CN103617332B - A kind of emulation platform measuring satellite navigation algorithm performance and method - Google Patents
A kind of emulation platform measuring satellite navigation algorithm performance and method Download PDFInfo
- Publication number
- CN103617332B CN103617332B CN201310677093.7A CN201310677093A CN103617332B CN 103617332 B CN103617332 B CN 103617332B CN 201310677093 A CN201310677093 A CN 201310677093A CN 103617332 B CN103617332 B CN 103617332B
- Authority
- CN
- China
- Prior art keywords
- module
- satellite
- data
- information
- navigation algorithm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention provides a kind of emulation platform measuring satellite navigation algorithm performance and method, wherein, emulation platform includes: data memory module, for real-time storage from the channel sample information of receiver and textual information, the data of storage navigator fix speed measuring module output；The data read, for reading channel sample information and the textual information of data memory module, are sent to data preprocessing module and navigator fix speed measuring module by file read module；Data preprocessing module, for obtaining satellite launch time and satellite ephemeris according to channel sample information and textual information, sends satellite launch time and satellite ephemeris to navigator fix speed measuring module；Navigator fix speed measuring module, obtains positioning-speed-measuring information for utilizing different navigation algorithm to process the data from file read module and data preprocessing module；And this positioning-speed-measuring information is exported to data memory module.Present invention achieves under same test environment, test the performance of multiple satellite navigation algorithm.
Description
Technical field
The present invention relates to algorithm performance emulation field, relate to a kind of satellite navigation algorithm performance measured with it
Emulation platform and method.
Background technology
Satellite navigation receiver product is for the navigation of motion carrier, and it can provide the position of carrier in real time
And speed.For constantly improving the real-time positioning speed measuring function of satellite navigation receiver, those skilled in the art
Have developed multiple navigation algorithm.The performance of navigation algorithm developed for test, existing way be by
Navigation algorithm is carried on satellite navigation receiver product, the positioning-speed-measuring output data of test product.This
Plant way there is problems in that
Satellite navigation receiver product is when burning navigation algorithm, due to existing by satellite navigation receiver
System, the restriction of hardware, it may be necessary to redesign satellite navigation receiver, implement difficulty big, cost
High；
It addition, to the performance testing multiple navigation algorithm, need to ensure that each navigation algorithm uses identical
Original observed quantity data and textual information, i.e. test environment identical, but in actual scene, owing to carrying
Body, the continuous motion of satellite, this point it is difficult to ensure that, the survey of the most existing satellite navigation algorithm performance
Method for testing accuracy is the highest.
Summary of the invention
The invention provides a kind of emulation platform measuring satellite navigation algorithm performance and method, to solve such as
What realizes under same test environment, tests the technical problem of multiple satellite navigation algorithm performance.
For solving above-mentioned technical problem, the invention provides a kind of emulation measuring satellite navigation algorithm performance
Platform, described emulation platform includes: data memory module, file read module, data preprocessing module,
Navigator fix speed measuring module, wherein,
Described data memory module, believes from channel sample information and the text of receiver for real-time storage
Breath；And the data of storage navigator fix speed measuring module output；
Described file read module, for reading the channel sample information in data memory module and text letter
Breath, and the data read are sent to data preprocessing module and navigator fix speed measuring module；
Described data preprocessing module, for obtaining satellite launch according to channel sample information and textual information
Time and satellite ephemeris, and satellite launch time and satellite ephemeris are sent to navigator fix speed measuring module；
Described navigator fix speed measuring module, be used for utilizing different navigation algorithm to from file read module and
The data of data preprocessing module process, and positioned and test the speed information；And by this location and survey
Speed information exports to data memory module.
Further,
Described channel sample information includes: channel number, channel status, satellite number, satellite power, prime frame
With more than bottom the satellite launch time, Doppler frequency shift, carrier phase and position satellites below launch
The navigation signal time.
Further,
Described data preprocessing module, is additionally operable to manage local zone time and safeguard the continuous fortune of local zone time
OK.
Further, described navigator fix speed measuring module, it is used for utilizing navigation algorithm to read from file
The data of module and data preprocessing module process, including:
When running navigation algorithm, breakpoint is set；
Navigation algorithm is carried out partition running, it is judged that the data processed result of every section is the most correct, if correctly,
Carry out a hypomere computing again.
Further, described emulation platform also includes subscriber interface module,
Described subscriber interface module, for the running parameter of user setup emulation platform and defeated to user
Go out the location of data memory module storage and the information that tests the speed.
For solving above-mentioned technical problem, present invention also offers a kind of side measuring satellite navigation algorithm performance
Method, described method includes:
Real-time storage is from the channel sample information of receiver and textual information；
Satellite launch time and satellite ephemeris is obtained according to channel sample information and textual information；
Utilize different navigation algorithm to channel sample information, textual information, satellite launch time and Satellite
Going through and process, positioned and tested the speed information.
Further,
Described channel sample information includes: channel number, channel status, satellite number, satellite power, prime frame
Launch with satellite launch time more than bottom, Doppler frequency shift, carrier phase and position satellites below and lead
Boat signal time.
Further, described method also includes:
Manage local zone time and safeguard the continuous operation of local zone time.
Further, described utilize navigation algorithm to from file read module and data preprocessing module
Data process, including:
When running navigation algorithm, breakpoint is set；
Navigation algorithm is carried out partition running, it is judged that the data processed result of every section is the most correct, if correctly,
Carry out a hypomere computing again.
Further, described method also includes:
Described location and the information that tests the speed is exported to user.
Above-mentioned emulation platform building, outside navigation neceiver, is changed navigation algorithm and is no longer connect by satellite navigation
The restriction of receipts machine hardware；Additionally, above-mentioned emulation platform stores channel sample information and textual information, energy
Enough realize different navigation algorithms and use identical channel sample information and textual information so that test obtains
The performance difference of different navigation algorithm more accurate.
Accompanying drawing explanation
Fig. 1 is the comprising modules figure of the emulation platform measuring satellite navigation algorithm performance of the present embodiment；
Fig. 2 is the method flow diagram measuring satellite navigation algorithm performance of the present embodiment.
Detailed description of the invention
For making the object, technical solutions and advantages of the present invention clearer, below in conjunction with accompanying drawing
Embodiments of the invention are described in detail.It should be noted that in the case of not conflicting, this Shen
Embodiment in please and the feature in embodiment can mutual combination in any.
Fig. 1 is the comprising modules figure of the emulation platform measuring satellite navigation algorithm performance of the present embodiment.
This emulation platform includes: data memory module, file read module, data preprocessing module, lead
Boat positioning-speed-measuring module.
Described data memory module, believes from channel sample information and the text of receiver for real-time storage
Breath, and the data of storage navigator fix speed measuring module output；Described channel sample information includes: channel
Number, channel status, satellite number, satellite power, prime frame be with satellite launch time more than bottom, how general
Strangle frequency displacement, carrier phase and position satellites below and launch the navigation signal time；
Data form in data memory module storage can be txt file or dat data file；
Described file read module, for reading the channel sample information in data memory module and text letter
Breath, and the data read are sent to data preprocessing module and navigator fix speed measuring module；The letter read
Road sample information and textual information can be the full details of storage, it is also possible to be the partial information of storage；
Described data preprocessing module, for obtaining satellite launch according to channel sample information and textual information
Time and satellite ephemeris, and satellite launch time and satellite ephemeris are sent to navigator fix speed measuring module；
Described data preprocessing module, can be according to existing place after receiving channel sample information and textual information
Reason method obtains satellite launch time and satellite ephemeris, is not repeated herein；
This data preprocessing module, it may also be used for manage local zone time and safeguard the continuous fortune of local zone time
OK, in order to navigator fix speed measuring module positions and tests the speed；
Described navigator fix speed measuring module, reads from file for being utilized respectively different navigation algorithms
The data of module and data preprocessing module process, and positioned and test the speed information；And this is fixed
Position and the information that tests the speed export to data memory module.
By comparing the location under different navigation algorithm and the information of testing the speed judges the poor performance of navigation algorithm
Different.
The problem existed for investigation receiver in kind, above-mentioned navigator fix speed measuring module also supports that breakpoint is imitated
True: when running navigation algorithm, breakpoint is set；Navigation algorithm is carried out partition running, it is judged that the number of every section
The most correct according to result, if correctly, then carry out a hypomere computing；
Above-mentioned navigator fix speed measuring module is except exportable location and tests the speed in addition to information, the most exportable following letter
Breath:
Temporal information: BD2 time or UTC time；
Coordinate system informations: WGS84 or CGS2000 coordinate system；
Dilution of precision (DOP): two-dimensional signal dilution of precision HDOP, vertical height error
Amplification factor VDOP and time error amplification factor TDOP；
Channel sample information: Doppler frequency shift, carrier phase etc..
In order to improve the user friendly of above-mentioned emulation platform, above-mentioned emulation platform also can arrange user circle
Face mould block, for the running parameter of user setup emulation platform, and exports data memory module to user
The location of storage and the information that tests the speed, wherein, can be according to the form of user's customization to the data of user's output
Export.
The emulation platform building of above-described embodiment, outside navigation neceiver, is changed navigation algorithm and is no longer defended
The restriction of star navigation neceiver hardware；Additionally, above-mentioned emulation platform stores channel sample information and text
Information, it is possible to realize different navigation algorithms and use identical channel sample information and textual information so that
The performance difference of the different navigation algorithm that test obtains is more accurate.
Fig. 2 is the method flow diagram measuring satellite navigation algorithm performance of the present embodiment.
S201 from receiver real-time reception and stores channel sample information by digital serial port or network interface
And textual information；Channel sample information includes: channel number, channel status, satellite number, satellite power,
Prime frame is sent out with satellite launch time more than bottom, Doppler frequency shift, carrier phase and position satellites below
Penetrate the navigation signal time；
S202 obtains satellite launch time and satellite ephemeris according to channel sample information and textual information;
S203 utilizes different navigation algorithm to channel sample information, textual information, satellite launch time and to defend
Star is gone through and is processed, and positioned and test the speed information.
By comparing the location under different navigation algorithm and the information of testing the speed judges the poor performance of navigation algorithm
Different.
Carry out being smoothed out of positioning-speed-measuring for utility navigation algorithm, also can enter utilizing navigation algorithm
Before row positioning-speed-measuring, local zone time is managed, safeguards the continuous operation of local zone time；
The problem existed for investigation receiver in kind, also can arrange breakpoint when running navigation algorithm；To leading
Boat algorithm carries out partition running, it is judged that the data processed result of every section is the most correct, if correctly, then carries out
One hypomere computing.
In order to improve the user friendly of above-mentioned emulation platform, the location that also step S203 can be obtained and
The information that tests the speed exports to user, wherein, can enter according to the form of user's customization to the data of user's output
Row output.
One of ordinary skill in the art will appreciate that all or part of step in said method can pass through journey
Sequence instructs related hardware and completes, and described program can be stored in computer-readable recording medium, as only
Read memorizer, disk or CD etc..Alternatively, all or part of step of above-described embodiment can also make
Realizing with one or more integrated circuits, correspondingly, each module/unit in above-described embodiment can be adopted
Realize by the form of hardware, it would however also be possible to employ the form of software function module realizes.The present invention is not restricted to
The combination of the hardware and software of any particular form.
It should be noted that the present invention also can have other various embodiments, without departing substantially from the present invention spirit and
In the case of its essence, those of ordinary skill in the art can make various corresponding change according to the present invention
And deformation, but these change accordingly and deform the protection model that all should belong to appended claims of the invention
Enclose.
Claims (8)
1. the emulation platform measuring satellite navigation algorithm performance, it is characterised in that described emulation is put down
Platform includes: data memory module, file read module, data preprocessing module, navigator fix test the speed mould
Block, wherein,
Described data memory module, believes from channel sample information and the text of receiver for real-time storage
Breath；And the data of storage navigator fix speed measuring module output；
Described file read module, for reading the channel sample information in data memory module and text letter
Breath, and the data read are sent to data preprocessing module and navigator fix speed measuring module；
Described data preprocessing module, for obtaining satellite launch according to channel sample information and textual information
Time and satellite ephemeris, and satellite launch time and satellite ephemeris are sent to navigator fix speed measuring module；
Described navigator fix speed measuring module, be used for utilizing different navigation algorithm to from file read module and
The data of data preprocessing module process, and positioned and test the speed information；And by this location and survey
Speed information exports to data memory module；Wherein, described utilize different navigation algorithm to from file read
The data of module and data preprocessing module carry out process and include: arrange breakpoint when running navigation algorithm,
Navigation algorithm is carried out partition running, it is judged that the data processed result of every section is the most correct, if correctly, then
Carry out a hypomere computing.
2. emulation platform as claimed in claim 1, it is characterised in that
Described channel sample information includes: channel number, channel status, satellite number, satellite power, prime frame
Launch with satellite launch time more than bottom, Doppler frequency shift, carrier phase and position satellites below and lead
Boat signal time.
3. emulation platform as claimed in claim 1, it is characterised in that
Described data preprocessing module, is additionally operable to manage local zone time and safeguard the continuous fortune of local zone time
OK.
4. the emulation platform as according to any one of claims 1 to 3, it is characterised in that described emulation
Platform also includes subscriber interface module,
Described subscriber interface module, for the running parameter of user setup emulation platform and defeated to user
Go out the location of data memory module storage and the information that tests the speed.
5. the method measuring satellite navigation algorithm performance, it is characterised in that described method includes:
Real-time storage is from the channel sample information of receiver and textual information；
Satellite launch time and satellite ephemeris is obtained according to channel sample information and textual information；
Utilize different navigation algorithm to channel sample information, textual information, satellite launch time and Satellite
Going through and process, positioned and tested the speed information；Breakpoint is set when running navigation algorithm, navigation is calculated
Method carries out partition running, it is judged that the data processed result of every section is the most correct, if correctly, then carries out
Section computing.
6. method as claimed in claim 5, it is characterised in that
Described channel sample information includes: channel number, channel status, satellite number, satellite power, prime frame
Launch with satellite launch time more than bottom, Doppler frequency shift, carrier phase and position satellites below and lead
Boat signal time.
7. method as claimed in claim 5, it is characterised in that described method also includes:
Manage local zone time and safeguard the continuous operation of local zone time.
8. the method as according to any one of claim 5～7, it is characterised in that described method is also wrapped
Include:
Described location and the information that tests the speed is exported to user.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310677093.7A CN103617332B (en) | 2013-12-11 | 2013-12-11 | A kind of emulation platform measuring satellite navigation algorithm performance and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310677093.7A CN103617332B (en) | 2013-12-11 | 2013-12-11 | A kind of emulation platform measuring satellite navigation algorithm performance and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103617332A CN103617332A (en) | 2014-03-05 |
| CN103617332B true CN103617332B (en) | 2016-10-05 |
Family
ID=50168035
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310677093.7A Active CN103617332B (en) | 2013-12-11 | 2013-12-11 | A kind of emulation platform measuring satellite navigation algorithm performance and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103617332B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109388591B (en) * | 2017-08-07 | 2021-07-16 | 北京北斗星通导航技术股份有限公司 | MATLAB application system and STK application system interface adapter and adaptation method |
| CN111209219B (en) * | 2020-04-21 | 2020-09-01 | 中国人民解放军国防科技大学 | Satellite navigation simulation model consistency verification method and system |
| CN112835777B (en) * | 2021-02-23 | 2023-07-14 | 得一微电子股份有限公司 | Method and system for improving flash simulation accuracy |
| CN114416815B (en) * | 2021-12-15 | 2022-12-27 | 中国科学院国家授时中心 | Satellite data distributed processing system and method based on big data storage platform |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007157106A (en) * | 2005-12-01 | 2007-06-21 | Korea Electronics Telecommun | Satellite simulation system using component-based satellite modeling |
| CN102122986B (en) * | 2010-06-09 | 2015-06-17 | 中国人民解放军第二炮兵工程学院 | General simulated satellite broadcast signal synthesizer based on satellite star-time reconstruction |
| CN103278822B (en) * | 2013-05-23 | 2015-09-30 | 桂林电子科技大学 | Based on satellite navigation and location system performance evaluation system and the method for HLA platform |
-
2013
- 2013-12-11 CN CN201310677093.7A patent/CN103617332B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN103617332A (en) | 2014-03-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113424232B (en) | Three-dimensional point cloud map construction method, system and equipment | |
| US9778360B2 (en) | Method and system for generating a geoid via three computation spaces and airborne-acquired gravity data | |
| CN103617332B (en) | A kind of emulation platform measuring satellite navigation algorithm performance and method | |
| CN108562279B (en) | Unmanned aerial vehicle surveying and mapping method | |
| CN104297764A (en) | Method for improving PPS accuracy of navigation system time and receiver | |
| CN106773783B (en) | Semi-physical simulation test system and method for continuously operating reference station system | |
| CN107431995A (en) | Realize the checking to the estimated location of mobile device | |
| CN108280995A (en) | Road condition data processing method, device and the computer equipment of car networking | |
| CN104181555A (en) | Satellite positioning quality determination method and receiver | |
| CN114624741A (en) | Positioning accuracy evaluation method and device | |
| CN109975849A (en) | A kind of determination method, server and the computer storage medium of basic lineal vector | |
| EP3789797B1 (en) | Method and apparatus for evaluating data, device, and computer-readable storage medium | |
| Fernández et al. | ATENEA: Advanced techniques for deeply integrated GNSS/INS/LiDAR navigation | |
| CN111220147A (en) | Terminal positioning correction method and device | |
| CN106535132B (en) | Method and apparatus for positioning terminal | |
| CN108897026A (en) | Satellite navigation signals are by the cooperation vehicle positioning method and device under circumstance of occlusion | |
| CN108427126A (en) | The test method and device of baseband chip property at high and low temperature | |
| KR102205681B1 (en) | RTK group positioning using an ad hoc reference rover | |
| CN112764102A (en) | Seismic data acquisition method and device | |
| CN106093979A (en) | A kind of method and apparatus detecting navigation neceiver positioning performance | |
| CN108801249A (en) | A kind of inertial navigation system | |
| CN115236715A (en) | Fusion positioning method, fusion positioning device, fusion positioning medium and electronic equipment | |
| JP2013228380A (en) | Method and system for navigation | |
| US10670730B2 (en) | Measuring system and measuring method for model based generation of global navigation satellite system signals | |
| CN112731268A (en) | Processing method of difference data and positioning and tracking system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |