CN111142129A - Positioning system test method, device, equipment and storage medium - Google Patents
Positioning system test method, device, equipment and storage medium Download PDFInfo
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- CN111142129A CN111142129A CN201911170286.7A CN201911170286A CN111142129A CN 111142129 A CN111142129 A CN 111142129A CN 201911170286 A CN201911170286 A CN 201911170286A CN 111142129 A CN111142129 A CN 111142129A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/23—Testing, monitoring, correcting or calibrating of receiver elements
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/20—Integrity monitoring, fault detection or fault isolation of space segment
Abstract
The application discloses a positioning system testing method, a positioning system testing device, positioning system testing equipment and a storage medium, and relates to the technical field of unmanned driving. The specific implementation scheme is as follows: obtaining historical positioning records collected by a sensor of an unmanned vehicle; changing the historical positioning record according to a preset rule to obtain test data; and sending the test data to a positioning system of the unmanned vehicle installed in the vehicle test platform so as to test the positioning system of the unmanned vehicle installed in the vehicle test platform. According to the method and the device, the historical positioning record of the unmanned vehicle is obtained and changed, the test data simulating the positioning system of the unmanned vehicle under various abnormal conditions can be obtained, and effective off-line test can be performed on the positioning system of the unmanned vehicle, so that the accuracy and the robustness of the positioning system of the unmanned vehicle can be determined, a basis is provided for debugging and upgrading of the system, and the positioning system of the unmanned vehicle can be guaranteed to run reliably.
Description
Technical Field
The application relates to the technical field of computers, in particular to the technical field of unmanned driving.
Background
Unmanned vehicles typically need to determine their location on a map via a positioning system to provide a basis for subsequent control decision planning. However, the existing unmanned vehicle usually adopts a GNSS (Global Navigation satellite system) for positioning, that is, a GNSS receiver of the unmanned vehicle receives positioning data transmitted by satellites, such as a model of a GNSS receiver of a model of a ProPak6 or a model of a ProPak7 of NovAtel corporation.
When testing a positioning system of an unmanned vehicle, test data is generally required to be obtained, and the test data includes not only positioning data in a normal condition but also positioning data in an abnormal condition. Since commercial products such as the ProPak6 and the ProPak7 generally have high accuracy and are difficult to acquire positioning data when the positioning system of the unmanned vehicle is abnormal, when the positioning system of the unmanned vehicle is tested, the testing under the normal condition of the GNSS receiver is easily realized, but the testing under the abnormal condition of the GNSS receiver cannot be effectively completed.
Disclosure of Invention
The application provides a positioning system testing method, a positioning system testing device, positioning equipment and a storage medium, so that the positioning system of an unmanned vehicle can be effectively tested, and the accuracy and robustness of the positioning system of the unmanned vehicle can be determined.
A first aspect of the present application provides a method for testing a positioning system, including:
acquiring a historical positioning record acquired by a sensor of an unmanned vehicle;
changing the historical positioning record according to a preset rule to obtain test data;
and sending the test data to a positioning system of the unmanned vehicle installed in the vehicle test platform so as to test the positioning system of the unmanned vehicle installed in the vehicle test platform.
By the scheme, the historical positioning record of the unmanned vehicle can be acquired and changed, the test data of the positioning system simulating the unmanned vehicle under various abnormal conditions can be acquired, and the positioning system of the unmanned vehicle can be effectively tested off line, so that the accuracy and the robustness of the positioning system of the unmanned vehicle can be determined, a basis is provided for debugging and upgrading of the system, and the positioning system of the unmanned vehicle can be ensured to run reliably.
Optionally, the historical GNSS positioning record includes a historical GNSS positioning record, and the historical GNSS positioning record includes at least one piece of historical GNSS positioning data;
the changing the historical positioning record according to the preset rule comprises the following steps:
altering at least one of the following of the at least one historical GNSS positioning data to obtain a test GNSS positioning record:
further changing a transmission time attribute, a transmission sequence, a number of repeated transmissions, or changing a predetermined field in the at least one historical GNSS positioning data, or deleting a piece of historical GNSS positioning data, to transmit the at least one piece of historical GNSS positioning data to the vehicle testing platform.
By the scheme, the positioning data of the GNSS in the unmanned vehicle can be simulated to be abnormal by changing the historical positioning record, and the changed GNSS positioning data is used as the test data.
Optionally, the sending the test data to a positioning system of an unmanned vehicle installed in a vehicle test platform includes:
and sequentially sending each piece of data in the test GNSS positioning record to a positioning system of the unmanned vehicle installed in the vehicle test platform.
Through the scheme, the positioning system in the real unmanned vehicle can be simulated to sequentially receive the positioning data sent by the sensors for positioning one by one.
Optionally, the historical positioning record further includes a historical positioning record of an auxiliary sensor, wherein the auxiliary sensor includes a lidar and/or an inertial measurement unit; the historical positioning record of the auxiliary sensor corresponds to the historical GNSS positioning record;
the positioning system for sending the test data to the unmanned vehicle installed in the vehicle test platform comprises:
and sending each piece of data in the test GNSS positioning record and each piece of data in the historical positioning record of the auxiliary sensor to a positioning system of the unmanned vehicle installed in the vehicle test platform according to the time sequence.
Optionally, the method further includes:
obtaining a positioning result record output by a positioning system of the unmanned vehicle from the unmanned vehicle, wherein the positioning result record corresponds to the historical positioning record;
the testing of the positioning system of the unmanned vehicle installed in the vehicle testing platform comprises:
and comparing a positioning result output by the positioning system of the unmanned vehicle installed in the vehicle test platform with the positioning result record so as to test the robustness of the positioning system of the unmanned vehicle installed in the vehicle test platform.
A second aspect of the present application provides a positioning system testing apparatus, including:
the acquisition module is used for acquiring historical positioning records acquired by a sensor of the unmanned vehicle;
the processing module is used for changing the historical positioning record according to a preset rule to obtain test data;
and the test module is used for sending the test data to a positioning system of the unmanned driving vehicle installed in the vehicle test platform so as to test the positioning system of the unmanned driving vehicle installed in the vehicle test platform.
A third aspect of the present application provides an electronic device, comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of the first aspect.
A fourth aspect of the present application provides a non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method of the first aspect.
A fifth aspect of the application provides a computer program comprising program code for performing the method according to the first aspect when the computer runs the computer program.
A sixth aspect of the present application provides a positioning system testing method, including:
acquiring a historical positioning record acquired by a sensor of an unmanned vehicle;
acquiring test data according to the historical positioning record;
and testing the positioning system of the unmanned vehicle according to the test data.
One embodiment in the above application has the following advantages or benefits: obtaining historical positioning records collected by a sensor of the unmanned vehicle from the unmanned vehicle; changing the historical positioning record according to a preset rule to obtain test data; and sending the test data to a positioning system of the unmanned vehicle installed in the vehicle test platform so as to test the positioning system of the unmanned vehicle installed in the vehicle test platform. In the embodiment, the historical positioning record of the unmanned vehicle is obtained and changed, so that the test data simulating the positioning system of the unmanned vehicle under various abnormal conditions can be obtained, and the positioning system of the unmanned vehicle can be effectively tested off line, so that the accuracy and the robustness of the positioning system of the unmanned vehicle can be determined, a basis is provided for debugging and upgrading the system, and the positioning system of the unmanned vehicle can be ensured to run reliably.
Other effects of the above alternatives will be described below with reference to specific embodiments.
Drawings
The drawings are included to provide a better understanding of the present solution and are not intended to limit the present application. Wherein:
FIG. 1 is a schematic view of a vehicle testing platform provided in an embodiment of the present application;
fig. 2 is a flowchart of a positioning system testing method according to an embodiment of the present application;
fig. 3 is a flowchart of a positioning system testing method according to another embodiment of the present application;
fig. 4 is a block diagram of a positioning system testing apparatus according to an embodiment of the present application;
fig. 5 is a block diagram of an electronic device for implementing the positioning system testing method according to the embodiment of the present application.
Detailed Description
The following description of the exemplary embodiments of the present application, taken in conjunction with the accompanying drawings, includes various details of the embodiments of the application for the purpose of understanding, which are to be regarded as merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the application. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
The execution main body of the positioning system testing method provided by the embodiment of the application can be a vehicle testing platform, wherein the vehicle testing platform can comprise electronic equipment with analysis and processing capabilities, such as a server, a personal computer and the like, and can execute the testing method provided by the embodiment, wherein the vehicle testing platform can comprise one piece of electronic equipment or a plurality of pieces of electronic equipment.
In an alternative embodiment, as shown in fig. 1, the vehicle testing platform may include a first electronic device 11 and a second electronic device 12, wherein, the second electronic device 12 is provided with a positioning system of the unmanned vehicle, the first electronic device 11 is used for acquiring the historical positioning record acquired by the unmanned vehicle and acquired by the sensor thereof, and the historical positioning record is changed according to the preset rule to acquire the test data, then, simulating the process that the sensor of the real unmanned vehicle sends the collected data to the positioning system of the real unmanned vehicle, the first electronic device 11 sends the test data to the positioning system of the unmanned vehicle installed on the second electronic device 12, and testing the correctness of the positioning result output by the positioning system of the unmanned vehicle, thereby testing the robustness of the positioning system of the unmanned vehicle. Of course, the above process may be performed on only one electronic device.
The following describes the test method of the positioning system in detail with reference to specific embodiments.
An embodiment of the present application provides a method for testing a positioning system, and fig. 2 is a flowchart of the method for testing a positioning system provided in the embodiment of the present application. The execution subject is a vehicle test platform, and as shown in fig. 2, the unmanned vehicle method specifically comprises the following steps:
s201, obtaining a historical positioning record collected by a sensor of the unmanned vehicle.
In this embodiment, the historical positioning record collected by the sensor of the unmanned vehicle can be obtained from any unmanned vehicle, wherein the sensor for positioning of the unmanned vehicle specifically may include a GNSS (Global navigation satellite System) receiver, and further the sensor for positioning of the unmanned vehicle may also include but is not limited to a laser radar and/or an Inertial Measurement Unit (IMU); the GNSS comprises a China Beidou system BDS, a United states GPS, a Russian GLONASS, an European Union Galileo and other systems, a receiver of the GNSS can receive GNSS positioning data from satellites, a laser radar can collect point cloud data, an inertial measurement unit can collect pose data of the unmanned vehicle and the like, and a positioning system of the unmanned vehicle can fuse the GNSS positioning data with the point cloud data and/or the pose data to perform positioning, so that positioning accuracy is improved, and a basis is provided for control decision planning of subsequent unmanned vehicles.
S202, changing the historical positioning record according to a preset rule to obtain test data.
In the embodiment, the abnormal condition of the sensor in the unmanned vehicle can be simulated by changing the historical positioning record, and the changed data is used as the test data.
Further, the historical GNSS positioning record may specifically include a historical GNSS positioning record, and the historical GNSS positioning record includes at least one piece of historical GNSS positioning data, and further, in the process of obtaining the test data, at least one of the following pieces of historical GNSS positioning data may be changed to obtain a test GNSS positioning record:
further changing a transmission time attribute, a transmission sequence, a number of repeated transmissions, or changing a predetermined field in the at least one historical GNSS positioning data, or deleting a piece of historical GNSS positioning data, to transmit the at least one piece of historical GNSS positioning data to the vehicle testing platform.
In this embodiment, for the GNSS system, since the accuracy is high, there are few abnormal situations such as abnormal timestamp, data loss, data delay, and a large change in output frequency, it is generally difficult to acquire GNSS positioning data in abnormal situations of the GNSS system (including the receiver). Therefore, in the embodiment, the GNSS positioning data under the abnormal condition of the GNSS global satellite navigation system is simulated by acquiring the historical GNSS positioning record of the GNSS global satellite navigation system in normal operation and changing the historical GNSS positioning record according to the predetermined rule.
Specifically, the sending time attribute of at least one piece of historical GNSS positioning data sent to the vehicle test platform can be changed, for example, a timestamp, a sending frequency and the like of the historical GNSS positioning data are changed, so as to simulate abnormal situations such as timestamp abnormality, large change of an output frequency, delay and the like of GNSS positioning data sent by a satellite received by a GNSS receiver of a real unmanned vehicle; for another example, the sending sequence of at least one piece of historical GNSS positioning data sent to the vehicle testing platform may be modified to simulate the situation where the data sequence is abnormal when the GNSS positioning data sent by the satellites is received by the real unmanned vehicle GNSS receiver; for another example, the number of times of sending at least one piece of historical GNSS positioning data to the vehicle test platform may be changed to simulate an abnormal situation in which duplicate data occurs when a real unmanned vehicle GNSS receiver receives GNSS positioning data sent by a satellite; for another example, at least one piece of historical GNSS positioning data in the historical GNSS positioning records can be deleted to simulate an abnormal situation of data loss when a real unmanned vehicle GNSS receiver receives GNSS positioning data sent by a satellite; for another example, the predetermined field in at least one piece of historical GNSS positioning data may be modified, specifically, the meaning of each field in the GNSS positioning data may be specified according to the specification document of the GNSS positioning data, and then a certain field or certain fields in the GNSS positioning data may be modified, for example, the position information in the field or certain fields may be modified, so that an abnormal situation of position drift occurs when the GNSS positioning data sent by the satellites is received by the GNSS receiver of the real unmanned vehicle, and the like. Of course, the modification of the historical positioning record in this embodiment is not limited to the above example, and other modifications may be performed according to the test requirement, which is not described herein again.
S203, sending the test data to a positioning system of the unmanned vehicle installed in the vehicle test platform so as to test the positioning system of the unmanned vehicle installed in the vehicle test platform.
In this embodiment, after the historical positioning record is changed according to a predetermined rule to obtain test data, the test data may be sent to a positioning system of an unmanned vehicle installed in a vehicle test platform for testing, where the sending process may simulate that the positioning system in the real unmanned vehicle sequentially receives positioning data sent by sensors for positioning one by one, that is, each piece of test data in the test data is sequentially sent to the positioning system of the unmanned vehicle installed in the vehicle test platform according to a time sequence, so that the positioning system of the unmanned vehicle installed in the vehicle test platform sequentially outputs the accuracy of the positioning result.
In an optional embodiment, in order to improve the testing efficiency, the historical positioning record may be modified online, and after the modification of one or more pieces of historical GNSS positioning data is completed, the test data or the test data is sequentially sent to a positioning system of an unmanned driving vehicle installed in a vehicle testing platform according to a time sequence. In another alternative embodiment, after all the historical positioning records are changed in advance, each piece of the retest data is sequentially sent to the positioning system of the unmanned vehicle installed in the vehicle test platform according to the time sequence.
According to the positioning system testing method provided by the embodiment, historical positioning records collected by a sensor of an unmanned vehicle are obtained from the unmanned vehicle; changing the historical positioning record according to a preset rule to obtain test data; and sending the test data to a positioning system of the unmanned vehicle installed in the vehicle test platform so as to test the positioning system of the unmanned vehicle installed in the vehicle test platform. According to the method and the device, the historical positioning record of the unmanned vehicle is obtained and changed, the test data simulating the positioning system of the unmanned vehicle under various abnormal conditions can be obtained, and effective off-line test can be performed on the positioning system of the unmanned vehicle, so that the accuracy and the robustness of the positioning system of the unmanned vehicle can be determined, a basis is provided for debugging and upgrading of the system, and the positioning system of the unmanned vehicle can be guaranteed to run reliably.
On the basis of the foregoing embodiment, optionally, the historical positioning records include historical GNSS positioning records, and also include historical positioning records of an auxiliary sensor, where the auxiliary sensor includes a lidar and/or an inertial measurement unit; the historical positioning records of the aiding sensors correspond to the historical GNSS positioning records.
In this embodiment, the unmanned vehicle receives GNSS positioning data from a satellite through a GNSS receiver, and simultaneously acquires point cloud data by using a laser radar and/or position and orientation data of the unmanned vehicle by using an inertial measurement unit, and fuses the GNSS positioning data with the point cloud data and/or the position and orientation data to improve positioning accuracy. It should be noted that the historical positioning records of the auxiliary sensor correspond to the historical GNSS positioning records, that is, the timestamp of each piece of historical positioning data in the historical positioning records of the auxiliary sensor is the same as or similar to the timestamp of each piece of historical GNSS positioning data in the historical GNSS positioning records, so that data fusion can be realized.
Further, the sending the test data to a positioning system of an unmanned driving vehicle installed in a vehicle test platform includes:
and sending each piece of data in the test GNSS positioning record and each piece of data in the historical positioning record of the auxiliary sensor to a positioning system of the unmanned vehicle installed in the vehicle test platform according to the time sequence.
In this embodiment, in order to simulate the fusion of the GNSS positioning data and the point cloud data and/or the pose data by the positioning system in the real unmanned vehicle, when sending the test data to the positioning system of the unmanned vehicle installed in the vehicle test platform, it is necessary to send each piece of data in the test GNSS positioning record to the positioning system of the unmanned vehicle installed in the vehicle test platform in time sequence, and at the same time, it is also necessary to send each piece of data in the historical positioning record of the auxiliary sensor to the positioning system of the unmanned vehicle installed in the vehicle test platform in time sequence, and the sent time sequence may be sent according to the timestamp sequence and the time interval, where each piece of data in the test GNSS positioning record is sent according to the timestamp sequence and the time interval after being modified in step S202, each piece of data in the historical positioning records of the auxiliary sensor is sent according to the original time stamp sequence and the time interval, so that synchronous sending is kept, and the positioning system of the unmanned vehicle installed in the vehicle testing platform can fuse the received data.
On the basis of any of the above embodiments, another embodiment of the present application provides a method for testing a positioning system, and fig. 3 is a flowchart of the method provided by the embodiment of the present application. As shown in fig. 3, the method for unmanned vehicle comprises the following steps:
s301, obtaining a historical positioning record collected by a sensor of an unmanned vehicle, and obtaining a positioning result record output by a positioning system of the unmanned vehicle, wherein the positioning result record corresponds to the historical positioning record.
In this embodiment, in addition to the historical positioning records collected by its sensor, a positioning result record output by its positioning system may be obtained from the unmanned vehicle, which is a positioning result record output by the unmanned vehicle positioning system according to the historical positioning records collected by its sensor.
S302, the historical positioning record is changed according to a preset rule, and test data are obtained.
And S303, sending the test data to a positioning system of the unmanned vehicle installed in the vehicle test platform.
In this embodiment, S302 and S303 are the same as those in the above embodiment, and the specific process is described in the above embodiment, which is not described herein again.
S304, comparing the positioning result output by the positioning system of the unmanned vehicle installed in the vehicle test platform with the positioning result record to test the robustness of the positioning system of the unmanned vehicle installed in the vehicle test platform.
In this embodiment, the vehicle test platform sequentially inputs each piece of test data obtained by changing the historical positioning record into the positioning system of the unmanned vehicle installed in the vehicle test platform, the positioning system of the unmanned vehicle installed in the vehicle test platform outputs a positioning result according to the test data, and if the positioning result is completely consistent with the original positioning result corresponding to the positioning result record or the consistency reaches a predetermined threshold, it indicates that the positioning system of the unmanned vehicle can still output a more accurate positioning result even if the input data is abnormal, and the positioning system has better stability and robustness. Particularly, if only the GNSS global satellite navigation system is abnormal, if the robustness of the positioning system of the unmanned vehicle is good, certain fault tolerance and error correction can still be performed on the GNSS positioning data according to the data acquired by the laser radar and/or the inertial measurement unit to output a more accurate positioning result.
It should be noted that, with reference to the above embodiment, instead of changing the historical GNSS positioning data, the point cloud data acquired by the laser radar or the pose data of the unmanned vehicle acquired by the inertial measurement unit may be changed, and the robustness of the positioning system of the unmanned vehicle when the laser radar or the inertial measurement unit is abnormal is tested.
An embodiment of the present application provides a positioning system testing apparatus, and fig. 4 is a structural diagram of the positioning system testing apparatus provided in the embodiment of the present application. As shown in fig. 4, the positioning system testing apparatus 40 specifically includes: an acquisition module 401, a processing module 402 and a test module 403.
An obtaining module 401, configured to obtain, from an unmanned vehicle, a historical positioning record acquired by a sensor of the unmanned vehicle;
a processing module 402, configured to modify the historical positioning record according to a predetermined rule, to obtain test data;
the testing module 403 is configured to send the test data to a positioning system of the unmanned vehicle installed in the vehicle testing platform, so as to test the positioning system of the unmanned vehicle installed in the vehicle testing platform.
On the basis of the above embodiment, the historical GNSS positioning record includes a historical GNSS positioning record, and the historical GNSS positioning record includes at least one piece of historical GNSS positioning data;
the processing module 402 is configured to:
altering at least one of the following of the at least one historical GNSS positioning data to obtain a test GNSS positioning record:
further changing a transmission time attribute, a transmission sequence, a number of repeated transmissions, or changing a predetermined field in the at least one historical GNSS positioning data, or deleting a piece of historical GNSS positioning data, to transmit the at least one piece of historical GNSS positioning data to the vehicle testing platform.
Further, the testing module 403 is configured to:
and sequentially sending each piece of data in the test GNSS positioning record to a positioning system of the unmanned vehicle installed in the vehicle test platform.
On the basis of the above embodiment, the historical positioning record further comprises a historical positioning record of an auxiliary sensor, wherein the auxiliary sensor comprises a laser radar and/or an inertial measurement unit; the historical positioning record of the auxiliary sensor corresponds to the historical GNSS positioning record;
the test module 403 is configured to:
and sending each piece of data in the test GNSS positioning record and each piece of data in the historical positioning record of the auxiliary sensor to a positioning system of the unmanned vehicle installed in the vehicle test platform according to the time sequence.
On the basis of the foregoing embodiment, the obtaining module 401 is further configured to obtain, from the unmanned vehicle, a positioning result record output by a positioning system of the unmanned vehicle, where the positioning result record corresponds to the historical positioning record;
the test module 403 is specifically configured to compare a positioning result output by a positioning system of the unmanned vehicle installed in the vehicle test platform with the positioning result record, so as to test robustness of the positioning system of the unmanned vehicle installed in the vehicle test platform.
The positioning system testing apparatus provided in this embodiment may be specifically configured to execute the method embodiment provided in the foregoing figures, and specific functions are not described herein again.
The positioning system testing device provided by the embodiment acquires historical positioning records acquired by a sensor of an unmanned vehicle; changing the historical positioning record according to a preset rule to obtain test data; and sending the test data to a positioning system of the unmanned vehicle installed in the vehicle test platform so as to test the positioning system of the unmanned vehicle installed in the vehicle test platform. According to the method and the device, the historical positioning record of the unmanned vehicle is obtained and changed, the test data simulating the positioning system of the unmanned vehicle under various abnormal conditions can be obtained, and effective off-line test can be performed on the positioning system of the unmanned vehicle, so that the accuracy and the robustness of the positioning system of the unmanned vehicle can be determined, a basis is provided for debugging and upgrading of the system, and the positioning system of the unmanned vehicle can be guaranteed to run reliably.
According to an embodiment of the present application, an electronic device and a readable storage medium are also provided.
Fig. 5 is a block diagram of an electronic device according to an embodiment of the present application. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital assistants, cellular telephones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the present application that are described and/or claimed herein.
As shown in fig. 5, the electronic apparatus includes: one or more processors 501, memory 502, and interfaces for connecting the various components, including high-speed interfaces and low-speed interfaces. The various components are interconnected using different buses and may be mounted on a common motherboard or in other manners as desired. The processor may process instructions for execution within the electronic device, including instructions stored in or on a memory to display graphical information of a GUI on an external input/output device (such as a display device coupled to the interface). In other embodiments, multiple processors and/or multiple buses may be used, along with multiple memories and multiple memories, as desired. Also, multiple electronic devices may be connected, with each device providing portions of the necessary operations (e.g., as a server array, a group of blade servers, or a multi-processor system). In fig. 5, one processor 501 is taken as an example.
The memory 502 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to use of the electronic device, and the like. Further, the memory 502 may include high speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, memory 502 optionally includes memory located remotely from processor 501, which may be connected to the electronics of the location system test method via a network connection. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The electronic device of the positioning system test method may further include: an input device 503 and an output device 504. The processor 501, the memory 502, the input device 503 and the output device 504 may be connected by a bus or other means, and fig. 5 illustrates the connection by a bus as an example.
The input device 503 may receive input numeric or character information and generate key signal inputs related to user settings and function control of the electronic equipment of the positioning system test method, such as a touch screen, a keypad, a mouse, a track pad, a touch pad, a pointer, one or more mouse buttons, a track ball, a joystick, and the like. The output devices 504 may include a display device, auxiliary lighting devices (e.g., LEDs), and haptic feedback devices (e.g., vibrating motors), among others. The display device may include, but is not limited to, a Liquid Crystal Display (LCD), a Light Emitting Diode (LED) display, and a plasma display. In some implementations, the display device can be a touch screen.
Various implementations of the systems and techniques described here can be realized in digital electronic circuitry, integrated circuitry, application specific ASICs (application specific integrated circuits), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.
These computing programs (also known as programs, software applications, or code) include machine instructions for a programmable processor, and may be implemented using high-level procedural and/or object-oriented programming languages, and/or assembly/machine languages. As used herein, the terms "machine-readable medium" and "computer-readable medium" refer to any computer program product, apparatus, and/or device (e.g., magnetic discs, optical disks, memory, Programmable Logic Devices (PLDs)) used to provide machine instructions and/or data to a programmable processor, including a machine-readable medium that receives machine instructions as a machine-readable signal. The term "machine-readable signal" refers to any signal used to provide machine instructions and/or data to a programmable processor.
To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), Wide Area Networks (WANs), and the Internet.
The computer system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other.
According to the technical scheme of the embodiment of the application, the history positioning record collected by the sensor of the unmanned vehicle is obtained; changing the historical positioning record according to a preset rule to obtain test data; and sending the test data to a positioning system of the unmanned vehicle installed in the vehicle test platform so as to test the positioning system of the unmanned vehicle installed in the vehicle test platform. According to the method and the device, the historical positioning record of the unmanned vehicle is obtained and changed, the test data simulating the positioning system of the unmanned vehicle under various abnormal conditions can be obtained, and the positioning system of the unmanned vehicle can be effectively tested off line, so that the accuracy and the robustness of the positioning system of the unmanned vehicle can be determined, a basis is provided for debugging and upgrading the system, and the positioning system of the unmanned vehicle can be ensured to run reliably.
The present application further provides a computer program comprising a program code for performing the positioning system testing method according to the above embodiments when the computer program is run by a computer.
It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present application may be executed in parallel, sequentially, or in different orders, and the present invention is not limited thereto as long as the desired results of the technical solutions disclosed in the present application can be achieved.
The above-described embodiments should not be construed as limiting the scope of the present application. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (13)
1. A method for testing a positioning system, comprising:
acquiring a historical positioning record acquired by a sensor of an unmanned vehicle;
changing the historical positioning record according to a preset rule to obtain test data;
and sending the test data to a positioning system of the unmanned vehicle installed in the vehicle test platform so as to test the positioning system of the unmanned vehicle installed in the vehicle test platform.
2. The method of claim 1, wherein the historical GNSS positioning records comprise historical GNSS positioning records, and wherein the historical GNSS positioning records comprise at least one piece of historical GNSS positioning data;
the changing the historical positioning record according to the preset rule comprises the following steps:
altering at least one of the following of the at least one historical GNSS positioning data to obtain a test GNSS positioning record:
further, the method may further include sending a time of sending attribute, an order of sending, a number of repeated sends, or changing a predetermined field in the at least one historical GNSS positioning data, or deleting a piece of historical GNSS positioning data to the vehicle testing platform.
3. The method of claim 2, wherein the historical positioning record further comprises a historical positioning record of auxiliary sensors, wherein the auxiliary sensors comprise lidar and/or inertial measurement units; the historical positioning record of the auxiliary sensor corresponds to the historical GNSS positioning record;
the positioning system for sending the test data to the unmanned vehicle installed in the vehicle test platform comprises:
and sending each piece of data in the test GNSS positioning record and each piece of data in the historical positioning record of the auxiliary sensor to a positioning system of the unmanned vehicle installed in the vehicle test platform according to the time sequence.
4. The method according to any one of claims 1-3, further comprising:
obtaining a positioning result record output by a positioning system of the unmanned vehicle from the unmanned vehicle, wherein the positioning result record corresponds to the historical positioning record;
the testing of the positioning system of the unmanned vehicle installed in the vehicle testing platform comprises:
and comparing a positioning result output by the positioning system of the unmanned vehicle installed in the vehicle test platform with the positioning result record so as to test the robustness of the positioning system of the unmanned vehicle installed in the vehicle test platform.
5. The method of claim 2, wherein said sending said test data to a positioning system of an unmanned vehicle installed in a vehicle test platform comprises:
and sequentially sending each piece of data in the test GNSS positioning record to a positioning system of the unmanned vehicle installed in the vehicle test platform.
6. A positioning system testing apparatus, comprising:
the acquisition module is used for acquiring historical positioning records acquired by a sensor of the unmanned vehicle;
the processing module is used for changing the historical positioning record according to a preset rule to acquire test data;
and the test module is used for sending the test data to a positioning system of the unmanned vehicle installed in the vehicle test platform so as to test the positioning system of the unmanned vehicle installed in the vehicle test platform.
7. The apparatus of claim 6, wherein the historical GNSS positioning records comprise historical GNSS positioning records, and wherein the historical GNSS positioning records comprise at least one piece of historical GNSS positioning data;
the processing module is used for:
altering at least one of the following of the at least one historical GNSS positioning data to obtain a test GNSS positioning record:
further, the method may further include sending a time of sending attribute, an order of sending, a number of repeated sends, or changing a predetermined field in the at least one historical GNSS positioning data, or deleting a piece of historical GNSS positioning data to the vehicle testing platform.
8. The apparatus of claim 7, wherein the historical positioning record further comprises a historical positioning record of an auxiliary sensor, wherein the auxiliary sensor comprises a lidar and/or an inertial measurement unit; the historical positioning record of the auxiliary sensor corresponds to the historical GNSS positioning record;
the test module is used for:
and sending each piece of data in the test GNSS positioning record and each piece of data in the historical positioning record of the auxiliary sensor to a positioning system of the unmanned vehicle installed in the vehicle test platform according to the time sequence.
9. The apparatus according to any one of claims 6 to 8,
the acquisition module is further used for acquiring a positioning result record output by a positioning system of the unmanned vehicle from the unmanned vehicle, wherein the positioning result record corresponds to the historical positioning record;
the test module is specifically configured to compare a positioning result output by a positioning system of the unmanned vehicle installed in the vehicle test platform with the positioning result record, so as to test robustness of the positioning system of the unmanned vehicle installed in the vehicle test platform.
10. The apparatus of claim 7, wherein the testing module is configured to:
and sequentially sending each piece of data in the test GNSS positioning record to a positioning system of the unmanned vehicle installed in the vehicle test platform.
11. An electronic device, comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-5.
12. A non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method of any one of claims 1-5.
13. A method for testing a positioning system, comprising:
acquiring a historical positioning record acquired by a sensor of an unmanned vehicle;
acquiring test data according to the historical positioning record;
and testing the positioning system of the unmanned vehicle according to the test data.
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