CN109444919A - The method that appearance system output result correctness is surveyed in positioning is judged using high precision position information - Google Patents
The method that appearance system output result correctness is surveyed in positioning is judged using high precision position information Download PDFInfo
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- CN109444919A CN109444919A CN201811117452.2A CN201811117452A CN109444919A CN 109444919 A CN109444919 A CN 109444919A CN 201811117452 A CN201811117452 A CN 201811117452A CN 109444919 A CN109444919 A CN 109444919A
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- high precision
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- 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
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
Abstract
The present invention, which is disclosed, judges that the method that appearance system exports result correctness is surveyed in positioning using high precision position information.This method includes that this method comprises the following steps；The high precision position information of floor area is stored in advance；Obtain current location information, the location information for comparing current location information and prestoring, in the case that deviation between current location information and the high precision position information prestored is greater than threshold value, the calculating engine that appearance system is surveyed in resetting positioning regains current location information.Cost can be reduced using method of the invention and avoid judging by accident.
Description
Technical field
The present invention relates to technical field of satellite navigation, more particularly to judgement positioning surveys appearance system output result correctness
Method and apparatus further relate to Driving Test evaluation system and terminal, which can be applied to unmanned field.
Background technique
The current positioning using satellite navigation data is surveyed appearance system (such as GNSS system, GNSS/INS system) and is answered extensively
The fields such as Driving Test, unmanned to be used, are developed by the technology of many years, the availability that appearance system is surveyed in positioning gets a promotion, still,
Satellite-signal is subject to that barrier blocks, electromagnetic interference etc. influences, to increase unreliability factors, positioning is caused to survey appearance
There is deviation (RTK initializes integer ambiguity and calculates mistake) in the result of system output, and this deviation can sometimes exceed user
Tolerance range, if this positioning result devious, which is applied to Driving Test or unmanned equal fields, will lead in Driving Test
Appearance is judged by accident or unmanned the problems such as yawing.And in the prior art, improve the positioning knot that the output of appearance system is surveyed in positioning
The mode of fruit availability includes:
1, more satellite navigation and positionings are backed up and surveys appearance system, the positioning result of not homologous ray output is mutually checked；
2, multiple RTK calculating engines built in single set system, mutually check the result of the output of different engines；
Solution 1 increases system cost, is unfavorable for sizable application.Solution 2, which belongs to improve using RTK technology, determines
A kind of measure of position reliability, but the internal system for still falling within positioning survey appearance system checks, and identical algorithm is easy to appear identical
Mistake, cannot be effectively ensured positioning survey appearance result reliability.Above two scheme, which all suffers from, to be needed to a variety of output results
Carry out the problem of deviation identification judgement, in some instances it may even be possible to cause unnecessary erroneous judgement, positioning can be brought to survey appearance system availability instead
With the reduction of reliability, it still cannot effectively determine that positioning surveys whether the positioning result that appearance system exports meets asking for user demand
Topic.
Summary of the invention
Problems solved by the invention is to improve the method that appearance system output result availability is surveyed in positioning in the prior art to exist
It is at high cost and the problem of judge by accident.
To solve the above problems, the present invention provides a kind of method that appearance system output result correctness is surveyed in judgement positioning.It should
Method includes the following steps；The high precision position information of floor area is stored in advance.Obtain the current high precision position confidence of carrier
Breath.The high precision position information for comparing current high precision position information and prestoring, in current high precision position information and in advance
In the case that the deviation between high precision position information deposited is greater than threshold value, the calculating engine that appearance system is surveyed in resetting positioning obtains again
Obtain high precision position information currently.
The present invention also provides the devices that appearance system output result correctness is surveyed in a kind of judgement positioning.The device includes storage
Device, receiving module, processor and output module.The high precision position information of memory storage floor area.The reception
Module obtains the current high precision position information of carrier.The processor obtains the current high-precision from the receiving module
Location information, more current high precision position information and the high precision position information prestored, in current high precision position confidence
It ceases in the case that the deviation between the high precision position information that prestores is greater than threshold value, generates the resolving that appearance system is surveyed in resetting positioning
The reset signal of engine.The output module exports the reset signal.
Another aspect of the present invention provides a kind of Driving Test evaluation system.The evaluation system includes sentencing described in aforementioned any one
Conclude that the device of appearance system output result correctness is surveyed in position.
Another aspect of the present invention provides a kind of terminal.The terminal includes that appearance system is surveyed in judgement positioning described in aforementioned any one
The device of system output result correctness.
Compared with prior art, the present invention has at least the following advantages:
1, appearance system is surveyed without more positioning mutually to be checked with the positioning survey appearance result to not homologous ray, so, at
This is low compared with the existing technology.
2, more positioning are surveyed the output positioning of appearance system and are surveyed in appearance result mode, and correct result face how is selected in multiple results
Face challenge, it is understood that there may be following situations: A positioning survey appearance result is correct, and appearance result mistake is surveyed in B positioning；Appearance result and B are surveyed in A positioning
The equal mistake of appearance result is surveyed in positioning；Difficult judgment is checked regardless of which kind of above-mentioned situation of appearance will lead to, is selected when result is inconsistent
Whole resets are selected, availability is reduced, when A, which is positioned, surveys appearance result, B positioning survey appearance result mistake, lead to system positioning knot
Fruit still mistake.Current positioning result is compared by this technology with the given value of storage, and there is no the mistakes to positioning result
The problem of sentencing, availability can also being caused to decline to avoid unnecessary system reset, technology realize that difficulty is low but high reliablity.
3, high-precision cartographic information abundance matches during high-precision cartographic information becomes increasingly abundant with unmanned at present,
Therefore it other than the independent collection of material high-precision cartographic information of special block, can also be provided accurately using map manufacturer
Figure product has popular application power to further decrease the use threshold of this method.
4, the raising of reliability is to reducing Driving Test erroneous judgement, increase unpiloted safety and bring effective help.
5, the unmanned transport vehicle of automatic dock uses earth magnetism nail navigation, production, the installation, dimension of thousands of earth magnetism nails
It protects with high costs, construction and maintenance cost can be effectively reduced using the present invention.
Detailed description of the invention
Fig. 1 is the process that the first embodiment of the method for appearance system output result correctness is surveyed in present invention judgement positioning
Figure；
Fig. 2 is a kind of schematic diagram that height fitting obtains elevation information；
Fig. 3 is another schematic diagram that height fitting obtains elevation information；
Fig. 4 is current grid DEM schematic diagram；
Fig. 5 is the process of second of embodiment of method that appearance system output result correctness is surveyed in present invention judgement positioning
Figure；
Fig. 6 is the schematic diagram that method shown in Fig. 5 is used for that driving school's subject two to be taken an examination；
Fig. 7 is a kind of antenna mounting means that there is the positioning of double antenna to survey appearance system；
Fig. 8 is another antenna mounting means that there is the positioning of double antenna to survey appearance system；
Fig. 9 is the schematic diagram calculated from the plane coordinates and elevation information of antenna；
Figure 10 is the signal of the first embodiment for the device that appearance device output result correctness is surveyed in present invention judgement positioning
Figure；
Figure 11 is the signal of the second embodiment for the device that appearance device output result correctness is surveyed in present invention judgement positioning
Figure；
Figure 12 is the signal of the third embodiment for the device that appearance device output result correctness is surveyed in present invention judgement positioning
Figure.
Specific embodiment
By the technology contents that the present invention will be described in detail, construction feature, reached purpose and efficacy, below in conjunction with embodiment
And attached drawing is cooperated to be described in detail.
Referring to Fig. 1, the method that the present invention judges that appearance system output result correctness is surveyed in positioning includes the following steps:
S1, the high precision position information that floor area is stored in advance.
In this step, high precision position information can be the high-precision map including high precision position information, such
Location information may include longitude, dimension and elevation, also may include the plane coordinates that longitude and latitude are constituted, is also possible to it
He, as long as the current position of carrier can be characterized.Floor area can be the region of needing checking of driving school's examination, be also possible to nothing
People drives the region where the starting point of field vehicle, for example, region of the unmanned sweeper where before starting can be the field
Ground region is also possible to automatic dock etc..Under normal conditions, the output result that appearance system is surveyed in positioning is likely to occur the ground of mistake
Side can be the floor area.
Obtaining high precision position information can be in the following way: 1) passing through high-precision RTK receiver or total station pair
Floor area carries out plan-position (longitude and latitude) and elevation information acquires, to ensure that the reliability of collection result need to be to acquisition system
Measurement and calibration is carried out, and carries out multi collect in floor area, statistical disposition is carried out to result collected and is determined in turn
The position satisfactory cartographic information of precision.The processing is such as that the cartographic information for obtaining multi collect compares review,
The biggish measurement result of deviation is rejected, in short, the purpose of processing is to obtain more accurate cartographic information.2) in order to reduce map
The collecting work amount of information can also only choose the features of terrain point of floor area, only acquire the plane coordinates of these characteristic points
And then elevation information obtains Fitting height as the elevation information using height fitting algorithm process.Certainly, elevation is quasi-
Conjunction method can use the prior art, in order to make it easy to understand, illustrating the think of of height fitting in present patent application by taking 3 points as an example
Road.Three points can determine a plane, it is thus possible to fit the elevation of the plane.Referring to Fig. 2, A, B, C, D indicate field
4 characteristic points in ground region, wherein in a plane, the Fitting height being fitted to it is H1 to point ABC.Point ACD
In a plane, the Fitting height being fitted to it is H2.The storage of its coordinate can be according to right shown in following table
It should be related to and be stored.
In addition, the plane that point ABC is constituted may be inclined-plane, as shown in figure 3, point EF and ABC are in the same plane, it is such
In the case of, for example AEC or BFC can fit elevation and the plane is caused multiple elevations occur.
S2, current high precision position information is obtained
In this step, the mode for obtaining current location information can be identical with step 1, for example, and passing through GNSS
Receiver, GNSS/INS equipment obtain.The method for obtaining current location information such as can be using RTK method etc., no longer
It repeats.
Referring to Fig. 4, in this step, the high precision position information stored in step 1 includes the case where elevation information
Under, the elevation information of the storage is ground elevation.In the case where the current location information of acquisition includes elevation information, the height
Journey be antenna be mounted on carrier and the elevation that obtains, the current elevation information H that therefore, it is necessary to will obtainObtain elevationPositioning is subtracted to survey
Vertical height △ H of the phase center of the antenna of appearance system apart from ground and obtain carrier current elevation information (namely with
The elevation information stored in step S1 is consistent, is all ground elevation).
The current high precision position information of S3, comparison and the high precision position information prestored are to obtain current high precision position
Deviation between confidence breath and the high precision position information prestored, in the case where the deviation is greater than threshold value, appearance is surveyed in resetting positioning
The calculating engine of system is little in the deviation to regain current location information and compare the current location information of acquisition
In the case where threshold value, determine that the current location information is available.
In this step, in the case where the high precision position information prestored includes plane coordinates, compare plane coordinates, than
Such as, in the case where positioning surveys appearance system and only exports the plane coordinates of primary antenna, the plane coordinates of the primary antenna can only be compared；
In the case where positioning surveys the output of appearance system from the plane coordinates of antenna, compare this from antenna plane coordinate.Technical staff can be with
Understand, it, can be with output plane coordinate and elevation information, in such case in the case where it includes single antenna that appearance system is surveyed in positioning
Under, it can first compare plane coordinates, in the correct situation of plane coordinates, then compare elevation information.Appearance system packet is surveyed in positioning
In the case where including double antenna, the plane coordinates and elevation information of primary antenna can be exported, it in this case, can be according to aforementioned
Compare plane coordinates or first compares the mode that plane coordinates compares elevation again.In addition, appearance system is surveyed in positioning can also export master
The plane coordinates and elevation information of antenna, primary antenna and from course angle, pitch angle and the primary antenna between antenna and from antenna
Between baseline length, other than the mode in addition to being referred to single antenna is compared, in such cases, can also compare from antenna
Plane coordinates and/or elevation, need to calculate the plane coordinates and/or elevation information from antenna according to these information, then,
Compare from the plane coordinates of antenna or first compare the plane coordinates from antenna, in the correct situation of plane coordinates, then compares
Elevation information, alternatively, directly comparing elevation information.
No matter, in the case where the deviation of acquisition is greater than threshold value, this method can reset positioning and survey in short, which kind of manner of comparison
The calculating engine of appearance system is to regain current high precision position information, then, continues the current high precision position of comparison
Information and the high precision position information prestored；In the case where the deviation of acquisition is not more than threshold value, the current position is judged
Information is available.
Illustrate two kinds of realization processes for comparing elevation with the following two kinds situation:
A) positioning surveys appearance system and exports primary antenna elevation, but without output from antenna elevation the case where: include the following steps:
Firstly, please referring to Fig. 2 and Fig. 1 illustrates that originally steps are as follows: obtaining the changing coordinates (Be, Le, He) of E point.According to working as
It is H1 that the plane coordinates (Be, Le) of preceding coordinate finds all its elevations in memory.Comparing He and H1, (He and H1 is ground height
Journey), if deviation is greater than threshold value, E point coordinate is incorrect (the output result that appearance system is surveyed in positioning is unavailable), resetting positioning
It surveys appearance system calculating engine and regains current location information, then proceed to judge, until being not more than threshold value.If deviation is not
Greater than threshold value, then, E point coordinate is correct (the output result that appearance system is surveyed in positioning is available).
Fig. 3 and Fig. 1 are please referred to, the case where obtaining the coordinate of characteristic point of floor area and the floor area is inclined-plane
Under, if the changing coordinates of vehicle are E ' (B ' e, L ' e, H ' e).The point E ' and point are judged according to plane coordinates (B ' e, L ' e)
In the same plane, therefore, search to obtain its Fitting height by its plane coordinates is H1 to AEC, compare Fitting height H1 with
The current elevation He (also referring to ground elevation) of its point E ', if deviation is greater than threshold value, resetting positioning is surveyed the resolving of appearance system and is drawn
It holds up, if deviation is not more than threshold value, execute corresponding operating.Certainly, technical staff is appreciated that such as fruit dot E ' and point BFC exist
Same plane, then, elevation He is somebody's turn to do and H2 compares to obtain deviation.If floor area is plane, with reference to Fig. 2, current point is flat
In the ABC of face, then compared with the elevation of Fitting height H1, if in plane ACD, compared with Fitting height H2.
In order to enable the present invention is apparent and intuitive, Fig. 5 and Fig. 6 are please referred to, the evaluation system with above scheme is answered
Illustrate the course of work of the invention for the right-angled bend of the subject two of driving license test:
S1, the cartographic information that region of needing checking (floor area) 1 is stored in advance in Driving Test evaluation system, in present embodiment
In, which includes plane coordinates and elevation information (Ba, La, Ha).
S2, in examination process, examination vehicle 2 drive to it is described need checking region 1 when, obtain examination vehicle 2 in the region 1 of needing checking
Current plane coordinates and elevation information, for example, the plane coordinates of A point and elevation information (Ba ', La ', Ha ').
S3, according to plane coordinates (Ba ', La ') found in memory all its elevation be Ha.Compare Ha ' and Ha (Ha ' with
Ha is ground elevation), if deviation is greater than threshold value, A point coordinate is incorrect (to show the coordinate that examination vehicle obtains here
Without use, subsequent result may be impacted), appearance system calculating engine is surveyed in resetting positioning, meanwhile, Driving Test system does not execute phase
Close operation (for example, examinee is allowed to suspend examination).Current plane coordinates and elevation information are obtained after resetting calculating engine, are continued
The elevation information for comparing current elevation information and prestoring, until inclined between current elevation information and the elevation information prestored
Difference is not more than threshold value；If deviation is not more than threshold value, A point coordinate is correct (the output result that appearance system is surveyed in positioning is available), then
Execute corresponding operating.The corresponding operating is such as voice prompting (the foundation Driving Test evaluation system for continuing examination issued to examinee
Process depending on), so that examinee's driving test vehicle enter examination region 3 to carry out right angle turning examination.
B) positioning is surveyed appearance system and is not provided from antenna plane coordinate and elevation information, and still, the plane for providing primary antenna is sat
Mark and elevation information, the course angle, pitch angle between principal and subordinate's antenna and the vector length (baseline length) between principal and subordinate's antenna.
In such scheme, there are two types of primary antennas and mounting means from antenna, as shown in Figure 7 and Figure 8.In mode shown in Fig. 7, to carry
Body is that vehicle illustrates that its mounting means, primary antenna are mounted on the tailstock, is mounted on headstock from antenna.Primary antenna and between antenna
Line (baseline) along vehicle axis (this mode is also referred to as laterally disposed mode).In mode shown in Fig. 8, primary antenna
With the width direction placement from antenna along car body, primary antenna and from the line (baseline) between antenna perpendicular to the axis of vehicle
It is arranged (this mode is also referred to as vertical modes of emplacement)
The prior art can be used from the calculating of the plane coordinates and elevation information of antenna.In the present invention, in order to become apparent from
Understand, exemplary illustrates as follows from the calculating of the plane coordinates and elevation information of antenna:
Please refer to Fig. 9 and Fig. 7, it is assumed that the position that the primary antenna A of appearance system output is surveyed in positioning is origin position, and coordinate is
(Ba, La, Ha), a length of R of baseline, course angle α and pitching angle theta.Course angle α is the folder of projection and y-axis of the vector AB in xAy plane
Angle calculates as follows:Pitching angle theta is the angle of vector AB and xAy plane, is calculated as follows:
According to the formula and baseline length of the course angle and pitch angle and A point coordinate can extrapolate from the coordinate of antenna B (Bb,
Lb,Hb).Calculating process is as follows,
Bb=Ba+ △ X
Lb=La+ △ Y
Hb=Ha+ △ Z
Wherein △ X, △ Y, △ Z are calculated as follows: R is projected as r=R*sin θ in xAy plane
△ X=r*sin α
△ Y=r*cos α
△ Z=R*sin θ
The prior art can be used from the calculating of antenna B location information in Fig. 8, repeat no more.
It obtains after the plane coordinates and elevation information of antenna B, judges whether the current elevation information from antenna is correct
Method and it is described judgement primary antenna prestore elevation information and positioning survey appearance system output primary antenna current elevation method
Identical, details are not described herein.
Certainly, the plane coordinates and elevation that appearance system had both exported primary antenna are surveyed in positioning, also exports and is sat from the plane of antenna
It, at least can there are several types of modes: 1) comparing primary antenna plane coordinates and/or elevation in the case where mark and elevation；2) compare
From the plane coordinates and/or elevation of antenna；3) first compare the plane coordinates and/or elevation of primary antenna, then compare from the flat of antenna
Areal coordinate and/or elevation, this mode correctly can orient wrong situation to avoid positioning result, so that judgement is more smart
Really.
Technical thought based on the above method positions invention additionally discloses a kind of judgement and surveys appearance system output result correctness
Device.Referring to Fig. 10, the device includes memory 1, receiving module 2, processor 3 and output module 4.The memory 1
Store the high precision position information of floor area.The current high precision position information of 2 received vector of receiving module, this position
Confidence breath is the output result that appearance system is surveyed in positioning.The processor 3 obtains the current high precision position from receiving module 2
Information, more current high precision position information and the high precision position information prestored, current high precision position information with
In the case that the deviation between high precision position information prestored is greater than threshold value, the calculating engine that appearance system is surveyed in resetting positioning is generated
Reset signal, the case where deviation between current location information and the high precision position information prestored is not more than threshold value
Under, it generates for indicating the available control signal of the current location information.The output module 4 exports the control signal
To execution module, for example, the execution module can be the voice module of Driving Test system, the case where receiving all control signals
Under, which, which makes a sound, reminds examinee to continue to take an examination.
As the further scheme of above scheme, the present invention also provides the judgement of second embodiment positioning survey appearance device is defeated
The device of result correctness out, as shown in figure 11, compared with above embodiment, the high precision position information includes the device
Plane coordinates and elevation information.The processor 3 includes searching module 31 and processing module 32.The searching module 31, which receives, to be come
From the plane coordinates of receiving module 2, searched according to the plane coordinates corresponding to find the plane coordinates
The elevation information prestored.The processing module 32 compares the elevation information found and current elevation information, in current position
Confidence ceases the deviation between (elevation information) and the high precision position information (elevation information) prestored greater than in the case where threshold value, produces
The reset signal of the calculating engine of appearance system is surveyed in raw resetting positioning, current location information (elevation information) with prestore it is high-precision
The deviation between location information (elevation information) is spent no more than in the case where threshold value, and generation is for indicating the current position letter
Cease available control signal.
As the further scheme of above scheme, the present invention also provides the judgement of third embodiment positioning survey appearance device is defeated
The device of result correctness out, as shown in figure 12.Compared with the device of second embodiment, difference is the device: described
Receiving module 2 receives the plane coordinates and elevation information that the primary antenna of appearance system output is surveyed in the positioning, primary antenna with from antenna
Between course angle, pitch angle and primary antenna and from the baseline length between antenna.The processor 3 includes computing module
33, searching module 31 and processing module 32.The plane coordinates, the height that the computing module 33 is received according to receiving module 2
Journey information, course angle, pitch angle and baseline length obtain the plane coordinates and elevation information current from antenna.The searching module
31 are searched according to the plane coordinates to find the corresponding elevation information prestored of the plane coordinates.The processing mould
Block 32 compares the elevation information prestored found and current elevation information, in current location information (elevation information) and in advance
In the case that the deviation between high precision position information (elevation information) deposited is greater than threshold value, generates resetting positioning and survey appearance system
The reset signal of calculating engine, the deviation between current location information and the high precision position information prestored are not more than threshold value
In the case where, it generates for indicating the available control signal of the current location information.
Based on above-mentioned technical thought, the present invention also provides a kind of Driving Test evaluation systems.The Driving Test evaluation system includes aforementioned
The device of appearance system output result correctness is surveyed in any one judgement positioning.Driving Test evaluation system how is constituted as the device
A part can use the prior art, repeat no more.After the Driving Test evaluation system has above-mentioned apparatus, it can judge to work as to examination district
Whether the output result that appearance system is surveyed in prelocalization is correct, in turn, it is ensured that the correctness of Driving Test result avoids judging by accident.
Likewise, the present invention also provides a kind of terminals.The terminal includes that aforementioned any judgement positioning survey appearance system is defeated
The device of result correctness out.Such terminal can be the car-mounted terminal including the Driving Test evaluation system, be also possible to pacify
Loaded on the terminal on unmanned plane, it can also be the car-mounted terminal for navigation being installed on unmanned sweeper, be also possible to certainly
Car-mounted terminal on the unmanned transport vehicle of dynamicization harbour.After unmanned plane or sweeper have above-mentioned terminal, yaw etc. will not occur
Situation.After the unmanned transport vehicle of automatic dock has above-mentioned terminal, earth magnetism nail can be cancelled, be avoided that erroneous judgement and construction and maintenance
Cost is also low.
Claims (11)
1. the method that appearance system output result correctness is surveyed in judgement positioning, which is characterized in that this method comprises the following steps；
The high precision position information of floor area is stored in advance；
Obtain current high precision position information；
The high precision position information for comparing current high precision position information and prestoring, in current high precision position information and in advance
In the case that the deviation between high precision position information deposited is greater than threshold value, the calculating engine that appearance system is surveyed in resetting positioning obtains again
Obtain location information currently.
2. the method that appearance system output result correctness is surveyed in judgement positioning according to claim 1, which is characterized in that described
Method includes: feelings of the deviation between current high precision position information and the high precision position information prestored no more than threshold value
Under condition, determine that the current location information is available.
3. the method that appearance system output result correctness is surveyed in judgement positioning according to claim 1 or 2, which is characterized in that
The high precision position information includes plane coordinates and elevation information, the current high precision position information of the comparison with prestore
High precision position information includes the following:
It is corresponding pre- that the plane coordinates is found in the high precision position information prestored according to current plane coordinates
The elevation information deposited, more current high precision position information are current compared with the high precision position information prestored specifically includes
Elevation information and the elevation information prestored.
4. the method that appearance system output result correctness is surveyed in judgement positioning according to claim 3, which is characterized in that described
The elevation information prestored such as under type obtains: the characteristic point of the floor area is chosen, using described in height fitting algorithm process
The elevation information of characteristic point and obtain the elevation information.
5. the method that appearance system output result correctness is surveyed in judgement positioning according to claim 3, which is characterized in that described
It includes primary antenna and from antenna that appearance system is surveyed in positioning, which exports the plane coordinates and elevation information of primary antenna, primary antenna with
From course angle, pitch angle and the primary antenna between antenna and from the baseline length between antenna, the method includes according to defeated
The plane coordinates, elevation information, course angle, pitch angle and baseline length out is obtained to be believed from the plane coordinates and elevation of antenna
Breath；
The current elevation information of the comparison and the elevation information prestored include compare from the current elevation information of antenna with prestore
Slave antenna elevation information.
6. the device that appearance system output result correctness is surveyed in judgement positioning, which is characterized in that the device includes memory, receives mould
Block, processor and output module, wherein
The high precision position information of memory storage floor area；
The receiving module obtains the current high precision position information of carrier；
The processor obtains the current high precision position information from the receiving module, more current high precision position
Information and the high precision position information prestored, between current high precision position information and the high precision position information prestored
In the case that deviation is greater than threshold value, the reset signal that the calculating engine of appearance system is surveyed in resetting positioning is generated；
The output module exports the reset signal.
7. the device that appearance system output result correctness is surveyed in judgement positioning according to claim 6, which is characterized in that described
Deviation of the processor between current high precision position information and the high precision position information prestored is not more than the case where threshold value
Under, it generates for indicating that the available control signal of current high precision position information, the output module export the control
Signal.
8. the device that appearance system output result correctness is surveyed in judgement positioning according to claim 6 or 7, which is characterized in that
The high precision position information includes plane coordinates and elevation information, and the processor includes searching module and processing module,
In,
The searching module receives the plane coordinates from receiving module, is searched according to the plane coordinates to search
To the corresponding elevation information prestored of the plane coordinates；
The elevation information prestored and current elevation information that the processing module is relatively found.
9. the device of appearance system output result correctness is surveyed in judgement positioning described according to claim 6 or 7, which is characterized in that institute
It states plane coordinates and elevation information includes the plane coordinates and elevation information that the primary antenna of appearance system output is surveyed in the positioning, it is described
High precision position information further includes that positioning surveys the primary antenna of appearance system output and from course angle, pitch angle and the master between antenna
Antenna and from the baseline length between antenna；
The processor includes computing module, searching module and processing module, wherein the computing module connects according to receiving module
The plane coordinates that receives, elevation information, course angle, pitch angle and baseline length obtain from the current plane coordinates of antenna and
Elevation information；
The searching module is searched according to the plane coordinates to find the corresponding elevation prestored of the plane coordinates
Information；
The elevation information prestored and current elevation information that the processing module is relatively found.
10. Driving Test evaluation system, which is characterized in that positioned including judgement described in claim 6 to 9 any 1 and survey appearance system
The device of system output result correctness.
11. terminal, which is characterized in that positioned including judgement described in claim 6 to 9 any 1 and survey appearance system output knot
The device of fruit correctness.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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