CN110673171A - Method and terminal for testing positioning performance comparison of navigation receiver - Google Patents
Method and terminal for testing positioning performance comparison of navigation receiver Download PDFInfo
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- CN110673171A CN110673171A CN201910875410.3A CN201910875410A CN110673171A CN 110673171 A CN110673171 A CN 110673171A CN 201910875410 A CN201910875410 A CN 201910875410A CN 110673171 A CN110673171 A CN 110673171A
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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 method and a terminal for testing the positioning performance comparison of navigation receivers, wherein a mobile station receiver and a plurality of navigation receivers to be compared are arranged on the same moving carrier, after the accurate RTK positioning result of the mobile station receiver is obtained, the observed quantities of different navigation receivers can be compared and analyzed according to the user requirements, and the single-point positioning results of different navigation receivers and the RTK positioning records of the mobile station receiver are compared, so that the comparison test of the positioning performance of different navigation receivers is realized, an expensive signal simulator is not needed, the comparison can be carried out in a real dynamic environment according to real satellite signals, the positioning performance characteristics of different navigation receivers in different environments and application requirements can be truly reflected, and the test is flexible.
Description
Technical Field
The invention relates to the field of receiver positioning performance comparison test, in particular to a navigation type receiver positioning performance comparison test method and a terminal.
Background
With the modernization of the Global Positioning System (GPS) and the russian Global Navigation Satellite System (GLONASS) in the united states and the development of the BeiDou Navigation Satellite System (BDS) and the european Galileo Satellite Navigation System (Galileo), the combination of multiple Satellite systems makes it possible to improve the Positioning accuracy and reliability.
Currently, low-cost, single-frequency, miniaturized receivers have emerged in the mass market and are widely used in the field of navigation of moving carriers (e.g., vehicles, boats, aircraft, etc.). The GNSS navigation has the characteristics of user diversity, variable speed, real-time positioning, variable data and positioning precision and the like. Therefore, in practical application, according to the characteristics of dynamic positioning, a suitable receiver is selected and a suitable data processing method is adopted so as to obtain the real-time position of the moving carrier, thereby depicting the moving track of the moving carrier. Generally, the shopping of the navigation type receiver is selected by technical parameters provided by a receiver manufacturer, and the technical parameters generally include data acquisition type and output mode of the receiver, electrical parameters, environmental parameters, positioning performance (including accuracy and reliability) indexes and the like. The positioning performance index test of the navigation receiver is generally performed by using a signal simulator, however, the design of the receiver and the positioning calculation method of the navigation receiver of different brands have characteristics, and the signal simulator is not enough to truly reflect the characteristics of the receivers in different environments and application requirements.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the method and the terminal for testing the positioning performance comparison of the navigation receivers can truly reflect the characteristics of each navigation receiver in different environments and application requirements and carry out comparison, and the test is flexible.
In order to solve the technical problems, the invention adopts a technical scheme that:
a method for testing the positioning performance comparison of a navigation receiver comprises the following steps:
s1, installing a base station receiver at a position with known accurate coordinates;
s2, installing a mobile station receiver and a plurality of navigation receivers to be compared on the moving carrier;
s3, performing path planning on the motion carrier, forwarding differential data sent by a base station receiver to the mobile station receiver in the moving process of the motion carrier, and receiving observed quantities of all navigation receivers, a first positioning result obtained by the mobile station receiver performing RTK (real time kinematic) calculation according to the differential data, and a second positioning result obtained by the mobile station receiver performing single-point positioning calculation;
and S4, comparing the positioning performances of the plurality of navigation receivers to be compared according to the observed quantity, 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 navigational receiver positioning performance comparison test terminal 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 coordinates of the position of the installed base station receiver;
s2, planning a path of a moving carrier, wherein a mobile station receiver and a plurality of navigation receivers to be compared are installed on the moving carrier;
s3, in the moving process of the moving carrier, the differential data sent by the base station receiver are forwarded to the mobile station receiver, and the observed quantity of each navigation type receiver, a first positioning result obtained by the mobile station receiver through RTK calculation according to the differential data and a second positioning result obtained by each navigation type receiver through single point positioning calculation are received;
and S4, comparing the positioning performances of the plurality of navigation receivers to be compared according to the observed quantity, the first positioning result and the second positioning result.
The invention has the beneficial effects that: the mobile station receiver and the navigation receivers to be compared are arranged on the same moving carrier, after the accurate RTK positioning result of the mobile station receiver is obtained, the observed quantities of different navigation receivers can be compared and analyzed according to the requirement of a user, and the single-point positioning results of the different navigation receivers and the RTK positioning records of the mobile station receiver are compared, so that the comparison test of the positioning performance of the different navigation receivers is realized, an expensive signal simulator is not needed, the comparison can be carried out in a real dynamic environment according to a real satellite signal, the positioning performance characteristics of the different navigation receivers in different environments and application requirements can be truly reflected, and the test is flexible.
Drawings
Fig. 1 is a flowchart illustrating steps of a method for testing positioning performance comparison of a navigation receiver according to a first embodiment of the present invention;
fig. 2 is a schematic structural diagram of a test terminal for comparing positioning performance of a navigation receiver according to a first embodiment of the present invention;
fig. 3 is a schematic diagram of a hardware structure of a test terminal for comparing positioning performance of a navigation receiver according to a third embodiment of the present invention;
FIG. 4 is a path planning diagram of a moving carrier according to a third embodiment of the present invention;
fig. 5 is a time-series comparison diagram of satellite tracking conditions and accuracy factors in observations of 3 navigation receivers according to a third embodiment of the present invention;
fig. 6 is a time sequence comparison diagram of signal-to-noise ratios in observed quantities of 3 navigation receivers according to a third embodiment of the present invention;
FIG. 7 is a comparison graph of the positioning error of 3 navigation receivers on E, N, U components in the case of an urban general road according to the third embodiment of the present invention;
FIG. 8 is a comparison graph of the positioning error of 3 navigational receivers on the E, N, U component in the case of a expressway according to a third embodiment of the present invention;
description of reference numerals:
1. a test terminal for comparing positioning performance of a navigation receiver; 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 positioning performance comparison of a navigation receiver includes the steps of:
s1, installing a base station receiver at a position with known accurate coordinates;
s2, installing a mobile station receiver and a plurality of navigation receivers to be compared on the moving carrier;
s3, performing path planning on the motion carrier, forwarding differential data sent by a base station receiver to the mobile station receiver in the moving process of the motion carrier, and receiving observed quantities of all navigation receivers, a first positioning result obtained by the mobile station receiver performing RTK (real time kinematic) calculation according to the differential data, and a second positioning result obtained by the mobile station receiver performing single-point positioning calculation;
and S4, comparing the positioning performances of the plurality of navigation receivers to be compared according to the observed quantity, the first positioning result and the second positioning result.
From the above description, the beneficial effects of the present invention are: the mobile station receiver and the navigation receivers to be compared are arranged on the same moving carrier, after the accurate RTK positioning result of the mobile station receiver is obtained, the observed quantities of different navigation receivers can be compared and analyzed according to the requirement of a user, and the single-point positioning results of the different navigation receivers and the RTK positioning records of the mobile station receiver are compared, so that the comparison test of the positioning performance of the different navigation receivers is realized, an expensive signal simulator is not needed, the comparison can be carried out in a real dynamic environment according to a real satellite signal, the positioning performance characteristics of the different navigation receivers in different environments and application requirements can be truly reflected, and the test is flexible.
Further, the step S1 further includes:
s11, configuring the differential data output type, the sampling interval and the cut-off height angle of the base station receiver;
the step S2 further includes:
s21, configuring the data output type of the mobile station receiver and an RTK solution model;
and S22, configuring the data type, the sampling interval and the cut-off height angle of the output observed quantity of each navigation type receiver.
As can be seen from the above description, before performing the comparison test, the base station receiver, the mobile station receiver, and each navigation receiver to be compared are configured, so as to ensure the reliability and effectiveness of the subsequent comparison test.
Further, the steps S2 and S3 further include:
checking whether the mobile station receiver receives the differential data transmitted by the base station receiver;
checking an RTK resolving state of the mobile station receiver and judging whether RTK resolving is successful or not;
if not, returning to execute the step S21;
checking whether the navigation receivers output the single point positioning result, if not, returning to execute the step S22.
It can be known from the above description that before the comparison test is performed, whether the mobile station receiver can normally receive the differential data of the base station receiver, whether the RTK solution is successful, and whether each navigation type receiver can output the single-point positioning result are checked, so that not only is the reliability of the comparison test ensured, but also useless tests are avoided, and the resource consumption is saved.
Further, the step S4 includes:
determining the single-point positioning precision of each navigation receiver according to the first positioning result and the second positioning result;
and comparing the positioning performance of each navigation type receiver according to the observed quantity and the single-point positioning precision of each navigation type receiver.
According to the description, the comprehensiveness and the accuracy of the test for comparing the positioning performance of each navigation receiver are ensured by comparing the observed quantity of each navigation receiver with the single-point positioning precision.
Further, determining the single-point positioning accuracy of each navigation receiver according to the first positioning result and the second positioning result comprises:
taking a fixed solution of centimeter-level precision in the first positioning result as a reference value for evaluating the single-point positioning precision;
according to the time information in the second positioning result of each navigation receiver, the second positioning result and the fixed solution of centimeter-level precision in the first positioning result are synchronized in time;
and respectively executing the following steps for the second positioning result of each navigation type receiver after time synchronization:
respectively converting the centimeter-level precision fixed solution and the second positioning result in the first 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 positioning deviation of the positioning results of the navigation receiver and the mobile station receiver in each direction in the station center coordinate system according to the difference;
determining the standard deviation of the single-point positioning result of the navigation receiver according to the difference value and the positioning deviation;
determining the root mean square error of the single-point positioning result of the navigation receiver according to the difference value;
and determining the dynamic point positioning accuracy of the navigation receiver according to the standard deviation and the root mean square error.
According to the description, the centimeter-level precision fixed solution in the positioning result of the mobile station receiver is used as a reference value, the standard deviation and the root mean square error of the single-point positioning result of each navigation type receiver are determined through the positioning difference value and the positioning deviation, and the dynamic single-point positioning precision of each navigation type receiver is determined according to the standard deviation and the root mean square error, so that the reliability of the determination of the dynamic single-point positioning precision is ensured, and the accuracy and the reliability of the comparison of the positioning performance of each navigation type receiver are further improved.
Referring to fig. 2, a terminal for testing positioning performance comparison of a navigation receiver 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 coordinates of the position of the installed base station receiver;
s2, planning a path of a moving carrier, wherein a mobile station receiver and a plurality of navigation receivers to be compared are installed on the moving carrier;
s3, in the moving process of the moving carrier, the differential data sent by the base station receiver are forwarded to the mobile station receiver, and the observed quantity of each navigation type receiver, a first positioning result obtained by the mobile station receiver through RTK calculation according to the differential data and a second positioning result obtained by each navigation type receiver through single point positioning calculation are received;
and S4, comparing the positioning performances of the plurality of navigation receivers to be compared according to the observed quantity, the first positioning result and the second positioning result.
From the above description, the beneficial effects of the present invention are: the mobile station receiver and the navigation receivers to be compared are arranged on the same moving carrier, after the accurate RTK positioning result of the mobile station receiver is obtained, the observed quantities of different navigation receivers can be compared and analyzed according to the requirement of a user, and the single-point positioning results of the different navigation receivers and the RTK positioning records of the mobile station receiver are compared, so that the comparison test of the positioning performance of the different navigation receivers is realized, an expensive signal simulator is not needed, the comparison can be carried out in a real dynamic environment according to a real satellite signal, the positioning performance characteristics of the different navigation receivers in different environments and application requirements can be truly reflected, and the test is flexible.
Further, the step S1 further includes:
s11, configuring the differential data output type, the sampling interval and the cut-off height angle of the base station receiver;
the step S2 further includes:
s21, configuring the data output type of the mobile station receiver and an RTK solution model;
and S22, configuring the data type, the sampling interval and the cut-off height angle of the output observed quantity of each navigation type receiver.
As can be seen from the above description, before performing the comparison test, the base station receiver, the mobile station receiver, and each navigation receiver to be compared are configured, so as to ensure the reliability and effectiveness of the subsequent comparison test.
Further, the steps S2 and S3 further include:
checking whether the mobile station receiver receives the differential data transmitted by the base station receiver;
checking an RTK resolving state of the mobile station receiver and judging whether RTK resolving is successful or not;
if not, returning to execute the step S21;
checking whether the navigation receivers output the single point positioning result, if not, returning to execute the step S22.
It can be known from the above description that before the comparison test is performed, whether the mobile station receiver can normally receive the differential data of the base station receiver, whether the RTK solution is successful, and whether each navigation type receiver can output the single-point positioning result are checked, so that not only is the reliability of the comparison test ensured, but also useless tests are avoided, and the resource consumption is saved.
Further, the step S4 includes:
determining the single-point positioning precision of each navigation receiver according to the first positioning result and the second positioning result;
and comparing the positioning performance of each navigation type receiver according to the observed quantity and the single-point positioning precision of each navigation type receiver.
According to the description, the comprehensiveness and the accuracy of the test for comparing the positioning performance of each navigation receiver are ensured by comparing the observed quantity of each navigation receiver with the single-point positioning precision.
Further, determining the single-point positioning accuracy of each navigation receiver according to the first positioning result and the second positioning result comprises:
taking a fixed solution of centimeter-level precision in the first positioning result as a reference value for evaluating the single-point positioning precision;
according to the time information in the second positioning result of each navigation receiver, the second positioning result and the fixed solution of centimeter-level precision in the first positioning result are synchronized in time;
and respectively executing the following steps for the second positioning result of each navigation type receiver after time synchronization:
respectively converting the centimeter-level precision fixed solution and the second positioning result in the first 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 positioning deviation of the positioning results of the navigation receiver and the mobile station receiver in each direction in the station center coordinate system according to the difference;
determining the standard deviation of the single-point positioning result of the navigation receiver according to the difference value and the positioning deviation;
determining the root mean square error of the single-point positioning result of the navigation receiver according to the difference value;
and determining the dynamic point positioning accuracy of the navigation receiver according to the standard deviation and the root mean square error.
According to the description, the centimeter-level precision fixed solution in the positioning result of the mobile station receiver is used as a reference value, the standard deviation and the root mean square error of the single-point positioning result of each navigation type receiver are determined through the positioning difference value and the positioning deviation, and the dynamic single-point positioning precision of each navigation type receiver is determined according to the standard deviation and the root mean square error, so that the reliability of the determination of the dynamic single-point positioning precision is ensured, and the accuracy and the reliability of the comparison of the positioning performance of each navigation type receiver are further improved.
Example one
Referring to fig. 1, a method for testing positioning performance comparison of a navigation receiver includes the steps of:
s1, installing a base station receiver at a position with known accurate coordinates;
specifically, aiming at the requirement of a user on the performance of a navigation receiver, a base station receiver is installed under a good observation condition with known accurate coordinates;
the precise coordinate is specifically known as the precise coordinate of the antenna phase center of the base station receiver, and the precision is +/-3 mm;
the good observation conditions are that the terrain of the position of the antenna of the base station receiver is higher, the antenna is far away from the high-voltage transmission line, no object which strongly transmits satellite signals exists nearby, and no obstacle exists at the point position around the view elevation angle of more than 15 degrees;
the receiver and the antenna can support multi-frequency multi-mode GNSS signal reception;
arranging a data transmission station near a base station receiver; the position near the base station receiver is within 3 meters of the position near the base station receiver, the radio station is arranged, specifically, a radio station transmitting antenna is erected and connected with the radio station, the base station receiver is connected with the radio station through a radio station data transmission line, and a power line is connected with a storage battery and the radio station;
configuring the type of differential data output, sampling interval and cut-off height angle of the base station receiver;
specifically, the differential data format output by the base station receiver is configured to be RTCM3.2, the message type is MSM4 (including but not limited to 1074, 1084, 1124, and 1006), the sampling interval is configured to be 1s (optional according to the receiver condition, 0.1s, 0.2s, 0.5s, and 1 s), and the cut-off height angle is configured to be 10 degrees (optional from 0 degree to 15 degrees) which is commonly used;
s2, installing a mobile station receiver and a plurality of navigation receivers to be compared on the moving carrier;
the motion carrier can be any motion-enabling carrier, in particular a car. The mobile station receiver is specifically installed by installing a receiver and an antenna with the same type as a base station receiver at the top of a small car (with a skylight) and installing a radio station receiving antenna, wherein the small car is in an open environment and the distance from the small car to the base station is not more than 500 meters during installation;
after the installation is finished, hardware interfaces and connections of a base station receiver, a radio station and a mobile station receiver are checked, and specifically, whether the base station receiver and an antenna, the base station receiver and the radio station, the radio station and a transmitting antenna, the radio station and a storage battery, the mobile station receiver and the antenna, and the mobile station receiver and the radio station receiving antenna are normally connected, and whether the sending frequency and the transmission baud rate of the radio station are correct is checked;
installing various navigation receivers to be compared on a motion carrier, and specifically, respectively connecting the various navigation receivers and a mobile station receiver with an antenna arranged at the top of a sedan car by using a power distributor and a radio frequency line on the sedan car;
after the installation is finished, checking hardware receiving and connection of the navigation type receiver, specifically checking whether the connection of each navigation type receiver and a power divider, the connection of each navigation type receiver and a power supply, the connection of each navigation type receiver and a computer, and the connection of each power divider and an antenna are normal;
further comprising:
s21, configuring the data output type of the mobile station receiver and an RTK solution model; specifically, the mobile station receiver is configured to output multimode multi-frequency observed quantities and ephemeris (in the case, the multimode multi-frequency observed quantities and the ephemeris are output), the setting of a sampling interval and a cut-off height angle is consistent with that of the base station receiver, and a positioning mode of the mobile station receiver is configured to be an RTK dynamic mode (in the case, an on-board mode);
after the configuration is completed, checking whether the mobile station receiver receives the differential data sent by the base station receiver;
checking an RTK resolving state of the mobile station receiver and judging whether RTK resolving is successful or not;
if not, returning to re-configure and checking until the check is correct;
specifically, whether the content of the differential data message received by the radio station receiving antenna on the mobile station receiver is 1074, 1084, 1124 and 1006 and whether the sampling interval is 1s are checked, if not, the reconfiguration is returned and the check is carried out;
checking the RTK resolving state on the rover receiver, specifically checking whether the RTK resolving of the rover receiver is successful (fixed solution or floating solution), and returning to reconfiguration and checking if the RTK resolving is failed (no solution or single-point solution);
s22, configuring the data type, sampling interval and cut-off height angle of the output observed quantity of each navigation receiver;
considering that most navigation users select a single-frequency receiver, each navigation type receiver is configured to output single-frequency GPS, BDS observed quantity and ephemeris, the sampling intervals are unified to be 1s, and the cut-off height angles are unified to be 10 degrees;
after the configuration is finished, checking whether each navigation receiver outputs a single-point positioning result, if not, returning to execute the step S22 for reconfiguration and checking;
s3, performing path planning on the motion carrier, forwarding differential data sent by a base station receiver to the mobile station receiver in the moving process of the motion carrier, and receiving observed quantities of all navigation receivers, a first positioning result obtained by the mobile station receiver performing RTK (real time kinematic) calculation according to the differential data, and a second positioning result obtained by the mobile station receiver performing single-point positioning calculation;
when the test path planning is carried out, the path planning is carried out according to the distance from the base station receiver to the mobile station receiver, and the distance from the driving track to the base station receiver is specifically set to be better than 20km in consideration of the service distance of an RTK system radio station;
designing the speed range of a moving carrier and the moving environment of the moving carrier, specifically ensuring that the driving speed of a vehicle is less than 80km/h according to road conditions and driving environment, and having states of acceleration, deceleration, turning and the like, wherein the road specifically is an ordinary urban road and an express urban road;
controlling the motion carrier to move in the planned path;
s4, comparing the positioning performances of the plurality of navigation receivers to be compared according to the observed quantity, the first positioning result and the second positioning result;
the observed quantity, the first fixed structure and the second positioning result can be collected into a computer for processing, comparing and analyzing;
specifically, the step S4 includes:
determining the single-point positioning precision of each navigation receiver according to the first positioning result and the second positioning result;
comparing the positioning performance of each navigation receiver according to the observed quantity and the single-point positioning precision of each navigation receiver;
the method comprises the steps that observation quantities and satellite ephemeris of all navigation type receivers are led into display software, and satellite tracking conditions of all the navigation type receivers are compared, specifically, the satellite tracking conditions comprise the comparison of satellite tracking quantity, precision factor (DOP), signal to noise ratio and the like of the navigation type receivers;
wherein determining the single-point positioning accuracy of each navigational receiver according to the first and second positioning results comprises:
taking a fixed solution of centimeter-level precision in the first positioning result as a reference value for evaluating the single-point positioning precision;
the absolute accuracy of the RTK positioning fixed solution can reach centimeter level when the distance between the base station and the mobile station is less than 20 km. Therefore, in order to ensure the accuracy and objectivity of the evaluation of the single-point positioning precision of each navigation receiver, the RTK solution (fixed solution) of the rover station receiver is used as a reference value for evaluating the single-point positioning (meter level);
in order to ensure the synchronism of the positioning result of each navigation type receiver and the RTK fixed solution of the mobile station receiver, the second positioning result and the fixed solution with centimeter-level precision in the first positioning result are synchronized in time according to the time information in the second positioning result of each navigation type receiver;
and respectively executing the following steps for the second positioning result of each navigation type receiver after time synchronization:
respectively converting the centimeter-level precision fixed solution and the second positioning result in the first 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;
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 each epoch navigation type receiver and the RTK fixed solution of the rover station receiver in each direction in the station center coordinate system, wherein the calculation formula is as follows:
in the formula,. DELTA.Ei,ΔNi,ΔUiE, N, U direction for positioning results of ith navigation and contrast receivers(i ═ 1,2, …, n); ei,a,Ni,a,Ui,aComponent in direction E, N, U of the single point location result of the ith navigation type receiver; ei,b,Ni,b,Ui,bThe component in the E, N, U direction for the RTK fix solution for the ith rover receiver;
and determining the positioning deviation of the positioning results of the navigation receiver and the mobile station receiver in each direction in the station center coordinate system according to the difference, wherein the calculation formula is as follows:
in the formula (I), the compound is shown in the specification,positioning deviation of the single point positioning result of the navigation receiver in E, N, U direction component;
and determining standard deviations of the single-point positioning result of the navigation type receiver at E, N, U component and Horizontal (H) and Three-dimensional (3D) according to the difference and the positioning deviation, wherein the calculation formula is as follows:
in the formula, σE,σN,σU,σH,σ3DThe standard deviation of the single-point positioning result of the navigation receiver in E, N, U direction component and horizontal and three dimensions can reflect the accuracy degree of the statistical data;
determining the root mean square error of the single-point positioning result of the navigation receiver according to the difference value;
specifically, the root mean square error of the single-point positioning result of the navigation receiver in E, N, U, H and 3D directions is calculated by the following formula:
wherein, RMSEE,RMSEN,RMSEU,RMSEH,RMSE3DComponent in E, N, U direction and root mean square error in horizontal and three dimensions for single point positioning results of navigational receivers, Ei,a,Ni,a,Ui,aComponent of single-point positioning result in direction E, N, U for the ith epoch navigation receiver; ei,b,Ni,b,Ui,bThe root mean square error may reflect the accuracy of the statistical data for the component of the corresponding epoch rover station receiver RTK position fix solution in the direction E, N, U;
and determining the dynamic point positioning accuracy of the navigation receiver according to the standard deviation and the root mean square error.
Example two
Referring to fig. 2, a test terminal 1 for comparing positioning performance of a navigation receiver 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 of the first embodiment when executing the computer program.
EXAMPLE III
The testing method for the positioning performance comparison of the navigation receiver is applied to an actual scene, the structure of the built testing device is shown in fig. 3, a base station receiver and a radio station are erected at a position with a wide view of the roof (about 40 meters higher than the roof) of a Guangdong building (6 floors) of Minjiang academy of academic, and the millimeter-scale accurate position of the phase center of the base station antenna is measured;
a mobile station receiver and 3 navigation receivers to be compared are arranged in the small car, and the mobile station receiver and the 3 navigation receivers are respectively connected to the same antenna by a power divider;
configuring and checking each receiver, and after confirming that no fault exists, driving the automobile according to the path shown in figure 4, wherein the driving path comprises an expressway and a general road; the system comprises a mobile station receiver, a navigation type receiver, a base station and a mobile station, wherein the driving speed of an automobile is between 0 and 80km/h, the mobile station receiver carries out RTK (real time kinematic) calculation, the navigation type receiver carries out single-point positioning calculation and stores original data, and the distance from the automobile to the base station is less than 20km in the experimental process;
in the whole test process, satellite tracking conditions and precision factors of 3 navigation receivers are shown in table 1, wherein the precision factors comprise a horizontal precision factor (HDOP), a vertical precision factor (VDOP) and a position precision factor (PDOP); the time series of the satellite tracking condition, the precision factor and the signal-to-noise ratio are shown in fig. 5 and 6;
TABLE 1 Whole course three navigation receiver dynamic single point positioning accuracy statistics (1 sigma)
The distribution of the positioning error of the 3 navigation receivers on E, N, U components in the case of urban general roads and expressways is shown in fig. 7 and 8, and the horizontal, vertical and three-dimensional accuracies (standard deviation STD and root mean square error RMSE) are shown in tables 2 and 3;
TABLE 2 dynamic point positioning accuracy statistics of three navigation receivers (1 sigma) under urban general roads
TABLE 3 dynamic single point positioning accuracy statistics of three navigation receivers under urban expressway (1 sigma)
According to the satellite tracking conditions of the navigation receivers in table 1, table 2, table 3, fig. 5, fig. 6, fig. 7, and fig. 8, the performance of each of the navigation receivers can be comparatively analyzed and judged according to the indexes such as the quality of the observed quantity and the positioning accuracy.
In summary, the method and the terminal for testing the positioning performance comparison of the navigation receivers provided by the present invention install the rover receiver and the multiple navigation receivers to be compared on the same moving carrier, after obtaining the accurate RTK positioning result of the rover receiver, compare and analyze the observed quantities of different navigation receivers according to the user requirement, compare the single-point positioning result of different navigation receivers with the RTK positioning record of the rover receiver, thereby implementing the comparison test of the positioning performance of different navigation receivers, without using an expensive signal simulator, and compare in the real dynamic environment according to the real satellite signal, so that the positioning performance characteristics of different navigation receivers in different environments and application requirements can be truly reflected, and the test is flexible; the testing method can be used as an effective supplement to a signal simulator testing method, and can flexibly test on a motion carrier according to the requirement of a user on receiver model selection; meanwhile, the observation quantity and the positioning result in the test process can be saved, and data support is provided for the positioning performance comparison of the navigation receiver.
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 method for testing the positioning performance comparison of a navigation receiver is characterized by comprising the following steps:
s1, installing a base station receiver at a position with known accurate coordinates;
s2, installing a mobile station receiver and a plurality of navigation receivers to be compared on the moving carrier;
s3, performing path planning on the motion carrier, forwarding differential data sent by a base station receiver to the mobile station receiver in the moving process of the motion carrier, and receiving observed quantities of all navigation receivers, a first positioning result obtained by the mobile station receiver performing RTK (real time kinematic) calculation according to the differential data, and a second positioning result obtained by the mobile station receiver performing single-point positioning calculation;
and S4, comparing the positioning performances of the plurality of navigation receivers to be compared according to the observed quantity, the first positioning result and the second positioning result.
2. The method as claimed in claim 1, wherein the step S1 further includes:
s11, configuring the differential data output type, the sampling interval and the cut-off height angle of the base station receiver;
the step S2 further includes:
s21, configuring the data output type of the mobile station receiver and an RTK solution model;
and S22, configuring the data type, the sampling interval and the cut-off height angle of the output observed quantity of each navigation type receiver.
3. The method as claimed in claim 2, further comprising between steps S2 and S3:
checking whether the mobile station receiver receives the differential data transmitted by the base station receiver;
checking an RTK resolving state of the mobile station receiver and judging whether RTK resolving is successful or not;
if not, returning to execute the step S21;
checking whether the navigation receivers output the single point positioning result, if not, returning to execute the step S22.
4. The method as claimed in claim 1, wherein the step S4 includes:
determining the single-point positioning precision of each navigation receiver according to the first positioning result and the second positioning result;
and comparing the positioning performance of each navigation type receiver according to the observed quantity and the single-point positioning precision of each navigation type receiver.
5. The method as claimed in claim 4, wherein determining the single-point positioning accuracy of each of the navigation receivers according to the first positioning result and the second positioning result comprises:
taking a fixed solution of centimeter-level precision in the first positioning result as a reference value for evaluating the single-point positioning precision;
according to the time information in the second positioning result of each navigation receiver, the second positioning result and the fixed solution of centimeter-level precision in the first positioning result are synchronized in time;
and respectively executing the following steps for the second positioning result of each navigation type receiver after time synchronization:
respectively converting the centimeter-level precision fixed solution and the second positioning result in the first 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 positioning deviation of the positioning results of the navigation receiver and the mobile station receiver in each direction in the station center coordinate system according to the difference;
determining the standard deviation of the single-point positioning result of the navigation receiver according to the difference value and the positioning deviation;
determining the root mean square error of the single-point positioning result of the navigation receiver according to the difference value;
and determining the dynamic point positioning accuracy of the navigation receiver according to the standard deviation and the root mean square error.
6. A terminal for testing positioning performance comparison of a navigation receiver, comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to perform the following steps:
s1, determining the accurate coordinates of the position of the installed base station receiver;
s2, planning a path of a moving carrier, wherein a mobile station receiver and a plurality of navigation receivers to be compared are installed on the moving carrier;
s3, in the moving process of the moving carrier, the differential data sent by the base station receiver are forwarded to the mobile station receiver, and the observed quantity of each navigation type receiver, a first positioning result obtained by the mobile station receiver through RTK calculation according to the differential data and a second positioning result obtained by each navigation type receiver through single point positioning calculation are received;
and S4, comparing the positioning performances of the plurality of navigation receivers to be compared according to the observed quantity, the first positioning result and the second positioning result.
7. The terminal for testing the positioning performance comparison of a navigation type receiver according to claim 6, wherein the step S1 further comprises:
s11, configuring the differential data output type, the sampling interval and the cut-off height angle of the base station receiver;
the step S2 further includes:
s21, configuring the data output type of the mobile station receiver and an RTK solution model;
and S22, configuring the data type, the sampling interval and the cut-off height angle of the output observed quantity of each navigation type receiver.
8. The terminal of claim 7, further comprising between the steps S2 and S3:
checking whether the mobile station receiver receives the differential data transmitted by the base station receiver;
checking an RTK resolving state of the mobile station receiver and judging whether RTK resolving is successful or not;
if not, returning to execute the step S21;
checking whether the navigation receivers output the single point positioning result, if not, returning to execute the step S22.
9. The terminal for testing the positioning performance comparison of a navigation type receiver according to claim 6, wherein the step S4 comprises:
determining the single-point positioning precision of each navigation receiver according to the first positioning result and the second positioning result;
and comparing the positioning performance of each navigation type receiver according to the observed quantity and the single-point positioning precision of each navigation type receiver.
10. The terminal of claim 9, wherein determining the single-point positioning accuracy of each of the plurality of navigation receivers according to the first positioning result and the second positioning result comprises:
taking a fixed solution of centimeter-level precision in the first positioning result as a reference value for evaluating the single-point positioning precision;
according to the time information in the second positioning result of each navigation receiver, the second positioning result and the fixed solution of centimeter-level precision in the first positioning result are synchronized in time;
and respectively executing the following steps for the second positioning result of each navigation type receiver after time synchronization:
respectively converting the centimeter-level precision fixed solution and the second positioning result in the first 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 positioning deviation of the positioning results of the navigation receiver and the mobile station receiver in each direction in the station center coordinate system according to the difference;
determining the standard deviation of the single-point positioning result of the navigation receiver according to the difference value and the positioning deviation;
determining the root mean square error of the single-point positioning result of the navigation receiver according to the difference value;
and determining the dynamic point positioning accuracy of the navigation receiver according to the standard deviation and the root mean square error.
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