the device for rapidly detecting the performance of the satellite navigation terminal installed on the carrier platform includes the following steps:
s1, receiving real satellite signals in real time by the opposite real-time receiving terminal, and resolving and analyzing to obtain corresponding time information and ephemeris files;
s2, generating simulation control parameters by the control equipment according to a preset test scene, the time information and the ephemeris file, wherein the simulation control parameters comprise satellite numbers, power, time delay and Doppler frequency shift;
s3, the satellite navigation detection signal simulation equipment generates corresponding detection signals according to the time information, the ephemeris file and the simulation control parameters, wherein the detection signals are navigation simulation signals received by a carrier platform in a real test scene in a static state or a motion state, the motion state comprises environments such as streets erected in high buildings, viaducts and the like, the detection signals are synchronous with real satellite navigation signals, are aligned with the real satellite navigation signals in two dimensions of pseudo code delay and carrier frequency, and have power 10dB higher than that of the real satellite navigation signals;
s4, the transmitting antenna broadcasts the detection signal generated by the satellite navigation detection signal simulation equipment to all the tested satellite navigation terminals which are arranged on the carrier platform and are placed in the test field in an omnidirectional way;
s5, the detected satellite navigation terminal on each carrier platform receives the detection signal, outputs the corresponding test result, including the positioning information, the navigation message, the speed measurement result and the visible satellite state information, and reports to the integrated equipment through the communication interactive access equipment;
and S6, comparing the test result output by the tested satellite navigation terminal with the simulation control parameter by the control equipment, and completing the satellite navigation performance detection of the tested satellite navigation terminal on the carrier platform in batches, wherein the satellite navigation performance detection comprises positioning precision, speed measurement precision, first positioning time and the like.
The above description is only for the purpose of illustrating the preferred embodiments of the present application and is not to be construed as limiting the present application, and any modifications, equivalents, improvements, etc. made within the spirit and principle of the present application should be included in the scope of the present application.
Claims (10)
1. A device for rapidly detecting the performance of a satellite navigation terminal installed on a carrier platform is characterized by comprising:
the opposite real-time receiving terminal is used for receiving real satellite signals in real time and resolving and analyzing the real satellite signals to obtain corresponding time information and ephemeris files;
the control device is used for generating simulation control parameters according to a preset test scene, the time information and the ephemeris file, comparing a test result output by the tested satellite navigation terminal with the simulation control parameters, and completing satellite navigation performance detection of the tested satellite navigation terminal on the carrier platform in batches, wherein the preset test scene requirement comprises a navigation signal state received in a typical scene where a moving carrier is located, the navigation signal state comprises a visible satellite model number and a navigation signal channel model parameter, the simulation control parameters comprise a satellite number, power, time delay and Doppler frequency shift, the test result comprises positioning information, navigation messages, speed measurement information and visible satellite state information, and the typical scene is a scene comprising streets and viaducts erected in a tall building;
the satellite navigation detection signal simulation equipment is used for generating corresponding detection signals according to the time information, the ephemeris file and the simulation control parameters, wherein the detection signals are navigation simulation signals received by a carrier platform in a real test scene in a static state or a motion state, the detection signals are synchronous with real satellite navigation signals, are aligned with the real satellite navigation signals in two dimensions of pseudo code delay and carrier frequency, and have power at least 6dB higher than that of the real satellite navigation signals;
and the transmitting antenna is arranged in the test field, is in signal connection with the satellite navigation detection signal simulation equipment, and is used for broadcasting the detection signal generated by the satellite navigation detection signal simulation equipment to all tested satellite navigation terminals which are arranged on the carrier platform and are kept in the test field.
2. The apparatus of claim 1,
the control equipment is also used for controlling the tested satellite navigation terminals installed on each carrier platform to start up and operate after the detection signals are broadcast, receiving the detection signals and outputting corresponding test results.
3. The apparatus of claim 1, further comprising:
and the communication interaction access equipment is respectively in communication connection with the tested satellite navigation terminal installed on the carrier platform and the control equipment, and is used for collecting and transmitting the test result output by the tested satellite navigation terminal installed on the carrier platform to the control equipment.
4. The device of claim 3, wherein the communication interaction access device comprises a serial communication interface and a wireless communication interface, the serial communication interface comprises a gigabit network port, an RS232 serial port and an RS485 serial port, and the wireless communication interface comprises a Bluetooth, a ZigBee, a WiFi, a 3G, a 4G and a 5G wireless communication interface.
5. The apparatus according to claim 1, wherein the transmitting antenna, when disposed at a test site, specifically comprises:
when the radius R2 of the test site is less than or equal to (c ≦ CA-H) /tan (5 °)), N =1 transmit antenna is laid out, wherein,Ain order to be able to set the height of the transmitting antenna,Hheight of the carrier platform, ((A-H) Tan (5 °)) is the maximum radius covered by a single transmit antenna;
radius R2 when testing site>((A-H) /tan (5 °)), the test field is divided into M areas, and the number of transmitting antennas is arranged N = M, where M is at least R2/((M)A-H) And/tan (5 °)) rounded.
6. The apparatus of claim 1,
when the opposite-sky real-time receiving terminal receives real satellite signals in real time, the corresponding real satellite signals are selectively received through spatial filtering according to the known detection signal broadcasting direction;
alternatively, the first and second electrodes may be,
when the sky real-time receiving terminal receives real satellite signals in real time, the sky real-time receiving terminal is arranged outside the maximum coverage range of detection signals sent by the transmitting antenna;
alternatively, the first and second electrodes may be,
and when the opposite-to-sky real-time receiving terminal receives real satellite signals in real time, a signal isolation device is arranged between the opposite-to-sky real-time receiving terminal and the transmitting antenna.
7. The apparatus according to claim 1, wherein when the satellite navigation detection signal simulation device generates the corresponding detection signal according to the time information, the ephemeris file, and the simulation control parameter, the satellite navigation detection signal simulation device completes synchronization to the day according to the received time information, and generates the detection signal according to the ephemeris file and the simulation control parameter.
8. The apparatus according to claim 1, wherein when the control device generates the simulation control parameters according to a preset test scenario, the time information, and the ephemeris file, the control device completes synchronization with the day according to the received time information, and generates the simulation control parameters according to the preset test scenario and the received ephemeris file, and sends the simulation control parameters to the satellite navigation detection signal simulation device.
9. The apparatus of claim 1,
the carrier platform comprises a ground fixed carrier platform, a water surface or underwater fixed carrier platform, a ground movable carrier platform, an aerospace movable carrier platform and a water surface or underwater movable carrier platform.
10. The apparatus according to claim 1, wherein the control device compares the test result output by the measured satellite navigation terminal with the simulation control parameter, and completes the satellite navigation performance detection of the measured satellite navigation terminals of the carrier platform in batch, specifically comprising:
the control equipment makes a difference between the positioning information output by the measured satellite navigation terminal and the known position information simulated by the satellite navigation detection signal simulation equipment to obtain the positioning precision of the measured satellite navigation terminal;
the control equipment makes a difference between the speed measurement information output by the satellite navigation terminal to be measured and the known speed measurement information simulated by the satellite navigation detection signal simulation equipment to obtain the speed measurement precision of the satellite navigation terminal to be measured;
the control device obtains first positioning time according to the time when the positioning precision output by the tested satellite navigation terminal first reaches the positioning precision index requirement and the time of the simulation starting time of the satellite navigation detection signal simulation device, the first positioning time is divided into warm start first positioning time and cold start first positioning time according to the starting test state of the tested satellite navigation terminal, wherein the tested satellite navigation terminal can stably output a positioning result and receives complete almanac information, then the power-off restart test is warm start, and the power-on test is cold start after the almanac information in the tested satellite navigation terminal is invalid or cleared.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210463975.2A CN114578393B (en) | 2022-04-29 | 2022-04-29 | Device for rapidly detecting performance of satellite navigation terminal mounted on carrier platform |
| PCT/CN2022/123960 WO2023206973A1 (en) | 2022-04-29 | 2022-10-09 | Apparatus for rapidly testing performance of satellite navigation terminals installed on carrier platforms |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202210463975.2A CN114578393B (en) | 2022-04-29 | 2022-04-29 | Device for rapidly detecting performance of satellite navigation terminal mounted on carrier platform |
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| CN114578393A CN114578393A (en) | 2022-06-03 |
| CN114578393B true CN114578393B (en) | 2022-08-05 |
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| CN202210463975.2A Active CN114578393B (en) | 2022-04-29 | 2022-04-29 | Device for rapidly detecting performance of satellite navigation terminal mounted on carrier platform |
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| CN114578393B (en) * | 2022-04-29 | 2022-08-05 | 湖南卫导信息科技有限公司 | Device for rapidly detecting performance of satellite navigation terminal mounted on carrier platform |
| CN115022199B (en) * | 2022-06-21 | 2023-11-21 | 中国电信股份有限公司 | Short message service test method, system, electronic equipment and readable storage medium |
| CN115144876B (en) * | 2022-09-05 | 2022-12-23 | 湖南矩阵电子科技有限公司 | Low-earth-orbit satellite navigation enhancement terminal test evaluation method and system |
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| US6825801B1 (en) * | 2003-12-11 | 2004-11-30 | The United States Of America As Represented By The Secretary Of The Navy | Outer loop test generator for global positioning system |
| CN101963668A (en) * | 2010-08-19 | 2011-02-02 | 北京华力创通科技股份有限公司 | Method for realizing real-time closed-loop synchronization control by simulating satellite navigation signal |
| US9116232B2 (en) * | 2012-04-13 | 2015-08-25 | Apple Inc. | Methods and apparatus for testing satellite navigation system receiver performance |
| CN102981168A (en) * | 2012-11-19 | 2013-03-20 | 中国人民解放军国防科学技术大学 | Real-time assessment method for test precision of satellite navigation user device test system |
| IN2013CH03050A (en) * | 2013-07-08 | 2015-09-04 | Accord Software & Systems Pvt Ltd | |
| CN104215978B (en) * | 2014-09-24 | 2017-02-15 | 重庆长安汽车股份有限公司 | Method for testing signal receiving performance of vehicle-mounted Beidou compatible GPS navigation antenna |
| JP6593879B2 (en) * | 2016-03-24 | 2019-10-23 | 日本電気株式会社 | Satellite positioning system, positioning terminal, positioning method, and program |
| CN106019323A (en) * | 2016-07-22 | 2016-10-12 | 中国人民解放军63908部队 | Satellite navigation receiver simulation testing system |
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| CN108873021B (en) * | 2017-05-08 | 2020-12-22 | 海宁爱思迪阿微电子技术有限公司 | Simulation method/system, simulation equipment and simulation device for navigation satellite ephemeris |
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| CN109596145B (en) * | 2018-12-19 | 2021-03-16 | 安徽江淮汽车集团股份有限公司 | Dynamic test method and system for vehicle navigation |
| CN111665527A (en) * | 2019-03-05 | 2020-09-15 | 中国人民解放军空军研究院通信与导航研究所 | Satellite navigation terminal anti-interference test system and method for starry darkroom |
| CN212391544U (en) * | 2019-12-12 | 2021-01-22 | 中国汽车工程研究院股份有限公司 | Performance test system for intelligent internet vehicle |
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| CN114578393B (en) * | 2022-04-29 | 2022-08-05 | 湖南卫导信息科技有限公司 | Device for rapidly detecting performance of satellite navigation terminal mounted on carrier platform |
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