CN111027019A - Method and device for statistical analysis of confidence coefficient of high-precision positioning result - Google Patents
Method and device for statistical analysis of confidence coefficient of high-precision positioning result Download PDFInfo
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- CN111027019A CN111027019A CN201811181043.9A CN201811181043A CN111027019A CN 111027019 A CN111027019 A CN 111027019A CN 201811181043 A CN201811181043 A CN 201811181043A CN 111027019 A CN111027019 A CN 111027019A
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Abstract
The invention provides a method and a device for statistical analysis of confidence coefficient of high-precision positioning result, comprising the following steps: obtaining confidence information and positioning position information through a positioning result file, wherein the confidence information comprises a horizontal confidence radius and an elevation confidence radius; obtaining a positioning error according to the positioning position information and a reference positioning file, wherein the positioning error comprises a horizontal error and an elevation error; calculating a confidence error, subtracting the horizontal confidence radius from the horizontal error to obtain a horizontal confidence error, and subtracting the elevation confidence radius from the elevation error to obtain an elevation confidence error; and analyzing the horizontal confidence error and the elevation confidence error to obtain confidence accuracy and confidence precision results.
Description
Technical Field
The invention relates to the technical field of confidence coefficient analysis, in particular to a method and a device for statistically analyzing confidence coefficient of a high-precision positioning result.
Background
In the latest high-precision positioning result, each time the positioning position is given, the confidence radius of the position under different probabilities is also given, namely the probability that the error of the positioning position relative to the actual position falls within the confidence radius is given. The positioning messages and confidence messages in the high-precision positioning result file are as follows:
$GPGGA，053729.40，3120.728839，N，12130.071879，E，2，16，1.096596，23.642921，M，0，M，，0000*79
$ACCUR，1，12，0，211117，053729.40，3，3，2，3.5，2.5，4，4，3
wherein a confidence message $ ACCUR immediately follows each $ GPGGA or $ GPINR message (hereinafter referred to as a positioning message), the time information is consistent with the positioning message, providing confidence-related information for the positioning location therein.
The format of $ ACCUR is shown in Table 1.
Table 1 confidence message format table
The confidence of the existing high-precision positioning is divided into three levels, wherein the confidence 1 is 68.26%, the confidence 2 is 95.00%, and the confidence 3 is 99.90%. Confidence radii in three directions are temporarily given at each level: north N, east E, and sky U, giving a total of 9 confidence radii.
In the prior art, a technical scheme for performing statistical analysis on all confidence radiuses of a high-precision positioning result in the aspects of accuracy and precision is not found.
Disclosure of Invention
The invention provides a method and a device for statistically analyzing confidence coefficients of high-precision positioning results, which are used for statistically analyzing all confidence radiuses of the high-precision positioning results in the aspects of accuracy and precision.
The technical scheme adopted by the invention is as follows:
the invention provides a method for statistically analyzing confidence of a high-precision positioning result, which comprises the following steps of:
obtaining confidence information and positioning position information through a positioning result file, wherein the confidence information comprises a horizontal confidence radius and an elevation confidence radius;
obtaining a positioning error according to the positioning position information and a reference positioning file, wherein the positioning error comprises a horizontal error and an elevation error;
calculating a confidence error, subtracting the horizontal confidence radius from the horizontal error to obtain a horizontal confidence error, and subtracting the elevation confidence radius from the elevation error to obtain an elevation confidence error;
and analyzing the horizontal confidence error and the elevation confidence error to obtain confidence accuracy and confidence precision results.
Further, the horizontal confidence radius is obtained by combining the northbound confidence radius and the eastern confidence radius.
Further, in the confidence error calculation result, positive samples with the confidence error being positive or 0 and negative samples with the confidence error being negative are counted, the positive sample number, the negative sample number and the total number of samples of the horizontal confidence error and the elevation confidence error are counted, and the horizontal confidence accuracy rate and the elevation confidence accuracy rate are calculated.
Further, the horizontal confidence accuracy is obtained by the total number of positive samples of the horizontal confidence error/the total number of samples of the horizontal confidence error, and the elevation confidence accuracy is obtained by the total number of positive samples of the elevation confidence error/the total number of samples of the elevation confidence error.
Further, the horizontal confidence accuracy/the elevation confidence accuracy is compared with a given confidence, and the confidence accuracy is evaluated.
And further, calculating confidence offset, wherein the absolute value of the horizontal confidence error is the horizontal confidence offset, the absolute value of the elevation confidence error is the elevation confidence offset, and obtaining the accuracy result of the confidence offset, namely the confidence accuracy result, by counting the sample distribution of the horizontal confidence offset and the elevation confidence offset and performing corresponding calculation.
Further, counting the confidence offset of the confidence error positive sample and the confidence offset of the confidence error negative sample, wherein the absolute value of the confidence error positive sample is the confidence offset of the confidence error positive sample, the absolute value of the confidence error negative sample is the confidence offset of the confidence error negative sample, and the confidence offset of the confidence error positive sample and the confidence offset of the confidence error negative sample are correspondingly calculated to obtain the statistical results of the confidence offset of the confidence error positive sample and the confidence offset of the confidence error negative sample.
Further, calculating a confidence offset rate, obtaining a horizontal confidence offset rate by the horizontal confidence offset/horizontal error, obtaining an elevation confidence offset rate by the elevation confidence offset/elevation error, and obtaining a statistical result of the confidence offset rate by counting the sample distribution of the horizontal confidence offset rate and the elevation confidence offset rate and performing corresponding calculation.
Further, counting the confidence deviation rate positive sample and the confidence deviation rate negative sample, and correspondingly calculating the confidence deviation rate positive sample and the confidence deviation rate negative sample to obtain the statistical results of the confidence deviation rate positive sample and the confidence deviation rate negative sample.
The invention also provides a statistical analysis device for the confidence coefficient of the positioning result, which comprises:
the position information acquisition unit is used for acquiring confidence coefficient information and positioning position information through the positioning result file, wherein the confidence coefficient information comprises a horizontal confidence radius and an elevation confidence radius;
the positioning error calculation unit is used for obtaining positioning errors according to the positioning position information and the reference positioning file, and the positioning errors comprise horizontal errors and elevation errors;
the confidence error calculation unit is used for calculating a confidence error, subtracting the horizontal confidence radius from the horizontal error to obtain a horizontal confidence error, and subtracting the elevation confidence radius from the elevation error to obtain an elevation confidence error;
and the confidence coefficient analysis unit is used for analyzing the horizontal confidence error and the elevation confidence error to obtain confidence accuracy and confidence accuracy results.
The invention also provides a statistical analysis system which comprises the statistical analysis device for the confidence coefficient of the positioning result.
The invention also provides a memory storing a computer program executed by a processor to perform the steps of:
obtaining confidence information and positioning position information through a positioning result file, wherein the confidence information comprises a horizontal confidence radius and an elevation confidence radius;
obtaining a positioning error according to the positioning position information and a reference positioning file, wherein the positioning error comprises a horizontal error and an elevation error;
calculating a confidence error, subtracting the horizontal confidence radius from the horizontal error to obtain a horizontal confidence error, and subtracting the elevation confidence radius from the elevation error to obtain an elevation confidence error;
and analyzing the horizontal confidence error and the elevation confidence error to obtain confidence accuracy and confidence precision results.
The method has the advantages of statistically analyzing the accuracy and precision of the confidence coefficient of the high-precision positioning result and filling the blank of the prior art in the field.
Drawings
FIG. 1 is a flow chart of confidence statistic analysis according to the present invention;
FIG. 2 is a diagram of a confidence statistic analysis apparatus according to the present invention.
Detailed Description
The invention is further illustrated below with reference to the figures and examples.
The first embodiment is as follows:
confidence (Confidence interval) is a concept in statistics where the Confidence interval (Confidence interval) of a probability sample is an interval estimate for some overall parameter of this sample. The confidence level reveals the extent to which the true value of this parameter has a certain probability of falling around the measurement.
The confidence of the existing high-precision positioning is divided into three levels, wherein the confidence 1 is 68.26%, the confidence 2 is 95.00%, and the confidence 3 is 99.90%. Confidence radii in three directions are temporarily given at each level: north N, east E, and sky U, giving a total of 9 confidence radii. The subsequent positioning result file also gives the confidence radius of the speed and the course positioning result, and the statistical method is the same as the technology.
Fig. 1 is a flow chart of the confidence statistical analysis of the present invention, as shown in fig. 1, statistically analyzing the confidence of the positioning result, and combining the high-precision reference positioning result, taking the reference positioning result as the real position, calculating the error between the positioning position and the real position, comparing the position error with the confidence radius to obtain the confidence error, and then further analyzing the confidence error to form the accuracy and accuracy statistical report of the confidence.
In the invention, confidence statistics is divided into a horizontal direction and an elevation direction, namely, the north direction and the east direction are combined and unified into the horizontal direction, and the combination mode is a stock-hooking law, namely:
the elevation confidence radius is the antenna confidence radius.
The process of obtaining the positioning error according to the positioning location information and the reference positioning file in fig. 1 belongs to the prior art. The positioning errors are stored in an intermediate file in a text format, each line records a sample, and the specific content of each sample comprises information of time, horizontal errors, elevation errors and the like of one-time positioning. On the basis of the existing intermediate file, the confidence errors are continuously added, namely six columns are added to the intermediate file, namely horizontal confidence error 1/horizontal confidence error 2/horizontal confidence error 3/elevation confidence error 1/elevation confidence error 2/elevation confidence error 3. The specific calculation method comprises the following steps:
horizontal confidence error 1-horizontal confidence radius 1-horizontal error
Horizontal confidence error 2-horizontal confidence radius 2-horizontal error
Horizontal confidence error 3-horizontal confidence radius 3-horizontal error
Elevation confidence error 1 is elevation confidence radius 1-elevation error
Elevation confidence error 2 is elevation confidence radius 2-elevation error
Elevation confidence error 3-elevation confidence radius 3-elevation error
In the calculation result, if the confidence error is a positive number or 0, the sample is positive, namely the positioning error of the direction is within the confidence radius; negative is a negative example, i.e. the positioning error for that direction exceeds the confidence radius.
And respectively counting the total number of the various samples, the number of positive samples and the number of negative samples.
The horizontal/elevation confidence accuracy rates 1 and 68.26%, 2 and 95.00% and 3 and 99.90%, respectively, are compared to evaluate the accuracy of the corresponding confidence radii.
The confidence error is further analyzed by accuracy statistics, and the absolute value of the confidence error of each sample, namely the confidence offset, is calculated:
horizontal confidence offset 1 ═ horizontal confidence error 1-
Horizontal confidence offset 2 ═ horizontal confidence error 2-
Horizontal confidence offset 3 ═ horizontal confidence error 3-
Elevation confidence offset 1 ═ elevation confidence error 1-
Elevation confidence offset 2 ═ elevation confidence error 2-
Elevation confidence offset 3 ═ elevation confidence error 3-
And then respectively counting the sample distribution of each type of offset, and calculating the root mean square value RMS, the standard deviation value STD, the CEP68, the CEP95, the CEP997, the maximum value and the time point thereof to obtain the accuracy statistical result of the confidence offset. The specific calculation process is as follows:
wherein
Is the arithmetic mean value of the class samples, and the calculation formula is
Cep (circular Error probability) refers to the circular probability Error. The calculation method comprises the following steps: arranging the samples in an ascending order to obtain an ascending sequence of the samples,
sample(s)CEP68Sample ascending sequence [ N × 0.68 ═ g]
Sample(s)CEP95Sample ascending sequence [ N × 0.95 ═ g]
Sample(s)cEP997Sample ascending sequence [ N × 0.997 ═ g]
The samples respectively refer to a horizontal confidence offset 1, a horizontal confidence offset 2, a horizontal confidence offset 3, an elevation confidence offset 1, an elevation confidence offset 2 and an elevation confidence offset 3, and N is the number of the samples.
In addition, the sample of each type of confidence error is divided into a positive sample and a negative sample, and the root mean square value RMS, the standard deviation value STD, the CEP68, the CEP95, the CEP997, the maximum value and the time point thereof are respectively calculated to obtain the statistical results of the confidence offsets of the positive sample and the negative sample of each type.
The confidence offset rate is the ratio of the confidence offset to the positioning error, and the calculation method is as follows:
similar to the method for counting the distribution of the confidence offset samples, the method respectively counts the distribution of the samples of each type of offset rate, calculates the root mean square value, the standard deviation value STD, the CEP68, the CEP95, the CEP997, the maximum value and the time point thereof, and obtains the statistical result of the confidence offset rate. The specific calculation process is as follows:
wherein
Is the arithmetic mean value of the class samples, and the calculation formula is
Arranging the samples in an ascending order to obtain an ascending sequence of the samples,
sample(s)CEP68Sample ascending sequence [ N × 0.68 ═ g]
Sample(s)CEP95Sample ascending sequence [ N × 0.95 ═ g]
Sample(s)CEP997Sample ascending sequence [ N × 0.997 ═ g]
The samples respectively refer to a horizontal confidence offset rate 1, a horizontal confidence offset rate 2, a horizontal confidence offset rate 3, an elevation confidence offset rate 1, an elevation confidence offset rate 2 and an elevation confidence offset rate 3, and N is the number of the samples.
And similarly, dividing the confidence offset rate samples into positive and negative samples, and respectively calculating the root mean square value RMS, the standard deviation value STD, the CEP68, the CEP95, the CEP997, the maximum value and the time point thereof to obtain the statistical results of the confidence offset rates of the positive samples and the negative samples.
In the actual statistical process, the method supports the classification of all samples according to the positioning mode or scene, and respectively counts the accuracy and precision of the confidence radius.
Example two:
the present invention also provides a statistical analysis apparatus for confidence of positioning result, as shown in fig. 2, including:
the position information acquisition unit is used for acquiring confidence coefficient information and positioning position information through the positioning result file, wherein the confidence coefficient information comprises a horizontal confidence radius and an elevation confidence radius;
the positioning error calculation unit is used for obtaining positioning errors according to the positioning position information and the reference positioning file, and the positioning errors comprise horizontal errors and elevation errors;
the confidence error calculation unit is used for calculating a confidence error, subtracting the horizontal confidence radius from the horizontal error to obtain a horizontal confidence error, and subtracting the elevation confidence radius from the elevation error to obtain an elevation confidence error;
and the confidence coefficient analysis unit is used for analyzing the horizontal confidence error and the elevation confidence error to obtain confidence accuracy and confidence accuracy results.
In addition, the invention also provides a statistical analysis system which is characterized by comprising the statistical analysis device for the confidence coefficient of the positioning result.
Example three:
the invention also provides a memory storing a computer program executed by a processor to perform the steps of:
obtaining confidence information and positioning position information through a positioning result file, wherein the confidence information comprises a horizontal confidence radius and an elevation confidence radius;
obtaining a positioning error according to the positioning position information and a reference positioning file, wherein the positioning error comprises a horizontal error and an elevation error;
calculating a confidence error, subtracting the horizontal confidence radius from the horizontal error to obtain a horizontal confidence error, and subtracting the elevation confidence radius from the elevation error to obtain an elevation confidence error;
and analyzing the horizontal confidence error and the elevation confidence error to obtain confidence accuracy and confidence precision results.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the present invention, and those skilled in the art can make variations and modifications of the present invention without departing from the spirit and scope of the present invention by using the methods and technical contents disclosed above.
Claims (12)
1. A method for statistically analyzing confidence of a high-precision positioning result, comprising the steps of:
obtaining confidence information and positioning position information through a positioning result file, wherein the confidence information comprises a horizontal confidence radius and an elevation confidence radius;
obtaining a positioning error according to the positioning position information and a reference positioning file, wherein the positioning error comprises a horizontal error and an elevation error;
calculating a confidence error, subtracting the horizontal confidence radius from the horizontal error to obtain a horizontal confidence error, and subtracting the elevation confidence radius from the elevation error to obtain an elevation confidence error;
and analyzing the horizontal confidence error and the elevation confidence error to obtain confidence accuracy and confidence precision results.
2. The method of claim 1, wherein the horizontal confidence radius is obtained by combining a north confidence radius and an east confidence radius.
3. The method of claim 2, wherein in the confidence error calculation result, positive samples with a confidence error of positive or 0, negative samples with a confidence error of negative, positive samples with a horizontal confidence error and an elevation confidence error, negative samples, and total number of samples are counted, and the horizontal confidence accuracy and the elevation confidence accuracy are calculated.
4. The method of claim 3, wherein the horizontal confidence accuracy is obtained by counting positive samples of horizontal confidence errors/counting samples of horizontal confidence errors, and the vertical confidence accuracy is obtained by counting positive samples of vertical confidence errors/counting samples of vertical confidence errors.
5. The method of claim 4, wherein the confidence level is evaluated by comparing the confidence level/confidence level with a given confidence level.
6. The method as claimed in claim 2, wherein the method further comprises calculating confidence offsets, the absolute value of the horizontal confidence error is the horizontal confidence offset, and the absolute value of the elevation confidence error is the elevation confidence offset, and obtaining the confidence offset accuracy result, i.e. the confidence accuracy result, by counting the sample distributions of the horizontal confidence offset and the elevation confidence offset and performing corresponding calculation.
7. The method as claimed in claim 3, wherein the confidence offsets of the confidence error positive samples and the confidence offsets of the confidence error negative samples are counted, the absolute value of the confidence error positive samples is the confidence offset of the confidence error positive samples, the absolute value of the confidence error negative samples is the confidence offset of the confidence error negative samples, and the confidence offsets of the confidence error positive samples and the confidence offsets of the confidence error negative samples are calculated accordingly to obtain the statistical results of the confidence offsets of the confidence error positive samples and the confidence offsets of the confidence error negative samples.
8. The method of claim 6, wherein calculating a confidence offset ratio comprises: and obtaining a horizontal confidence offset rate by the horizontal confidence offset/the horizontal error, obtaining an elevation confidence offset rate by the elevation confidence offset/the elevation error, and obtaining a statistical result of the confidence offset rate by counting the sample distribution of the horizontal confidence offset rate and the elevation confidence offset rate and performing corresponding calculation.
9. The method as claimed in claim 8, wherein the confidence of the positive confidence offset rate sample and the negative confidence offset rate sample are counted, and the positive confidence offset rate sample and the negative confidence offset rate sample are calculated accordingly to obtain the statistical results of the positive confidence offset rate sample and the negative confidence offset rate sample.
10. An apparatus for statistical analysis of confidence of localization results, the apparatus comprising:
the position information acquisition unit is used for acquiring confidence coefficient information and positioning position information through the positioning result file, wherein the confidence coefficient information comprises a horizontal confidence radius and an elevation confidence radius;
the positioning error calculation unit is used for obtaining positioning errors according to the positioning position information and the reference positioning file, and the positioning errors comprise horizontal errors and elevation errors;
the confidence error calculation unit is used for calculating a confidence error, subtracting the horizontal confidence radius from the horizontal error to obtain a horizontal confidence error, and subtracting the elevation confidence radius from the elevation error to obtain an elevation confidence error;
and the confidence coefficient analysis unit is used for analyzing the horizontal confidence error and the elevation confidence error to obtain confidence accuracy and confidence accuracy results.
11. A statistical analysis system comprising a statistical analysis device for locating confidence in results according to claim 10.
12. A memory storing a computer program, the computer program being executable by a processor to perform the steps of:
obtaining confidence information and positioning position information through a positioning result file, wherein the confidence information comprises a horizontal confidence radius and an elevation confidence radius;
obtaining a positioning error according to the positioning position information and a reference positioning file, wherein the positioning error comprises a horizontal error and an elevation error;
calculating a confidence error, subtracting the horizontal confidence radius from the horizontal error to obtain a horizontal confidence error, and subtracting the elevation confidence radius from the elevation error to obtain an elevation confidence error;
and analyzing the horizontal confidence error and the elevation confidence error to obtain confidence accuracy and confidence precision results.
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