CN106909483B - A kind of test method of navigation module - Google Patents
A kind of test method of navigation module Download PDFInfo
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- CN106909483B CN106909483B CN201511033935.0A CN201511033935A CN106909483B CN 106909483 B CN106909483 B CN 106909483B CN 201511033935 A CN201511033935 A CN 201511033935A CN 106909483 B CN106909483 B CN 106909483B
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F11/00—Error detection; Error correction; Monitoring
- G06F11/22—Detection or location of defective computer hardware by testing during standby operation or during idle time, e.g. start-up testing
- G06F11/26—Functional testing
Abstract
The invention discloses a kind of test method of navigation module and systems, method includes: that hardware test platform controls at least one module to be measured and enters downloading firmware mode, it forwards on firmware to specified module to be measured, and controls the module to be measured and enter operating mode, complete data analysis.
Description
Technical field
The present invention relates to field of navigation technology more particularly to a kind of test methods of navigation module.
Background technique
With higher and higher to the quality requirement of software in industry, necessarily cause the attention to test job, and soft
It is often continuously adjusted due to test in terms of part development process.
This has obtained swift and violent development in several years to automatization testing technique, this stems primarily from the contracting of the development cycle of product
It is short；This requires in product development cycle, completing to test faster, output test result so as to reach system steady for multiple regression
It is fixed.This requires testers to repetitive work in test process, realizes automatic test by programming.In this big back
Under scape, many test script language and testing tool are developed, to drive test towards more intelligent and more
Efficient direction is developed.
Existing test method, which has the following deficiencies:, needs that (a kind of business arithmatic software, is opened for algorithm by Matlab
The advanced techniques computational language and interactive environment that hair, data visualization, data analysis and numerical value calculate) data are analyzed,
Always data copy is copied, analysis data are highly inconvenient, but also data point need to could be completed by other tools
Analysis, analysis data volume is limited, is unable to parallel parsing data；When comparing the difference between navigation module, it can not receive simultaneously more
The data of a navigation module；When doing the test of navigation module, also need frequently to change satellite signal simulator, galvanometer, incubator
The configuration of equal peripheral equipments；More manpowers have been put into repetitive operation.
Summary of the invention
To solve existing technical problem, an embodiment of the present invention is intended to provide a kind of test methods of navigation module.
For achieving the above object, the embodiment of the present invention is realized in the following ways:
The embodiment of the invention provides a kind of test methods of navigation module, which comprises
Hardware test platform controls at least one module to be measured and enters downloading firmware mode, and forwarding firmware is to be measured to what is specified
It in module, and controls the module to be measured and enters operating mode, complete data analysis.
It is described after completing data analysis in above scheme, the document and binary documents of .csv format are generated, and to scheme
Form output analysis data result.
In above scheme, FreeRTOs multi-task scheduling of the hardware test platform based on ARM7, using multichannel low pressure
The multiple modular concurrent work to be measured of difference linear constant voltage regulator LDO control.
In above scheme, realized by the way of Python script multithreading the multiple modules to be measured of parallel acquisition data and
Data analysis.
A kind of test method of navigation module provided by the embodiment of the present invention, for solving asking for navigation module test
Topic, is in fact the test item for handling some reperformance tests.In the embodiment of the present invention, hardware testing of the lower layer based on ARM7 is flat
Platform makes module to be measured enter downloading firmware mode automatically, forwards on firmware to specified module to be measured, and module is made to enter work
Mode.The hardware platform provides 8 modules and tests simultaneously；Upper layer is realized based on Python scripting language and hardware test platform
Information exchange, module output navigation message analysis, processing, draw, generate word form report；And it is held with Jenkins
Continuous integrating and developing platform is shown as front end.The embodiment of the present invention can greatly improve the testing efficiency of navigation module.
Detailed description of the invention
Fig. 1 is the system software block diagram of the embodiment of the present invention；
Fig. 2 is the system architecture schematic diagram of the embodiment of the present invention；
Fig. 3 is the navigation positioning data error analysis distribution map of the embodiment of the present invention.
Specific embodiment
The technical solution of the present invention is further elaborated in the following with reference to the drawings and specific embodiments.
Technical solution used by the embodiment of the present invention is: using ARM7 as the hardware platform of core, in conjunction with sustainable integrated
The advantage of developing instrument Jenkins and Python scripting language, the method for the navigation module automatic test realized after integrating.
The method of the embodiment of the present invention specifically includes that hardware platform is based on FreeRTOS embedded technology, using multichannel low pressure difference linearity
The mode that voltage-stablizer LDO (Low Dropout regulator) controls multiple navigation module concurrent workings is realized；Data analysis layer
Realize that parallel acquisition navigation module data and the mode of analysis processing are realized by the way of Python script multithreading；Display layer
Using Jenkins as display window whether being successfully tested.Concrete scheme is as follows:
As shown in Figure 1, the embodiment of the present invention mainly includes Jenkins (Manage Scripts layer), script, driving, hardware platform
Four parts.
1) Jenkins layers: Jenkins mainly forgives two parts content as management level:
One is that Jenkins connection version management server obtains newly compiled good navigation chip firmware to Jenkins master
Equipment, under the specified working directory of the Jenkins secondary device that firmware is then transmitted to idle state；
The other is establishing a series of job of test items, the corresponding test of each job at Jenkins main equipment end
, the script of a corresponding test item, starting job will initiate to test；Jenkins can also make the job of each test item by
It is executed according to set sequence automated serial.
2) script layer: it is responsible for realizing that the test of each test subitem executes automatically, the function that script is mainly realized is as follows:
Control peripheral equipment: hardware platform, satellite signal simulator, high-low temperature chamber, Labsat (it is a kind of recording and broadcasting defend
The equipment of star signal), the equipment such as galvanometer；
Data acquisition: programming realize multi pass acquisition navigation module by serial ports catch come location data；
Data analysis: the data that acquisition comes are saved into the file of binary file and .csv format after analysis；
Map data: the data file read by analysis is drawn；
It generates word report: picture is inserted into word document and add explanatory note, generate title and catalogue；
It sends mail: sending project team personnel in a manner of mail for report.
3) layer is driven: for driving peripheral equipment:
Drive network port device, serial equipment and USB device.
4) hardware platform: for extending Devices to test, task is as follows:
The operating mode (downloading mode, operating mode) of conversion module；
Forward firmware to idle specified module.
Referring back to shown in Fig. 2, all test equipments have been connected in a local area network in the embodiment of the present invention, and are connected to
Company Intranet.The scale that can be easy to extension test platform by extending Jenkins secondary device.Jenkins main equipment meeting
It periodically goes version management server to grab newest navigation chip firmware, is forwarded to idle Jenkins secondary device starting test,
And will record the executive condition of test case, after the completion of test execution, the report of Self -adaptive is supplied to Jenkins master automatically
Equipment and announcement of being transmitted messages in a manner of mail is to project related personnel.
The navigation module of different manufacturers is compatible with when Python script data, to the NMEA of navigation module output
(National Marine Electronics Association) information has made compatible processing, and compatible global location
System (GPS, Global Positioning System), Beidou satellite navigation system (BEIDOU), GLONASS satellite navigation
System (GLOANASS), GPS+BEIDOU, GPS+GLONASS, BEIDOU+GLONASS, GPS+GLONASS+BEIDOU etc. are a variety of
Navigation mode.The process of analysis data is exactly that the data of each navigation module are carried out to classification to be converted to manageable data,
.csv file is written in every bar navigation text that navigation module is exported in rows, to arrange format deposit binary file.
In order to verify whether navigation positioning error data have convergence, i.e. whether data meet within a certain area just
Too probability density characteristics.Navigation module is tested, anchor point should be small at one when Static positioning accuracy is tested by long-time
Border circular areas in distribution, and most of point compares concentration, this just illustrate in navigation positioning error data fit density just too
Distribution character.Normal distribution is taller and thinner, and navigation module positioning accuracy is better.In order to obtain the error distribution of navigation positioning data, such as
Shown in Fig. 3, it is that radius draws arc by 2 decimeters of center of circle tolerance of arithmetic progression value r of true value point, counts to fall into adjacent arcs and determine
Number of sites.It then is that the longitudinal axis draws distribution map with points using 0.2 decimeter of tolerance since 0 of arithmetic progression as horizontal axis.Tolerance 2
Decimetre can make corresponding adjustment with the raising of navigation accuracy, for example the positioning accuracy of navigation module is increased to decimeter grade then,
Tolerance will drop to Centimeter Level.Here the principle of error analysis is illustrated as an example with fixed point location accuracy test, it is dynamic fixed
Position trueness error is extrapolated, and principle is consistent.
In order to highlight the otherness of intermodule, when reading the map data in binary file by same kind difference mould
Data between block have been plotted on same figure.It is realized by the win32 functional module programming of Python by the data of generation
Figure is added in word document, is subject to explanatory note.The transmission e-mail module for finally utilizing Jenkins, after easy configuration
The word report of generation is sent.
In conclusion the embodiment of the present invention is used for the test of navigation module performance indicator and functional test item.Lower layer is based on
The hardware platform of ARM7, which embeds FreeRTOS system, realizes the parallel operation of firmware forwarding mission and mandate interactive task, and energy
The data output of 8 tunnel modules is controlled simultaneously.Realize that automatic paralleling acquisition multichannel Devices to test passes through by Python programming in upper layer
Serial ports is transmitted to the NMEA data of host computer.Data automatically analyze data after acquiring, generate .csv format document and two into
Document processed, and the result of output analysis data in graph form.The word document of image, text and data is ultimately produced to tie to test
The further analysis of fruit.During the distribution of analyzing and positioning data error, data discovery anchor point deviates practical by analysis
The error of point meets the distribution of the error in density.In order to reflect the distribution situation of location data error on chart, such as Fig. 3 institute
Show, using true value point as origin, using origin as the center of circle, the arithmetic progression value r that tolerance is 2 decimeters is that radius draws arc, counts and falls into
Positioning points in adjacent arcs.To which the precision distribution map of navigation module location data can be drawn.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.Therefore, protection scope of the present invention should be based on the protection scope of the described claims.
Claims (5)
1. a kind of test method of navigation module, which is characterized in that the described method includes:
Hardware test platform controls at least one module to be measured and enters downloading firmware mode, forwarding firmware to specified module to be measured
On, and control the module to be measured and enter operating mode, complete data analysis；Wherein, the hardware test platform is based on ARM7
FreeRTOs multi-task scheduling, worked using the multiple modular concurrents to be measured of multichannel low pressure difference linear voltage regulator LDO control；It is described
Firmware is newly compiled chip firmware；The specified module to be measured is to be currently at the module to be measured of idle state；The number
It include that the result data of the module work to be measured is converted into format into object format data according to analysis；
Test report is generated according to the result of data analysis, and the test report is sent to user with lettergram mode；
It wherein, include the error analysis distribution map of the data analysis result in the test report.
2. the test method of navigation module according to claim 1, which is characterized in that it is described after completing data analysis, it is raw
At the document and binary documents of .csv format, and the result of output analysis data in graph form.
3. the test method of navigation module according to claim 1, which is characterized in that using the side of Python script multithreading
Formula realizes the data and data analysis of the multiple modules to be measured of parallel acquisition.
4. a kind of computer equipment, including memory and processor, the memory are stored with computer program, feature exists
In the step of processor realizes any one of claims 1 to 3 the method when executing the computer program.
5. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the computer program quilt
The step of the method described in any one of claims 1 to 3 is realized when processor executes.
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| CN110659198A (en) * | 2018-06-28 | 2020-01-07 | 亿度慧达教育科技（北京）有限公司 | Application program test case execution method and device and software test system |
| CN115220749A (en) * | 2021-09-06 | 2022-10-21 | 广州汽车集团股份有限公司 | Domain controller simulation test method and system |
| TWI772233B (en) * | 2021-11-29 | 2022-07-21 | 大陸商常州欣盛半導體技術股份有限公司 | Automatic integration method of cof test data |
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| CN102314359A (en) * | 2010-06-30 | 2012-01-11 | 索尼公司 | Terminal device update method, data write device and terminal device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102314359A (en) * | 2010-06-30 | 2012-01-11 | 索尼公司 | Terminal device update method, data write device and terminal device |
Non-Patent Citations (1)
| Title |
|---|
| 基于FreeRTOS的嵌入式云台控制系统设计;朱耀麟，樊佩;《电子技术应用2015年》;20150531;第41卷(第5期);第25-27页 |
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