CN111650621A - Method and device for calculating and detecting static drift precision, equipment and storage medium - Google Patents
Method and device for calculating and detecting static drift precision, equipment and storage medium Download PDFInfo
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- CN111650621A CN111650621A CN201911405149.7A CN201911405149A CN111650621A CN 111650621 A CN111650621 A CN 111650621A CN 201911405149 A CN201911405149 A CN 201911405149A CN 111650621 A CN111650621 A CN 111650621A
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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
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
Abstract
The invention discloses a method, a device, equipment and a storage medium for calculating and detecting static drift precision. The calculation method comprises the following steps: acquiring N positioning points on the earth surface and a first position coordinate of each positioning point expressed in a longitude and latitude mode, and converting the first position coordinate into a second position coordinate expressed in a radian mode; respectively taking each positioning point as a target point, determining the target point as a circle center, calculating distance values between the target point and the other positioning points by using the second position coordinate, drawing circles by taking the distance values as radii, screening out circles containing M positioning points from all the drawn circles, and taking the radii corresponding to the screened circles as the target radii corresponding to the target points; and screening out the minimum value from the target radius to be used as the GNSS static drift accuracy value. The invention solves the problem of reduced calculation speed caused by complicated calculation formula of missile positioning in the prior art.
Description
Technical Field
The invention relates to the field of GNSS communication, in particular to a method, a device, equipment and a storage medium for calculating and detecting static drift precision.
Background
In the shell and missile hit precision experiment and the navigation positioning precision experiment, the CEP (circular error probability error) is a circular probability error and is a project for measuring the accuracy of a weapon system in ballistics. The definition is to draw a circle by taking the target as the center of the circle, the probability of the weapon hitting the circle is at least half, and the radius of the circle is the probability error of the circle.
In the measurement of positioning accuracy, a test terminal receives signals through a GNSS (Global Navigation Satellite System) antenna to position the position of the test terminal, and professional software can acquire a large number of GPS-NMEA-0183 statements containing longitude and latitude data, wherein the statements contain a large amount of positioning information. The conventional CEP calculation does not find a corresponding complete formula, can only be used but cannot determine the principle of the CEP, and is complicated in calculation. In addition, the calculation formula in the prior art is mainly used for military missile positioning and is not suitable for CEP calculation of a communication module, and the calculation speed is reduced due to the complicated calculation formula.
Disclosure of Invention
The invention provides a method, a device, equipment and a storage medium for calculating and detecting static drift precision, aiming at overcoming the defect that the calculation speed is reduced due to the complex calculation formula of missile positioning in the prior art.
The invention solves the technical problems through the following technical scheme:
in a first aspect, the present invention provides a method for calculating a GNSS static drift accuracy value, where the method includes the following steps:
acquiring N positioning points on the earth surface and a first position coordinate of each positioning point represented in a longitude and latitude mode, wherein N is more than or equal to 1 and is an integer, and the positioning points are positions determined by receiving signals through a GNSS antenna;
converting the first position coordinates into second position coordinates expressed in radians;
respectively taking each positioning point as a target point, determining the target point as a circle center, calculating distance values between the target point and the other positioning points by using the second position coordinate, drawing circles by taking the distance values as radii, screening out circles containing M positioning points from all the drawn circles, and taking the radii corresponding to the screened circles as the target radii corresponding to the target points; if N is an odd number, M ═ N +1)/2, if N is an even number, M ═ N/2;
and screening out the minimum value from the target radius to be used as the GNSS static drift accuracy value.
Preferably, the drawing a circle with the distance value as a radius, screening a circle including M positioning points from all the drawn circles, and taking a radius corresponding to the screened circle as a target radius includes:
sorting the distance values in a descending order;
if N is an odd number, the distance value ranked at the (N +1)/2 th position is selected as the target radius, and if N is an even number, the distance value ranked at the N/2 th position is selected as the target radius.
Preferably, the conversion of the first position coordinate into the second position coordinate expressed in radian is obtained by the following formula:
Long＝Longitude*π/180°
Lat＝Latitude*π/180°
the positioning points are located on the same plane, wherein Longitude and Latitude are the Longitude value and the Latitude value of the positioning points respectively, Long represents the radian form corresponding to the Longitude value of the positioning points, and Lat represents the radian form corresponding to the Latitude value of the positioning points;
the distance between two of the positioning points is obtained by the following formula:
wherein, P1 and P2 represent two positioning points, a is Long1-Long2, Long1 represents a radian form corresponding to the longitude value of P1, Long2 represents a radian form corresponding to the longitude value of P2, b is Lat1-Lat2, Lat1 represents a radian form corresponding to the latitude value of P1, Lat2 represents a radian form corresponding to the latitude value of P2, and R represents the earth equator radius.
In a second aspect, the present invention provides a method for detecting a positioning accuracy of a wireless positioning device, the method comprising the following steps:
calculating a GNSS static drift accuracy value of a wireless positioning device to be detected according to the method of the first aspect;
comparing the GNSS static drift accuracy value with a preset positioning accuracy threshold value;
if the GNSS static drift accuracy value is larger than the preset positioning accuracy threshold value, the wireless positioning equipment does not pass the detection;
and if the GNSS static drift accuracy value is smaller than or equal to the preset positioning accuracy threshold value, the wireless positioning equipment passes the detection.
In a third aspect, the present invention provides a device for calculating a GNSS static drift accuracy value, the device comprising:
the acquisition module is used for acquiring N positioning points on the earth surface and a first position coordinate of each positioning point expressed in a longitude and latitude mode, wherein N is more than or equal to 1 and is an integer;
a conversion module for converting the first position coordinate into a second position coordinate expressed in a radian form;
the calculation module is used for respectively taking each positioning point as a target point, determining the target point as a circle center, calculating distance values between the target point and the rest positioning points, drawing a circle by taking the distance values as radii, screening out a circle containing M positioning points from all drawn circles, and taking the radius corresponding to the screened circle as the target radius corresponding to the target point; if N is an odd number, M ═ N +1)/2, if N is an even number, M ═ N/2;
and the screening module is used for screening out the minimum value from the target radius as the GNSS static drift accuracy value.
Preferably, the drawing a circle with the distance value as a radius, screening a circle including M positioning points from all the drawn circles, and taking a radius corresponding to the screened circle as a target radius includes:
sorting the distance values in a descending order;
if N is an odd number, the distance value ranked at the (N +1)/2 th position is selected as the target radius, and if N is an even number, the distance value ranked at the N/2 th position is selected as the target radius.
Preferably, the conversion module converts the first position coordinate into a second position coordinate expressed in radian form by the following formula:
Long＝Longitude*π/180°
Lat＝Latitude*π/180°
the positioning points are located on the same plane, wherein Longitude and Latitude are the Longitude value and the Latitude value of the positioning points respectively, Long represents the radian form corresponding to the Longitude value of the positioning points, and Lat represents the radian form corresponding to the Latitude value of the positioning points;
the distance between two of the positioning points is obtained by the following formula:
wherein, P1 and P2 represent two positioning points, a is Long1-Long2, Long1 represents a radian form corresponding to the longitude value of P1, Long2 represents a radian form corresponding to the longitude value of P2, b is Lat1-Lat2, Lat1 represents a radian form corresponding to the latitude value of P1, Lat2 represents a radian form corresponding to the latitude value of P2, and R represents the earth equator radius.
In a fourth aspect, the present invention further provides a device for detecting a positioning accuracy of a wireless positioning apparatus, where the device further includes:
the calculating device of the GNSS static drift accuracy value is used for calculating the GNSS static drift accuracy value of the wireless positioning equipment to be detected;
and the comparison module is used for comparing the GNSS static drift accuracy value with a preset positioning accuracy threshold, if the GNSS static drift accuracy value is greater than the preset positioning accuracy threshold, the wireless positioning equipment does not pass the detection, and if the GNSS static drift accuracy value is less than or equal to the preset positioning accuracy threshold, the wireless positioning equipment passes the detection.
In a fifth aspect, the present invention further provides an electronic device, including a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the method for calculating the GNSS static drift accuracy value according to any one of the above embodiments or implements the method for detecting the positioning accuracy of the wireless positioning device according to the second aspect.
In a sixth aspect, the present invention further provides a computer-readable storage medium, in which a computer program is stored, and the computer program, when executed by a processor, is used for performing any one of the above methods for calculating a GNSS static drift accuracy value or implementing the method for detecting the positioning accuracy of a wireless positioning device according to the second aspect.
The positive progress effects of the invention are as follows: the method comprises the steps of obtaining N positioning points on the earth surface and a first position coordinate of each positioning point expressed in a longitude and latitude mode, and converting the first position coordinate into a second position coordinate expressed in a radian mode; respectively taking each positioning point as a target point, determining the target point as a circle center, calculating distance values between the target point and the other positioning points by using the second position coordinate, drawing circles by taking the distance values as radii, screening out circles containing M positioning points from all the drawn circles, and taking the radii corresponding to the screened circles as the target radii corresponding to the target points; and screening out the minimum value from the target radius to be used as the GNSS static drift accuracy value. The invention solves the problem of reduced calculation speed caused by complicated calculation formula of missile positioning in the prior art.
Drawings
Fig. 1 is a flowchart of a method for calculating a GNSS static drift accuracy value according to embodiment 1 of the present invention.
Fig. 2 is a flowchart of a positioning accuracy detection method of a wireless positioning device according to embodiment 2 of the present invention.
FIG. 3 is a block diagram of an apparatus for calculating GNSS static drift accuracy according to embodiment 3 of the present invention.
Fig. 4 is a schematic block diagram of a positioning accuracy detection apparatus of a wireless positioning device according to embodiment 4 of the present invention.
Fig. 5 is a schematic diagram of a hardware structure of an electronic device according to embodiment 5 of the present invention.
Detailed Description
The invention is further illustrated by the following examples, which are not intended to limit the scope of the invention.
Example 1
The embodiment provides a method for calculating a GNSS static drift accuracy value, and referring to fig. 1, the method includes the following steps:
s11, obtaining N positioning points on the earth surface and a first position coordinate of each positioning point represented in a longitude and latitude mode, wherein N is larger than or equal to 1 and is an integer, and the positioning points are positions determined by receiving signals through a GNSS antenna.
In the measurement of positioning accuracy, a test terminal receives signals through a GNSS antenna to position the position of the test terminal, and software is used for acquiring a large number of GPS-NMEA-0183 sentences containing longitude and latitude data, wherein the sentences contain a large number of positioning information. N positioning points on the earth surface and position coordinates of each positioning point in a latitude and longitude mode are obtained, and the position coordinates are first position coordinates.
Step S12, converting the first position coordinates into second position coordinates expressed in a radian form.
In this embodiment, the second position coordinate is a coordinate of a positioning point expressed in a latitude and longitude form, with radian as a unit.
Step S13, using each positioning point as a target point, determining the target point as a circle center, calculating distance values between the target point and other positioning points by using a second position coordinate, drawing a circle by using the distance values as radii, screening out a circle containing M positioning points from all drawn circles, and using the radius corresponding to the screened circle as the target radius corresponding to the target point; if N is an odd number, M is (N +1)/2, and if N is an even number, M is N/2.
In this embodiment, a method for calculating a GNSS static drift accuracy value, in which a distance value is used as a radius to draw a circle in step S13, a circle including M positioning points is selected from all the drawn circles, and a radius corresponding to the selected circle is used as a target radius, includes the following steps:
the distance values are sorted in order from small to large.
If N is an odd number, the distance value ranked at the (N +1)/2 th position is selected as the target radius, and if N is an even number, the distance value ranked at the N/2 th position is selected as the target radius.
Selecting a certain positioning point from positioning points corresponding to second position coordinates expressed in a radian form as a circle center, calculating the distance between the positioning point and the rest N-1 positioning points on the earth surface according to the second position coordinates corresponding to the positioning point to obtain N-1 radius numerical values, and sequencing the N-1 radius numerical values, namely L1, L2 and L3 … LN, wherein if N is an odd number, the radius of the (N +1)/2 th position is arranged, and L is arranged((N+1)/2)The circle drawn contains 50% of the points, with a radius of N/2 positions, L, if N is an even number(N/2)The circle drawn contains 50% of the points, whereby the radius of the circle containing 50% of the points is the CEP1。
Drawing a circle by taking the second positioning point as the center of the circle and the distances from the second positioning point to the rest N-1 positioning points as the radiuses, sequencing the N-1 radiuses, and acquiring the radius of the circle containing 50% of the positioning points as CEP2. And analogizing in sequence, drawing a circle by taking the third positioning point as the center of the circle and the distances from the third positioning point to the rest N-1 positioning points as the radiuses, sequencing the N-1 radiuses, and acquiring the radius of the circle containing 50% of the positioning points as the CEP3. Circularly performing, determining that the N positioning point is taken as the center of a circle, respectively drawing circles with the distances from the N positioning point to the rest N-1 positioning points as the radiuses, sequencing the N-1 radiuses, and acquiring the radius of the circle containing 50% of the positioning points as CEPn。
And step S14, screening out the minimum value from the target radius as the GNSS static drift accuracy value.
For the above CEP1、CEP2、CEP3、CEP4......CEPnAnd sequencing, and screening a final value with the minimum value of the target radius as the CEP as a GNSS static drift accuracy value.
Wherein the conversion of the first position coordinate into the second position coordinate expressed in radian form is obtained by the following formula:
Long＝Longitude*π/180°
Lat＝Latitude*π/180°
the Longitude and Latitude are the Longitude value and the Latitude value of the positioning point respectively, Long represents the radian form corresponding to the Longitude value of the positioning point, and Lat represents the radian form corresponding to the Latitude value of the positioning point.
The distance between the two positioning points is obtained by the following formula:
wherein, P1 and P2 represent two positioning points, a is Long1-Long2, Long1 represents a radian form corresponding to the longitude value of P1, Long2 represents a radian form corresponding to the longitude value of P2, b is Lat1-Lat2, Lat1 represents a radian form corresponding to the latitude value of P1, Lat2 represents a radian form corresponding to the latitude value of P2, and R represents the earth equator radius.
The embodiment of the invention provides a method for calculating a GNSS static drift accuracy value, which comprises the steps of obtaining N positioning points on the earth surface and a first position coordinate of each positioning point expressed in a longitude and latitude mode, and converting the first position coordinate into a second position coordinate expressed in a radian mode; respectively taking the positioning points as target points, determining the target points as circle centers, calculating distance values between the target points and the rest positioning points by utilizing the second position coordinates, drawing circles by taking the distance values as radii, screening out circles containing M positioning points from all the drawn circles, and taking the radii corresponding to the screened circles as the target radii corresponding to the target points; and screening out the minimum value from the target radius as the GNSS static drift accuracy value. The invention solves the problem of reduced calculation speed caused by complicated calculation formula of missile positioning in the prior art.
Example 2
The embodiment provides a method for detecting the positioning accuracy of a wireless positioning device, and referring to fig. 2, the method includes the following steps:
step S21, calculating a GNSS static drift accuracy value of the wireless positioning device to be detected by using the method of embodiment 1.
And step S22, comparing the GNSS static drift accuracy value with a preset positioning accuracy threshold value.
And if the GNSS static drift accuracy value is larger than a preset positioning accuracy threshold value, the wireless positioning equipment does not pass the detection.
And if the GNSS static drift accuracy value is smaller than or equal to the preset positioning accuracy threshold value, the wireless positioning equipment passes the detection.
In the embodiment of the invention, a positioning precision detection method of a wireless positioning device is provided, the method of embodiment 1 is used for calculating the GNSS static drift precision value of the wireless positioning device to be detected, and comparing the GNSS static drift precision value with a preset positioning precision threshold value is used for determining whether the GPS positioning precision of a wireless communication module in the wireless positioning device to be detected meets the performance requirement, so that the complexity of calculating the positioning precision of the wireless positioning device is reduced, and the accuracy of the detection result of the performance of the wireless positioning device is ensured.
Example 3
The present embodiment provides a device for calculating a GNSS static drift accuracy value, referring to fig. 3, including: the system comprises an acquisition module 210, a conversion module 220, a calculation module 230 and a screening module 240.
The obtaining module 210 is configured to obtain N positioning points on the earth surface and a first position coordinate of each positioning point represented in a longitude and latitude form, where N is greater than or equal to 1 and N is an integer;
a conversion module 220 for converting the first position coordinate into a second position coordinate expressed in a radian form;
the calculating module 230 is configured to respectively use each positioning point as a target point, determine the target point as a circle center, calculate distance values between the target point and the other positioning points, draw a circle by using the distance values as radii, screen out a circle including M positioning points from all drawn circles, and use a radius corresponding to the screened circle as a target radius corresponding to the target point; if N is an odd number, M ═ N +1)/2, if N is an even number, M ═ N/2;
and a screening module 240, configured to screen a minimum value from the target radius as a GNSS static drift accuracy value.
In this embodiment, the above-mentioned device for calculating a GNSS static drift accuracy value draws a circle with a distance value as a radius, screens out a circle including M positioning points from all drawn circles, and uses a radius corresponding to the screened circle as a target radius, including:
sorting the distance values in the order from small to large;
if N is an odd number, the distance value ranked at the (N +1)/2 th position is selected as the target radius, and if N is an even number, the distance value ranked at the N/2 th position is selected as the target radius.
In this embodiment, the converting module 220 converts the first position coordinate into a second position coordinate expressed in a radian form by the following formula:
Long＝Longitude*π/180°
Lat＝Latitude*π/180°
the Longitude and Latitude are the Longitude value and the Latitude value of the positioning point respectively, Long represents the radian form corresponding to the Longitude value of the positioning point, and Lat represents the radian form corresponding to the Latitude value of the positioning point.
Specifically, the distance between two positioning points is obtained by the following formula:
wherein, P1 and P2 represent two positioning points, a is Long1-Long2, Long1 represents a radian form corresponding to the longitude value of P1, Long2 represents a radian form corresponding to the longitude value of P2, b is Lat1-Lat2, Lat1 represents a radian form corresponding to the latitude value of P1, Lat2 represents a radian form corresponding to the latitude value of P2, and R represents the earth equator radius.
In the embodiment, a device for calculating a GNSS static drift accuracy value is provided, and the device executes the method for calculating the GNSS static drift accuracy value in embodiment 1.
Example 4
This embodiment provides a positioning accuracy detection device of wireless positioning equipment, refer to fig. 4, this device still includes:
the calculating device according to the embodiment 3 is used for calculating the GNSS static drift accuracy value of the wireless positioning equipment to be detected;
the comparing module 310 is configured to compare the GNSS static drift accuracy value with a preset positioning accuracy threshold, where if the GNSS static drift accuracy value is greater than the preset positioning accuracy threshold, the wireless positioning device fails to detect the GNSS static drift accuracy value, and if the GNSS static drift accuracy value is less than or equal to the preset positioning accuracy threshold, the wireless positioning device passes the detection.
In an embodiment of the present invention, a positioning accuracy detection apparatus for a wireless positioning device is provided, where the apparatus executes the following method: the GNSS static drift accuracy value calculating device is used for calculating the GNSS static drift accuracy value of the wireless positioning equipment to be detected; and determining whether the detection of the wireless positioning equipment passes or not according to the GNSS static drift accuracy value and a preset positioning accuracy threshold. The complexity of calculating the positioning precision of the wireless positioning equipment is reduced, and the accuracy of the performance detection result of the wireless positioning equipment is ensured.
Example 5
The present embodiment provides a schematic structural diagram of an electronic device. The electronic device includes a memory, a processor and a computer program stored in the memory and executable on the processor, and the processor executes the program to implement the GNSS static drift accuracy value calculation method of embodiment 1 or the positioning accuracy detection method of the wireless positioning device of embodiment 2, and the electronic device 30 shown in fig. 5 is only an example and should not bring any limitation to the functions and the scope of the embodiments of the present invention.
The electronic device 30 may be embodied in the form of a general purpose computing device, which may be, for example, a server device. The components of the electronic device 30 may include, but are not limited to: the at least one processor 31, the at least one memory 32, and a bus 33 connecting the various system components (including the memory 32 and the processor 31).
The bus 33 includes a data bus, an address bus, and a control bus.
The memory 32 may include volatile memory, such as Random Access Memory (RAM)321 and/or cache memory 322, and may further include Read Only Memory (ROM) 323.
The processor 31 executes various functional applications and data processing by running a computer program stored in the memory 32, for example, the method for calculating the GNSS static drift accuracy value according to embodiment 1 of the present invention or the method for detecting the positioning accuracy of the wireless positioning device according to embodiment 2.
The electronic device 30 may also communicate with one or more external devices 34 (e.g., keyboard, pointing device, etc.). Such communication may be through input/output (I/O) interfaces 35. Also, model-generating device 30 may also communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network, such as the Internet) via network adapter 36. As shown, network adapter 36 communicates with the other modules of model-generating device 30 via bus 33. It should be understood that although not shown in the figures, other hardware and/or software modules may be used in conjunction with the model-generating device 30, including but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID (disk array) systems, tape drives, and data backup storage systems, etc.
It should be noted that although in the above detailed description several units/modules or sub-units/modules of the electronic device are mentioned, such a division is merely exemplary and not mandatory. Indeed, the features and functionality of two or more of the units/modules described above may be embodied in one unit/module according to embodiments of the invention. Conversely, the features and functions of one unit/module described above may be further divided into embodiments by a plurality of units/modules.
Example 6
The present embodiment provides a computer-readable storage medium, on which a computer program is stored, which when executed by a processor, implements the GNSS static drift accuracy value calculation method of embodiment 1 or implements the steps of the positioning accuracy detection method of a wireless positioning device described in embodiment 2.
More specific examples, among others, that the readable storage medium may employ may include, but are not limited to: a portable disk, a hard disk, random access memory, read only memory, erasable programmable read only memory, optical storage device, magnetic storage device, or any suitable combination of the foregoing.
In a possible implementation manner, the present invention can also be implemented in the form of a program product, which includes program code for causing a terminal device to execute the steps of implementing the GNSS static drift accuracy value calculation method of embodiment 1 or implementing the positioning accuracy detection method of the wireless positioning device of embodiment 2 when the program product is run on the terminal device.
Where program code for carrying out the invention is written in any combination of one or more programming languages, the program code may be executed entirely on the user device, partly on the user device, as a stand-alone software package, partly on the user device and partly on a remote device or entirely on the remote device.
While specific embodiments of the invention have been described above, it will be appreciated by those skilled in the art that this is by way of example only, and that the scope of the invention is defined by the appended claims. Various changes and modifications to these embodiments may be made by those skilled in the art without departing from the spirit and scope of the invention, and these changes and modifications are within the scope of the invention.
Claims (10)
1. A method for calculating a GNSS static drift accuracy value is characterized by comprising the following steps:
acquiring N positioning points on the earth surface and a first position coordinate of each positioning point represented in a longitude and latitude mode, wherein N is more than or equal to 1 and is an integer, and the positioning points are positions determined by receiving signals through a GNSS antenna;
converting the first position coordinates into second position coordinates expressed in radians;
respectively taking each positioning point as a target point, determining the target point as a circle center, calculating distance values between the target point and the other positioning points by using the second position coordinate, drawing circles by taking the distance values as radii, screening out circles containing M positioning points from all the drawn circles, and taking the radii corresponding to the screened circles as the target radii corresponding to the target points; if N is an odd number, M ═ N +1)/2, if N is an even number, M ═ N/2;
and screening out the minimum value from the target radius to be used as the GNSS static drift accuracy value.
2. The method according to claim 1, wherein the step of drawing a circle with the distance value as a radius, selecting a circle containing M positioning points from all the drawn circles, and using a radius corresponding to the selected circle as a target radius comprises:
sorting the distance values in a descending order;
if N is an odd number, the distance value ranked at the (N +1)/2 th position is selected as the target radius, and if N is an even number, the distance value ranked at the N/2 th position is selected as the target radius.
3. The method of calculating a GNSS static drift accuracy value of claim 1, wherein said converting said first position coordinate into a second position coordinate expressed in radians is obtained by the following equation:
Long＝Longitude*π/180°
Lat＝Latitude*π/180°
the positioning points are located on the same plane, wherein Longitude and Latitude are the Longitude value and the Latitude value of the positioning points respectively, Long represents the radian form corresponding to the Longitude value of the positioning points, and Lat represents the radian form corresponding to the Latitude value of the positioning points;
the distance between two of the positioning points is obtained by the following formula:
wherein, P1 and P2 represent two positioning points, a is Long1-Long2, Long1 represents a radian form corresponding to the longitude value of P1, Long2 represents a radian form corresponding to the longitude value of P2, b is Lat1-Lat2, Lat1 represents a radian form corresponding to the latitude value of P1, Lat2 represents a radian form corresponding to the latitude value of P2, and R represents the earth equator radius.
4. A method for detecting the positioning accuracy of a wireless positioning device is characterized by comprising the following steps:
calculating a GNSS static drift accuracy value of a wireless positioning device to be detected by using the method according to any one of claims 1 to 3;
comparing the GNSS static drift accuracy value with a preset positioning accuracy threshold value;
if the GNSS static drift accuracy value is larger than the preset positioning accuracy threshold value, the wireless positioning equipment does not pass the detection;
and if the GNSS static drift accuracy value is smaller than or equal to the preset positioning accuracy threshold value, the wireless positioning equipment passes the detection.
5. A computing device of GNSS static drift accuracy value, the computing device comprising:
the acquisition module is used for acquiring N positioning points on the earth surface and a first position coordinate of each positioning point expressed in a longitude and latitude mode, wherein N is more than or equal to 1 and is an integer;
a conversion module for converting the first position coordinate into a second position coordinate expressed in a radian form;
the calculation module is used for respectively taking each positioning point as a target point, determining the target point as a circle center, calculating distance values between the target point and the rest positioning points, drawing a circle by taking the distance values as radii, screening out a circle containing M positioning points from all drawn circles, and taking the radius corresponding to the screened circle as the target radius corresponding to the target point; if N is an odd number, M ═ N +1)/2, if N is an even number, M ═ N/2;
and the screening module is used for screening out the minimum value from the target radius as the GNSS static drift accuracy value.
6. The apparatus for calculating GNSS static drift accuracy of claim 5, wherein said drawing circles with said distance values as radii, selecting a circle containing M locating points from all the circles drawn, and using the radius corresponding to the selected circle as the target radius comprises:
sorting the distance values in a descending order;
if N is an odd number, the distance value ranked at the (N +1)/2 th position is selected as the target radius, and if N is an even number, the distance value ranked at the N/2 th position is selected as the target radius.
7. The apparatus of claim 5, wherein the conversion module converts the first position coordinate into a second position coordinate expressed in radians by the following formula:
Long＝Longitude*π/180°
Lat＝Latitude*π/180°
the positioning points are located on the same plane, wherein Longitude and Latitude are the Longitude value and the Latitude value of the positioning points respectively, Long represents the radian form corresponding to the Longitude value of the positioning points, and Lat represents the radian form corresponding to the Latitude value of the positioning points;
the distance between two of the positioning points is obtained by the following formula:
wherein, P1 and P2 represent two positioning points, a is Long1-Long2, Long1 represents a radian form corresponding to the longitude value of P1, Long2 represents a radian form corresponding to the longitude value of P2, b is Lat1-Lat2, Lat1 represents a radian form corresponding to the latitude value of P1, Lat2 represents a radian form corresponding to the latitude value of P2, and R represents the earth equator radius.
8. An apparatus for detecting a positioning accuracy of a wireless positioning device, the apparatus comprising:
the device according to any of claims 5 to 7, configured to calculate the GNSS static drift accuracy of the to-be-detected wireless positioning device;
and the comparison module is used for comparing the GNSS static drift accuracy value with a preset positioning accuracy threshold, if the GNSS static drift accuracy value is greater than the preset positioning accuracy threshold, the wireless positioning equipment does not pass the detection, and if the GNSS static drift accuracy value is less than or equal to the preset positioning accuracy threshold, the wireless positioning equipment passes the detection.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the method for calculating a GNSS static drift accuracy value according to any one of claims 1 to 3 or implements the method for detecting the positioning accuracy of a wireless positioning device according to claim 4 when executing the computer program.
10. A computer-readable storage medium, in which a computer program is stored, which, when being executed by a processor, implements a method for calculating a GNSS static drift accuracy value according to any one of claims 1 to 3 or implements a method for detecting a positioning accuracy of a wireless positioning device according to claim 4.
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