CN110673170A - Method and terminal for testing dynamic single-point positioning accuracy - Google Patents
Method and terminal for testing dynamic single-point positioning accuracy Download PDFInfo
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- CN110673170A CN110673170A CN201910875408.6A CN201910875408A CN110673170A CN 110673170 A CN110673170 A CN 110673170A CN 201910875408 A CN201910875408 A CN 201910875408A CN 110673170 A CN110673170 A CN 110673170A
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- 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
- G01S19/23—Testing, monitoring, correcting or calibrating of receiver elements
Abstract
The invention discloses a test method and a terminal of dynamic single-point positioning precision.A single-point positioning receiver to be tested and an RTK receiver for comparison are arranged on the same moving carrier, differential data of a base station is forwarded to the RTK receiver, and a positioning result of the single-point positioning receiver to be tested is compared with a positioning result obtained by the RTK receiver through calculation based on the differential data of the base station, so that the dynamic single-point positioning precision of the receiver to be tested is determined; the test can be completed only by one verified RTK receiver, so that the test cost is reduced to the maximum extent, the test can be performed in a real dynamic environment according to the satellite signals actually received by the receiver, and the test accuracy is high; meanwhile, various data in the testing process can be stored, and data support is provided for problem searching, algorithm optimization and the like in the positioning algorithm research and development process.
Description
Technical Field
The invention relates to the field of positioning precision testing, in particular to a method and a terminal for testing dynamic single-point positioning precision.
Background
In the positioning field, with the development of receiver hardware and data processing technology, low-cost, single-frequency and miniaturized receivers are widely applied in the fields of navigation, mapping, resource investigation and the like. The single-point positioning technology is widely applied to the navigation fields of vehicles, ships and the like due to simple operation and independent calculation. For the precision evaluation of the static single-point positioning, a high-precision reference value required by the precision evaluation is not difficult to obtain. Therefore, many researchers have evaluated the accuracy of static single point positioning. For dynamic positioning, the receiver is usually mounted on a moving carrier (such as an automobile, an airplane, a ship, etc.), and the real track of the moving carrier is difficult to accurately determine, so that the accuracy evaluation of the receiver in a moving state is always concerned by people.
In different stages of receiver product development (such as chip, calculation algorithm, complete machine), multiple targeted precision tests are required. Currently, the dynamic positioning accuracy of a receiver is mainly tested by using a signal simulator, and the performance requirements of the signal simulator of the Beidou/Global Navigation Satellite System (GNSS) and the standard of the testing method are also implemented in 11 months of 2015. According to different test requirements, different types of simulator products from high end to low end are correspondingly formed on the market, such as satellite signal simulators supporting multiple frequencies and multiple modes, and the price of the simulator products is up to millions yuan. However, for most of the practitioners who are engaged in the development of hardware and software of the receiver, the signal simulator is a little investment, even no signal simulator. Based on the method and the device, the dynamic single-point positioning precision testing method and the device for the navigation receiver are designed, so that the cost investment of dynamic testing of the receiver is reduced, and the receiver can be flexibly tested by using actual satellite signals.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: a method and a terminal for testing dynamic single-point positioning accuracy are provided, which can reduce the testing cost of the dynamic single-point positioning accuracy of a receiver.
In order to solve the technical problems, the invention adopts a technical scheme that:
a test method of dynamic single-point positioning precision comprises the following steps:
s1, installing a base station receiver and determining the accurate position of the base station receiver;
s2, mounting a receiver to be tested and a high-grade receiver on the mobile carrier, wherein the receiver to be tested is a single-point positioning receiver, and the high-grade receiver is an RTK receiver;
s3, controlling the motion carrier to move according to a preset planning path, receiving differential data sent by the base station receiver in the moving process of the motion carrier, and forwarding the differential data to a high-level receiver;
and S4, receiving a first positioning result obtained by the receiver to be tested through single-point positioning calculation and a second positioning result obtained by the high-level receiver through RTK calculation according to the differential data, and determining the dynamic single-point positioning accuracy of the receiver to be tested according to the first positioning result and the second positioning result.
In order to solve the technical problem, the invention adopts another technical scheme as follows:
a test terminal for dynamic single point positioning accuracy, comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the following steps when executing the computer program:
s1, determining the accurate position of the installed base station receiver;
s2, controlling a motion carrier to move according to a preset planning path, wherein a receiver to be tested and a high-grade receiver are installed on the motion carrier, the receiver to be tested is a single-point positioning receiver, and the high-grade receiver is an RTK receiver;
s3, receiving the differential data sent by the base station receiver in the moving process of the moving carrier, and forwarding the differential data to the high-level receiver;
and S4, receiving a first positioning result obtained by the receiver to be tested through single-point positioning calculation and a second positioning result obtained by the high-level receiver through RTK calculation according to the differential data, and determining the dynamic single-point positioning accuracy of the receiver to be tested according to the first positioning result and the second positioning result.
The invention has the beneficial effects that: the method comprises the steps that a single-point positioning receiver to be tested and an RTK receiver used for comparison are installed on the same moving carrier, differential data of a base station are forwarded to the RTK receiver, and a positioning result of the single-point positioning receiver to be tested is compared with a positioning result calculated by the RTK receiver based on the differential data of the base station, so that the dynamic single-point positioning precision of the receiver to be tested is determined; the test can be completed only by one verified RTK receiver, so that the test cost is reduced to the maximum extent, the test can be performed in a real dynamic environment according to the satellite signals actually received by the receiver, and the test accuracy is high; meanwhile, various data in the testing process can be stored, and data support is provided for problem searching, algorithm optimization and the like in the positioning algorithm research and development process.
Drawings
Fig. 1 is a flowchart illustrating steps of a method for testing dynamic single-point positioning accuracy according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a test terminal for dynamic single-point positioning accuracy according to an embodiment of the present invention;
fig. 3 is a schematic diagram of a hardware structure of a dynamic single-point positioning accuracy testing system according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a planned path according to an embodiment of the invention;
fig. 5 is a schematic diagram illustrating a distribution of difference values of positioning results of a receiver to be measured and a high-grade receiver in a climbing state according to an embodiment of the present invention;
fig. 6 is a schematic diagram illustrating a distribution of positioning result difference values of a receiver to be measured and a high-grade receiver in a linear flight state according to an embodiment of the present invention;
fig. 7 is a schematic diagram illustrating a distribution of positioning result differences between a receiver to be measured and a high-grade receiver in a curved flight state according to an embodiment of the present invention;
fig. 8 is a schematic diagram illustrating a distribution of positioning result differences between a receiver to be measured and a high-level receiver in a landing state according to an embodiment of the present invention;
description of reference numerals:
1. a test terminal for dynamic single-point positioning accuracy; 2. a memory; 3. a processor.
Detailed Description
In order to explain technical contents, achieved objects, and effects of the present invention in detail, the following description is made with reference to the accompanying drawings in combination with the embodiments.
Referring to fig. 1, a method for testing dynamic single-point positioning accuracy includes the steps of:
s1, installing a base station receiver and determining the accurate position of the base station receiver;
s2, mounting a receiver to be tested and a high-grade receiver on the motion carrier, wherein the receiver to be tested is a single-point positioning receiver, and the high-grade receiver is an RTK receiver;
s3, controlling the motion carrier to move according to a preset planning path, receiving differential data sent by the base station receiver in the moving process of the motion carrier, and forwarding the differential data to a high-level receiver;
and S4, receiving a first positioning result obtained by the receiver to be tested through single-point positioning calculation and a second positioning result obtained by the high-level receiver through RTK calculation according to the differential data, and determining the dynamic single-point positioning accuracy of the receiver to be tested according to the first positioning result and the second positioning result.
As can be seen from the above description, the beneficial effects of the present invention are: the method comprises the steps that a single-point positioning receiver to be tested and an RTK receiver used for comparison are installed on the same moving carrier, differential data of a base station are forwarded to the RTK receiver, and a positioning result of the single-point positioning receiver to be tested is compared with a positioning result calculated by the RTK receiver based on the differential data of the base station, so that the dynamic single-point positioning precision of the receiver to be tested is determined; the test can be completed only by one verified RTK receiver, so that the test cost is reduced to the maximum extent, the test can be performed in a real dynamic environment according to the satellite signals actually received by the receiver, and the test accuracy is high; meanwhile, various data in the testing process can be stored, and data support is provided for problem searching, algorithm optimization and the like in the positioning algorithm research and development process.
Further, the step S1 further includes:
configuring a data acquisition type and a differential data type of the base station receiver;
the step S2 further includes:
configuring the sampling interval and the cut-off height angle of the receiver to be tested and the high-grade receiver;
configuring the observed quantity and ephemeris output type of the receiver to be tested and the high-grade receiver;
and configuring the single-point positioning resolving parameters of the receiver to be tested and the RTK resolving parameters of the high-grade receiver.
As can be seen from the above description, before the test is performed, the base station receiver, the receiver to be tested, and the high-level receiver are configured, so that the reliability and effectiveness of the subsequent test are ensured.
Further, the steps between the steps S2 and S3 further include:
checking whether the configurations of the base station receiver, the receiver to be tested and the high-level receiver are correct or not;
checking whether a communication link between the base station receiver and a high level receiver is correct;
if both are correct, step S3 is executed.
According to the above description, before the test is executed, the detection and verification are performed on the relevant data configuration of the base station receiver, the receiver to be tested and the high-level receiver and the communication link between the base station receiver and the high-level receiver, and the subsequent test is executed after the detection and verification are correct, so that the reliability of the test is ensured, the useless test is avoided, and the resource consumption is reduced.
Further, the determining the dynamic single-point positioning accuracy of the receiver to be measured according to the first positioning result and the second positioning result in step S4 includes:
removing floating point solutions and single point solutions from the second positioning result, and reserving fixed solutions;
and determining the dynamic single-point positioning precision of the receiver to be detected according to the fixed solution in the first positioning result and the second positioning result.
From the above description, it can be known that the dynamic single-point positioning accuracy test is performed based on the RTK fixed solution, and the test accuracy is further improved.
Further, the determining the dynamic single-point positioning accuracy of the receiver to be measured according to the first positioning result and the second positioning result in step S4 includes:
respectively converting the first positioning result and the second positioning result into the positioning data of the station center coordinate system to obtain a first station center coordinate system positioning result and a second station center coordinate system positioning result;
determining a difference value between the positioning result of the first station center coordinate system and the positioning result of the second station center coordinate system;
determining the average value of the difference values of the positioning results of the receiver to be tested and the high-grade receiver in each direction in the station center coordinate system according to the difference values;
determining the standard deviation of the single-point positioning error of the receiver to be detected according to the difference value and the average value of the difference values;
and determining the dynamic single-point positioning precision of the receiver to be detected according to the average value of the difference values and the standard deviation.
From the above description, the RTK settlement result of the high-level receiver is used as the reference true value, the RTK settlement result is compared with the single-point positioning result of the receiver to be measured, the dynamic single-point positioning accuracy of the receiver to be measured is determined comprehensively through the difference, the average difference and the standard deviation, and the reliability of the judgment of the dynamic single-point positioning accuracy is ensured.
Referring to fig. 2, a dynamic single-point positioning accuracy testing terminal includes a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor executes the computer program to implement the following steps:
s1, determining the accurate position of the installed base station receiver;
s2, controlling a motion carrier to move according to a preset planning path, wherein a receiver to be tested and a high-grade receiver are installed on the motion carrier, the receiver to be tested is a single-point positioning receiver, and the high-grade receiver is an RTK receiver;
s3, receiving the differential data sent by the base station receiver in the moving process of the moving carrier, and forwarding the differential data to the high-level receiver;
and S4, receiving a first positioning result obtained by the receiver to be tested through single-point positioning calculation and a second positioning result obtained by the high-level receiver through RTK calculation according to the differential data, and determining the dynamic single-point positioning accuracy of the receiver to be tested according to the first positioning result and the second positioning result.
As can be seen from the above description, the beneficial effects of the present invention are: the method comprises the steps that a single-point positioning receiver to be tested and an RTK receiver used for comparison are installed on the same motion carrier, differential data of a base station are forwarded to the RTK receiver, and a positioning result of the single-point positioning receiver to be tested is compared with a positioning result calculated by the RTK receiver based on the differential data of the base station, so that the dynamic single-point positioning precision of the receiver to be tested is determined; the test can be completed only by one verified RTK receiver, so that the test cost is reduced to the maximum extent, the test can be performed in a real dynamic environment according to the satellite signals actually received by the receiver, and the test accuracy is high; meanwhile, various data in the testing process can be stored, and data support is provided for problem searching, algorithm optimization and the like in the positioning algorithm research and development process.
Further, the step S1 further includes:
configuring a data acquisition type and a differential data type of the base station receiver;
the step S2 is preceded by:
configuring the sampling interval and the cut-off height angle of the receiver to be tested and the high-grade receiver;
configuring the observed quantity and ephemeris output type of the receiver to be tested and the high-grade receiver;
and configuring the single-point positioning resolving parameters of the receiver to be tested and the RTK resolving parameters of the high-grade receiver.
As can be seen from the above description, before the test is performed, the base station receiver, the receiver to be tested, and the high-level receiver are configured, so that the reliability and effectiveness of the subsequent test are ensured.
Further, step S2 is preceded by the step of:
checking whether the configurations of the base station receiver, the receiver to be tested and the high-level receiver are correct or not;
checking whether a communication link between the base station receiver and a high level receiver is correct;
if both are correct, step S2 is executed.
According to the above description, before the test is executed, the detection and verification are performed on the relevant data configuration of the base station receiver, the receiver to be tested and the high-level receiver and the communication link between the base station receiver and the high-level receiver, and the subsequent test is executed after the detection and verification are correct, so that the reliability of the test is ensured, the useless test is avoided, and the resource consumption is reduced.
Further, the determining the dynamic single-point positioning accuracy of the receiver to be measured according to the first positioning result and the second positioning result in step S4 includes:
removing floating point solutions and single point solutions from the second positioning result, and reserving fixed solutions;
and determining the dynamic single-point positioning precision of the receiver to be detected according to the fixed solution in the first positioning result and the second positioning result.
From the above description, it can be known that the dynamic single-point positioning accuracy test is performed based on the RTK fixed solution, and the test accuracy is further improved.
Further, the determining the dynamic single-point positioning accuracy of the receiver to be measured according to the first positioning result and the second positioning result in step S4 includes:
respectively converting the first positioning result and the second positioning result into the positioning data of the station center coordinate system to obtain a first station center coordinate system positioning result and a second station center coordinate system positioning result;
determining a difference value between the positioning result of the first station center coordinate system and the positioning result of the second station center coordinate system;
determining the average value of the difference values of the positioning results of the receiver to be tested and the high-grade receiver in each direction in the station center coordinate system according to the difference values;
determining the standard deviation of the single-point positioning error of the receiver to be detected according to the difference value and the average value of the difference values;
and determining the dynamic single-point positioning precision of the receiver to be detected according to the average value of the difference values and the standard deviation.
From the above description, the RTK solution result of the high-grade receiver is used as a reference true value, the reference true value is compared with the single-point positioning result of the receiver to be measured, the dynamic single-point positioning accuracy of the receiver to be measured is determined comprehensively through the difference value, the average value of the difference value and the standard deviation, and the reliability of the judgment of the dynamic single-point positioning accuracy is ensured.
Example one
Referring to fig. 1, a method for testing dynamic single-point positioning accuracy includes the steps of:
s1, installing a base station receiver and determining the accurate position of the base station receiver;
aiming at the test requirement of dynamic single-point positioning, a base station receiver and an antenna are installed under the observation conditions that a high-power radio emission source is far away, a high-voltage power transmission line is far away, no object which strongly emits satellite signals exists nearby, and no obstacle exists at a point position around the viewing height angle of more than 15 degrees;
as a specific scene, aiming at the requirement of dynamic single-point positioning test, a base station receiver and an antenna are arranged on an athletic field of about 100 meters away from the south side of a Guangdong building of Minjiang academy of sciences, wherein the base station receiver and the antenna are of a high-performance measurement type and can support multi-frequency and multi-system satellite data acquisition;
further comprising:
configuring a data acquisition type and a differential data type of the base station receiver, specifically, configuring a data sampling interval of a multi-frequency receiver of the base station to be 5Hz, configuring the base station receiver to output GPS/BDS/GLONASS observed quantity and ephemeris, configuring a differential data format of RTCM3.2 broadcasted by the base station receiver to a high-grade receiver of a mobile terminal, and configuring a message type of MSM4, specifically, the contents are 1074(GPS observed quantity), 1084(GLONASS observed quantity), 1124(BDS observed quantity), and 1006 (three-dimensional position of the base station);
measuring the accurate coordinate of the phase center of the base station antenna as the accurate position of the receiver of the base station, specifically, measuring the accurate coordinate of the phase center of the base station antenna by adopting a static relative positioning mode through a single base station (the accurate coordinate is known, and the position accuracy is better than +/-3 mm) on the roof of a building of Guangdong institute of Minjiang province, wherein the length of the base station is about 100 meters, and the accuracy is +/-3 mm;
s2, mounting a receiver to be tested and a high-grade receiver on the motion carrier, wherein the receiver to be tested is a single-point positioning receiver, and the high-grade receiver is an RTK receiver;
further comprising:
configuring the sampling interval and the cut-off height angle of the receiver to be tested and the high-grade receiver, preferably, the sampling interval is 5Hz, and the cut-off height angle position is 15 degrees;
configuring the observed quantity and ephemeris output types of the receiver to be tested and the high-level receiver, specifically, configuring the receiver to be tested to output single-frequency observed quantity and broadcast ephemeris, and configuring the high-level receiver to output multi-frequency observed quantity and broadcast ephemeris;
the method comprises the steps of configuring single-point positioning calculation parameters of a receiver to be detected and RTK calculation parameters of a high-grade receiver, specifically configuring a single-point positioning calculation model of the receiver to be detected as a dynamic model, a satellite system as GPS + BDS, a frequency single frequency, a cut-off height angle as 15 degrees, an ionosphere model as a classical gram apocynum model (Klobuchar), a troposphere model as a classical Saastamoin model (Saastamoinen) and the like, further configuring single-point positioning calculation as calculation independent calculation from each epoch according to pseudo-range observed quantity which is not subjected to carrier phase smoothing; configuring an RTK resolving model of a high-grade receiver as a dynamic model, a satellite system as GPS/BDS/GLONASS, a frequency as multifrequency, a cut-off height angle as 15 degrees, an ionosphere model as a non-ionosphere combination model, a troposphere model as a Sasta morronine model and the like;
s3, controlling the motion carrier to move according to a preset planning path, receiving differential data sent by the base station receiver in the moving process of the motion carrier, and forwarding the differential data to a high-level receiver;
checking whether the configurations of the base station receiver, the receiver to be tested and the high-level receiver are correct before executing the step S3;
checking whether a communication link between the base station receiver and a high level receiver is correct;
if both are correct, go to step S3;
specifically, the communication device is arranged to enable the base station receiver to communicate with the high-level receiver, specifically, the data transmission module is arranged to enable the base station receiver to send differential data to the high-level receiver, and a specific structural schematic diagram of the data transmission module is shown in fig. 3;
storing and checking observation data of a base station receiver;
storing and checking observation data of a receiver to be detected;
storing and checking observation data of a high-grade receiver;
storing and checking the type of differential data broadcast by a base station receiver to a high-grade receiver;
storing and checking a single-point positioning result of a receiver to be detected and an RTK positioning result of a high-grade receiver;
when the path planning is executed, selecting a time period with less pedestrian flow, and planning an air route over the track and field, as shown in fig. 4;
the flying state of the unmanned aerial vehicle is designed to be four states of climbing, linear flying, curve flying and landing;
s4, receiving a first positioning result obtained by the receiver to be tested through single-point positioning calculation and a second positioning result obtained by the high-level receiver through RTK calculation according to the differential data, and determining the dynamic single-point positioning accuracy of the receiver to be tested according to the first positioning result and the second positioning result;
the determining the dynamic single-point positioning accuracy of the receiver to be detected according to the first positioning result and the second positioning result comprises:
removing floating point solutions and single point solutions from the second positioning result, and reserving fixed solutions;
determining the RTK precision of the receiver to be tested according to the fixed solutions in the first positioning result and the second positioning result, namely taking the fixed solution of the high-grade receiving RTK positioning from all the obtained positioning results as a reference value for evaluating the single-point positioning precision, and taking the single-point positioning result of the receiver to be tested and the RTK fixed solution of the high-grade receiver to perform analysis and evaluation;
specifically, the first positioning result and the second positioning result are respectively converted into the positioning data of the station center coordinate system, so as to obtain a positioning result of the first station center coordinate system and a positioning result of the second station center coordinate system;
the coordinates of the positioning result calculated by the RTK algorithm and the single-point positioning algorithm are geocentric and geostationary coordinate systems, including a space rectangular coordinate system XYZ and a geodetic coordinate system BLH, and the coordinate system conversion formula of the space rectangular coordinate system XYZ and the geodetic coordinate system BLH and a station center coordinate system (ENU) is as follows:
in the formula, XYZ is the coordinate of the positioning result in a space rectangular coordinate system, BLH is the coordinate of the positioning result in a geodetic coordinate system, N is the curvature radius of the ellipsoidal unitary-ground circle, e is the first eccentricity of the ellipsoid, and ENU is the coordinate of the positioning result in a standing-center coordinate system;
determining the difference value between the positioning result of the first station center coordinate system and the positioning result of the second station center coordinate system, namely calculating the difference value of the single-point positioning result of the receiver to be measured of each epoch and the RTK fixed solution of the high-grade receiver in each direction in the station center coordinate system, wherein the calculation formula is as follows:
in the formula,. DELTA.Ei,ΔNi,ΔUiThe difference value of the positioning results of the receiver to be tested and the comparison receiver at the ith time in the direction E, N, U (i is 1,2, …, n); ei,a,Ni,a,Ui,aThe component of the positioning result of the receiver to be tested at the ith time in the direction of E, N, U; ei,b,Ni,b,Ui,bThe component in the direction E, N, U of the positioning result for the ith high-level receiver;
and determining the average value of the difference values of the positioning results of the receiver to be tested and the high-grade receiver in each direction in the station center coordinate system according to the difference values, wherein the calculation formula is as follows:
in the formula (I), the compound is shown in the specification,
the average value of the difference value of the positioning results of the receiver to be measured and the high-level receiver in the direction component E, N, U is obtained;
and determining the standard deviation of the single-point positioning error of the receiver to be measured according to the difference value and the average value of the difference value, wherein the calculation formula is as follows:
in the formula, σE,σN,σUThe standard deviation of the difference value of the tested receiver and the comparison receiver in the direction component E, N, U;
and determining the dynamic point positioning accuracy of the receiver to be detected according to the average value of the difference values and the standard deviation, wherein the calculation formula is as follows:
in the formula, ME,MN,MUAnd positioning accuracy of the single-point positioning result of the receiver to be measured in the direction component E, N, U.
Example two
The positioning accuracy testing method is applied to a specific scene, and a small unmanned aerial vehicle airborne experiment is performed on a southern track and field of Minjiang academy, wherein the flying speed of the unmanned aerial vehicle is 8m/s, the flying height is about 80 m, and the flying time is about 20 min. The precise position of the base station is known during the test, and the distance between the base station and the mobile station is better than 300 meters. The base station receiver supports data acquisition and transmission of multiple frequencies and multiple modes, a receiver to be tested and a high-grade receiver are connected with a spiral antenna through a power divider on the small unmanned aerial vehicle, wherein the receiver to be tested is used for dynamic single-point positioning calculation, and the high-grade receiver is used for RTK calculation. And comparing the single-point positioning result of each epoch of the receiver to be tested with the high-grade receiver RTK positioning result (fixed solution) of the corresponding epoch to obtain the dynamic single-point positioning precision of the receiver to be tested.
During the experiment, the small unmanned aerial vehicle as the carrying receiver flies according to four motion states of climbing, straight line flying, curve flying and descending. The distribution of the difference values of the receiver to be tested and the high-level receiver in the E, N, U coordinate components in the four states is shown in fig. 4, 5, 6 and 7 respectively. The accuracy (standard deviation) and accuracy of the difference between the single-frequency receiver to be measured and the high-level multi-frequency receiver in the E, N, U coordinate component and in the Horizontal (H) and three-dimensional (3D) directions in the four states are respectively calculated, as shown in table 1. According to the test result, the dynamic single-point positioning precision of the receiver to be tested is better than 5 m.
TABLE 1 statistics of dynamic single-point positioning accuracy of receiver under test in four motion states (1. sigma.)
EXAMPLE III
Referring to fig. 2, a test terminal 1 for dynamic single-point positioning accuracy includes a memory 2, a processor 3, and a computer program stored in the memory 2 and executable on the processor 3, where the processor 3 implements the steps in the first embodiment when executing the computer program.
In summary, according to the method and the terminal for testing the dynamic single-point positioning accuracy provided by the present invention, the single-point positioning receiver to be tested and the RTK receiver for comparison are mounted on the same moving carrier, the differential data of the base station is forwarded to the RTK receiver, and the positioning result of the single-point positioning receiver to be tested is compared with the positioning result of the RTK receiver calculated based on the differential data of the base station, so as to determine the dynamic single-point positioning accuracy of the receiver to be tested; the test can be completed only by one verified RTK receiver, so that the test cost is reduced to the maximum extent, the test can be performed in a real dynamic environment according to the satellite signals actually received by the receiver, and the test accuracy is high; meanwhile, various data in the testing process can be stored, and data support is provided for problem searching, algorithm optimization and the like in the positioning algorithm research and development process.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all equivalent changes made by using the contents of the present specification and the drawings, or applied directly or indirectly to the related technical fields, are included in the scope of the present invention.
Claims (10)
1. A test method for dynamic single-point positioning accuracy is characterized by comprising the following steps:
s1, installing a base station receiver and determining the accurate position of the base station receiver;
s2, mounting a receiver to be tested and a high-grade receiver on the motion carrier, wherein the receiver to be tested is a single-point positioning receiver, and the high-grade receiver is an RTK receiver;
s3, controlling the mobile carrier to move according to a preset planned path, receiving differential data sent by the base station receiver in the moving process of the mobile carrier, and forwarding the differential data to a high-level receiver;
and S4, receiving a first positioning result obtained by the receiver to be tested through single-point positioning calculation and a second positioning result obtained by the high-level receiver through RTK calculation according to the differential data, and determining the dynamic single-point positioning accuracy of the receiver to be tested according to the first positioning result and the second positioning result.
2. The method for testing the dynamic single-point positioning accuracy as recited in claim 1, wherein the step S1 further comprises:
configuring a data acquisition type and a differential data type of the base station receiver;
the step S2 further includes:
configuring the sampling interval and the cut-off height angle of the receiver to be tested and the high-grade receiver;
configuring the observed quantity and ephemeris output type of the receiver to be tested and the high-grade receiver;
and configuring the single-point positioning resolving parameters of the receiver to be tested and the RTK resolving parameters of the high-grade receiver.
3. The method as claimed in claim 1, wherein the steps S2 and S3 further include:
checking whether the configurations of the base station receiver, the receiver to be tested and the high-level receiver are correct or not;
checking whether a communication link between the base station receiver and a high level receiver is correct;
if both are correct, step S3 is executed.
4. The method as claimed in claim 1, wherein the step S4 of determining the dynamic standalone positioning accuracy of the receiver under test according to the first positioning result and the second positioning result includes:
removing floating point solutions and single point solutions from the second positioning result, and reserving fixed solutions;
and determining the dynamic single-point positioning precision of the receiver to be detected according to the fixed solution in the first positioning result and the second positioning result.
5. The method as claimed in claim 1 or 4, wherein the step S4 of determining the dynamic standalone positioning accuracy of the receiver under test according to the first positioning result and the second positioning result includes:
respectively converting the first positioning result and the second positioning result into the positioning data of the station center coordinate system to obtain a first station center coordinate system positioning result and a second station center coordinate system positioning result;
determining a difference value between the positioning result of the first station center coordinate system and the positioning result of the second station center coordinate system;
determining the average value of the difference values of the positioning results of the receiver to be tested and the high-grade receiver in each direction in the station center coordinate system according to the difference values;
determining the standard deviation of the single-point positioning error of the receiver to be detected according to the difference value and the average value of the difference values;
and determining the dynamic single-point positioning precision of the receiver to be detected according to the average value of the difference values and the standard deviation.
6. A test terminal for dynamic single point positioning accuracy, comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor executes the computer program to perform the following steps:
s1, determining the accurate position of the installed base station receiver;
s2, controlling a motion carrier to move according to a preset planning path, wherein a receiver to be tested and a high-grade receiver are installed on the motion carrier, the receiver to be tested is a single-point positioning receiver, and the high-grade receiver is an RTK receiver;
s3, receiving the differential data sent by the base station receiver in the moving process of the moving carrier, and forwarding the differential data to the high-level receiver;
and S4, receiving a first positioning result obtained by the receiver to be tested through single-point positioning calculation and a second positioning result obtained by the high-level receiver through RTK calculation according to the differential data, and determining the dynamic single-point positioning accuracy of the receiver to be tested according to the first positioning result and the second positioning result.
7. The dynamic single point positioning accuracy testing terminal of claim 6, wherein the step S1 further comprises:
configuring a data acquisition type and a differential data type of the base station receiver;
the step S2 is preceded by:
configuring the sampling interval and the cut-off height angle of the receiver to be tested and the high-grade receiver;
configuring the observed quantity and ephemeris output type of the receiver to be tested and the high-grade receiver;
and configuring the single-point positioning resolving parameters of the receiver to be tested and the RTK resolving parameters of the high-grade receiver.
8. The terminal for testing the dynamic single point positioning accuracy of claim 6, wherein the step S2 is preceded by the steps of:
checking whether the configurations of the base station receiver, the receiver to be tested and the high-level receiver are correct or not;
checking whether a communication link between the base station receiver and a high level receiver is correct;
if both are correct, step S2 is executed.
9. The terminal for testing dynamic standalone positioning accuracy of claim 6, wherein the determining the dynamic standalone positioning accuracy of the receiver under test according to the first positioning result and the second positioning result in step S4 includes:
removing floating point solutions and single point solutions from the second positioning result, and reserving fixed solutions;
and determining the dynamic single-point positioning precision of the receiver to be detected according to the fixed solution in the first positioning result and the second positioning result.
10. The terminal for testing dynamic standalone positioning accuracy of claim 6 or 9, wherein the determining the dynamic standalone positioning accuracy of the receiver under test according to the first positioning result and the second positioning result in step S4 includes:
respectively converting the first positioning result and the second positioning result into the positioning data of the station center coordinate system to obtain a first station center coordinate system positioning result and a second station center coordinate system positioning result;
determining a difference value between the positioning result of the first station center coordinate system and the positioning result of the second station center coordinate system;
determining the average value of the difference values of the positioning results of the receiver to be tested and the high-grade receiver in each direction in the station center coordinate system according to the difference values;
determining the standard deviation of the single-point positioning error of the receiver to be detected according to the difference value and the average value of the difference values;
and determining the dynamic single-point positioning precision of the receiver to be detected according to the average value of the difference values and the standard deviation.
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