CN113534201B - Satellite positioning test method and system - Google Patents
Satellite positioning test method and system Download PDFInfo
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- CN113534201B CN113534201B CN202010314268.8A CN202010314268A CN113534201B CN 113534201 B CN113534201 B CN 113534201B CN 202010314268 A CN202010314268 A CN 202010314268A CN 113534201 B CN113534201 B CN 113534201B
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- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
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Abstract
The application relates to the technical field of satellite positioning, and discloses a satellite positioning test method and a satellite positioning test system. The method comprises the following steps: receiving satellite radio frequency signals through a positioning terminal for acquisition, and simultaneously receiving differential positioning data and sensor data; recording differential positioning data, sensor data and positioning information output by a positioning terminal in a first information set, wherein the first information set comprises a plurality of pieces of multi-source data, and each piece of multi-source data comprises the differential positioning data and the sensor data corresponding to the same piece of positioning information; modifying the sensor data in the first information set and storing the modified sensor data as a second information set; playing back the satellite radio frequency signals to the tested positioning terminal, and finding corresponding multi-source data in the second information set according to the positioning information obtained from the tested positioning terminal; and sending the differential positioning data and the sensor data in the corresponding multi-source data in the second information set to the tested positioning terminal according to the sequence of the timestamps.
Description
Technical Field
The disclosure relates to the technical field of satellite positioning and navigation, in particular to a satellite positioning test technology.
Background
The prior art tests the performance of a high-precision positioning terminal and comprises two main steps of data acquisition, data playback and analysis, and further performance judgment. One of the main prior arts for data collection and playback is to record all radio frequency data from a satellite and multi-source digital information data (multi-source data for short) from various other data sources into physical signals based on an instrument and meter and perform regression tests, as shown in fig. 1, the multi-source data includes differential data and map data transmitted through the internet, sensor data output by the device itself, and vehicle speed and wheel steering angle accessed through an external interface when used for a relevant test of a vehicle scene, and the like. It can be known from the above recording modes that the method can only realize a single playback mode, i.e. synchronous storage and then synchronous playback of the radio frequency observation data and the multi-source data, so that flexible abnormal simulation cannot be realized in the tests.
Disclosure of Invention
The invention aims to provide a satellite positioning test method and a system thereof, which can realize regression iteration test and abnormal simulation based on real radio frequency signals and various multi-source digital information data.
The application discloses a satellite positioning test method, which comprises the following steps:
receiving satellite radio frequency signals through a positioning terminal for acquisition, and simultaneously receiving differential positioning data and sensor data;
recording positioning information, the differential positioning data and the sensor data output by the positioning terminal according to the satellite radio-frequency signal in a first information set, wherein the first information set comprises a plurality of pieces of multi-source data, each piece of multi-source data comprises the differential positioning data and the sensor data corresponding to the same piece of positioning information, and the differential positioning data and the sensor data in the multi-source data are added with timestamps according to receiving time;
modifying sensor data in the first information set, and storing the modified first information set as a second information set;
playing back the satellite radio frequency signal to a tested positioning terminal, acquiring positioning information from the tested positioning terminal, and finding corresponding multi-source data in the second information set according to the acquired positioning information;
and sending the differential positioning data and the sensor data in the multi-source data corresponding to the second information set to the tested positioning terminal according to the sequence of the timestamps.
In a preferred embodiment, the method further comprises the following steps:
receiving a satellite radio frequency signal through a positioning terminal for acquisition, and simultaneously receiving wheel speed data from a vehicle, wherein the positioning terminal for acquisition is installed on the vehicle;
recording the wheel speed data, the positioning information, the differential positioning data and the sensor data together in the first information set, wherein each piece of multi-source data in the first information set further comprises the wheel speed data corresponding to the same piece of positioning information, and timestamps are added to the wheel speed data in the multi-source data according to receiving time.
In a preferred embodiment, the modification includes one or more of deleting, repeating, adjusting data values.
In a preferred embodiment, before storing the modified first information set as the second information set, the method further includes:
and modifying the differential positioning data in the first information set, wherein the modification comprises one or more of deleting, repeating and adjusting data values.
In a preferred embodiment, before storing the modified first information set as the second information set, the method further includes:
modifying the wheel speed data in the first set of information, the modifying including one or more of deleting, repeating, adjusting data values.
In a preferred embodiment, the recording the positioning information output by the first positioning terminal and the multi-source data in a first information set further includes:
and respectively adding a zone bit for identifying the data type to the differential positioning data and the sensor data in the multi-source data.
In a preferred embodiment, the modifying the sensor data in the first information set further includes:
and searching the sensor data in the multi-source data through the zone bit.
In a preferred example, the sensor data includes gyroscope data and accelerometer data.
The application also discloses a satellite positioning test system includes:
the positioning terminal is used for receiving satellite radio frequency signals and outputting positioning information;
the radio frequency signal acquisition instrument is used for acquiring and recording satellite radio frequency signals while the positioning terminal for acquisition receives the satellite radio frequency signals, and playing back the recorded satellite radio frequency signals to the positioning terminal to be tested during testing;
the multi-source data recording device is used for receiving differential positioning data and sensor data while the positioning terminal for acquisition receives satellite radio-frequency signals, and recording positioning information, the differential positioning data and the sensor data output by the positioning terminal for acquisition according to the satellite radio-frequency signals into a first information set, wherein the first information set comprises a plurality of pieces of multi-source data, each piece of multi-source data comprises the differential positioning data and the sensor data corresponding to the same piece of positioning information, and the differential positioning data and the sensor data in the multi-source data have timestamps added according to receiving time;
the data modification device is used for modifying the sensor data in the first information set and storing the modified first information set as a second information set;
and the multi-source data playback device is used for acquiring positioning information from the tested positioning terminal, finding corresponding multi-source data in the second information set according to the acquired positioning information, and sending the corresponding differential positioning data and sensor data in the multi-source data to the tested positioning terminal according to the sequence of timestamps.
In a preferred embodiment, the method further comprises the following steps:
the vehicle wheel used for providing the speed data, wherein the multi-source data recording device receives satellite radio frequency signals through a positioning terminal used for collecting, meanwhile, also receives the speed data of the vehicle wheel from the vehicle, and records the speed data of the vehicle wheel, the positioning information and the differential positioning data together in the first information set, wherein the positioning terminal used for collecting is installed in the vehicle, each piece of multi-source data in the first information set further comprises the speed data of the vehicle wheel corresponding to the same piece of positioning information, and the speed data of the vehicle wheel in the multi-source data has a timestamp added according to receiving time.
In a preferred example, the positioning information includes information in GNGGA format or GPGGA format.
In a preferred embodiment, the method further comprises the following steps: a gyroscope to provide gyroscope data and an accelerometer to provide accelerometer data, wherein the sensor data comprises gyroscope data and accelerometer data.
According to the method and the device, the two different forms are recorded according to the signal characteristics, the recording mode not only guarantees the complete form of the radio frequency physical signal and supports the test of the radio frequency processing module and the complete baseband function of the combined navigation receiver, but also has no dependence on the type and the technical scheme of a high-precision positioning terminal chip when simulation is carried out in the later period due to the separate recording of the two different forms, and various abnormal simulations of multi-source digital signal data are realized.
The present disclosure describes a large number of technical features distributed in various technical solutions, and if all the possible combinations of the technical features (i.e., technical solutions) of the present disclosure are listed, the description is too long. In order to avoid this problem, the respective technical features disclosed in the above summary of the invention of the present disclosure, the respective technical features disclosed in the following embodiments and examples, and the respective technical features disclosed in the drawings may be freely combined with each other to constitute various new technical solutions (which should be regarded as having been described in the present specification) unless such a combination of the technical features is technically infeasible. For example, in one example, feature a + B + C is disclosed, in another example, feature a + B + D + E is disclosed, and features C and D are equivalent technical means that serve the same purpose, technically only one feature is used, but not both, and feature E may be technically combined with feature C, then the solution of a + B + C + D should not be considered as already described because the technology is not feasible, and the solution of a + B + C + E should be considered as already described.
Drawings
FIG. 1 is a schematic representation of a prior art data type of multi-source digitized information;
fig. 2 is a schematic flow chart of a satellite positioning testing method according to a first embodiment of the present disclosure;
FIG. 3 is a schematic diagram of a system for recording multi-source data and RF analog data in one embodiment of the present disclosure;
fig. 4 is a schematic diagram of a multi-source data recording synchronization process in an embodiment of the present disclosure;
FIG. 5 is a schematic flow diagram of the generation of a multi-source file for playback in one embodiment of the present disclosure;
FIG. 6 is a schematic diagram of a synchronized emulated playback flow in one embodiment of the present disclosure;
FIG. 7 is a schematic diagram of an asynchronous emulated playback flow in one embodiment of the present disclosure;
fig. 8 is a schematic structural diagram of a satellite positioning test system according to a second embodiment of the disclosure.
Detailed Description
In the following description, numerous technical details are set forth in order to provide a better understanding of the present disclosure. However, it will be understood by those of ordinary skill in the art that the claimed embodiments of the present disclosure may be practiced without these specific details and with various changes and modifications based on the following embodiments.
Description of partial concepts:
multi-source digital information data: the multi-source digital information data in the text includes but is not limited to the following three types of digital signals: data transmitted via the Internet or a real reference station, such as differential data, map data; data generated by the device itself, such as sensor data; when the method is used in a vehicle scene, the data CAN be accessed through a peripheral interface, such as CAN access vehicle speed, wheel steering angle, wheel speed and other auxiliary information data.
The combined navigation receiver comprises: and the device combines satellite positioning and inertial measurement by adopting a multi-sensor data fusion technology to realize high-precision orientation and combined navigation functions.
High-precision positioning terminal: the GNSS positioning terminal and the combined navigation positioning terminal are included. The terminal device may be a mobile phone, a computer, or a vehicle-mounted terminal, and the specific type of the terminal device is not limited herein.
Multi-source data: data associated with high accuracy positioning from a variety of sources. For example, one piece of multi-source data may include, for example, differential positioning data and sensor data, and may further include data such as wheel speed data in a vehicle scene. Typically, a piece of positioning information corresponds to a piece of multi-source data.
To make the objects, technical solutions and advantages of the present disclosure more apparent, embodiments of the present disclosure will be described in further detail below with reference to the accompanying drawings.
A first embodiment of the present disclosure relates to a satellite positioning test method, a flow of which is shown in fig. 2, the method includes the following steps:
in step 201, a satellite radio frequency signal is received by a positioning terminal for acquisition, and differential positioning data and sensor data are received at the same time. The sensor data may be gyroscope data, accelerometer data, or the like. In one embodiment, the satellite radio frequency signals are synchronously acquired and recorded by the radio frequency signal acquisition instrument while the positioning terminal for acquisition receives the satellite radio frequency signals. The radio frequency signal acquisition instrument is usually arranged near a positioning terminal for acquisition to ensure that the acquired and recorded WeChat radio frequency signals are consistent with those received by the positioning terminal. The radio frequency signal acquisition instrument is a prior art and is not described here in detail. Corresponding sensors, such as gyroscopes, accelerometers, may be installed in the device under test.
Step 202 is entered after that, positioning information, differential positioning data and sensor data output by the positioning terminal according to satellite radio frequency signals are recorded in a first information set, wherein the first information set comprises a plurality of pieces of multi-source data, each piece of multi-source data comprises the differential positioning data and the sensor data corresponding to the same piece of positioning information, and time stamps are added to the differential positioning data and the sensor data in the multi-source data according to receiving time. Alternatively, in some embodiments, there may be more types of multi-source data in addition to differential positioning data and sensor data, as long as the data has a direct or indirect relationship to high precision positioning. Optionally, in some embodiments, the positioning information may be GNGGA-formatted or GPGGA-formatted information; in other embodiments, the positioning information may also be in other formats, such as a custom format, and the like.
Step 203 is then entered to modify the sensor data in the first information set and store the modified first information set as the second information set. The modification includes one or more of deleting, repeating, adjusting data values.
Then, step 204 is performed, a satellite radio frequency signal is played back to the tested positioning terminal (for example, played back by a radio frequency signal acquisition instrument), positioning information is obtained from the tested positioning terminal, and corresponding multi-source data is found in the second information set according to the obtained positioning information. In one embodiment, the tested positioning terminal and the positioning terminal used for acquisition are the same terminal; in another embodiment, the location terminal being tested is a different terminal than the location terminal used for acquisition.
And then, step 205 is executed, and the differential positioning data and the sensor data in the multi-source data corresponding to the second information set are sent to the tested positioning terminal according to the sequence of the timestamps.
The above-mentioned steps 203-205 belong to the playback phase of the data. In one embodiment, steps 204 and 205 are performed iteratively after the data is modified in step 203.
The embodiment realizes regression iteration test and abnormal simulation of various high-precision positioning terminals based on real radio-frequency signals and various multi-source digital information data. By collecting test data of various real environments at one time, performance tuning based on the real environments is repeatedly realized, and meanwhile, various multi-source digital information data are supported to be simulated, so that the cost of testing depending on the actual environments is reduced, and the testing efficiency is improved. Meanwhile, the sensor data can be modified based on the time stamps, and the data needing to be modified during playback can be accurately positioned and sequenced.
Alternatively, in one embodiment, when the positioning terminal is used in a car scene, in step 201, the satellite radio frequency signal is received by the positioning terminal for acquisition, and wheel speed data from the vehicle is also received, wherein the positioning terminal for acquisition is installed on the vehicle. In step 202, the wheel speed data, the positioning information and the differential positioning data sensor data are recorded together in a first information set, wherein each piece of multi-source data in the first information set further comprises the wheel speed data corresponding to the same piece of positioning information, and the wheel speed data in the multi-source data is added with a timestamp according to the receiving time. In step 205, the differential positioning data and the sensor data at that time are transmitted in the order of the time stamps based on the outputted positioning information in addition to the order of the time stamps.
Optionally, in one embodiment, in step 203, in addition to the modification of the sensor data in the first information set, one or more of the other multi-source data in the first information set may be modified, such as differential positioning data, wheel speed data, and the like, the modification including one or more of deleting, repeating, adjusting data values.
Optionally, in an embodiment, in step 202, the first information set and the second information set are multi-source data files. When the positioning information and the multi-source data output by the first positioning terminal are recorded in the first information set, a zone bit for identifying the data type can be respectively added to the differential positioning data and the sensor data in the multi-source data. The record based on the zone bit can not only quickly search different multi-source data, but also avoid the inconsistency of the multi-source data, effectively enrich the test environment and improve the test precision. In step 203, when the sensor data in the first information set is modified, the sensor data may be searched for in the multi-source data through the flag bit, so as to save the search traversal time of the data, and further shorten the whole test time. In another embodiment, the first set of information and/or the second set of information may also be other data storage forms, such as a relational database, and the like.
Optionally, in one embodiment, step 202 further comprises the sub-steps of: receiving multi-source data from a plurality of different types of data sources; adding a received timestamp for each piece of received multi-source data respectively; adding a zone bit for identifying the data type for each type of multi-source data; combining various types of multi-source data corresponding to the same piece of positioning information into a multi-source data section, and adding a zone bit for identifying the multi-source data section for the multi-source data section; and storing the positioning information and the corresponding multi-source data segment into a multi-source data file. The multi-source data are preferentially arranged according to the types of the data sources in the multi-source data file, so that the readability of the multi-source data file can be greatly improved, and the introduction of the abnormity can be facilitated according to the types of the data sources. For example, if an abnormality of missing sensor data is to be simulated, a segment of data guided by the flag bit of the sensor data may be directly deleted in a multi-source data segment.
Optionally, in an embodiment, before step 204, a step of rearranging data in how many metadata files are further included, specifically: searching the multi-source data section in the multi-source data file by identifying the zone bit of the multi-source data section; searching different types of multi-source data in the searched multi-source data section by identifying the zone bit of the multi-source data section; arranging the multi-source data in the same multi-source data segment according to time sequence according to the time stamp of the multi-source data; and generating a multi-source data file with the multi-source data arranged according to time sequence. The multi-source data in each multi-source data segment are arranged according to time sequence, so that the multi-source data can be conveniently sent to the tested positioning terminal in the later test according to the time sequence.
Optionally, in an embodiment, in step 205, when the multi-source data corresponding to the second information set is sent to the tested positioning terminal according to the sequence of the timestamps, part of the specified data may be sent with a delay according to a preset configuration abnormal time, so as to simulate an abnormality that the specified data is subjected to delay in the transmission process. Delayed transmission may be used as a way of modification.
In order to better understand the technical solutions of the present disclosure, the following description is given with reference to a specific example, in which the listed details are mainly for the sake of understanding, and are not intended to limit the scope of the present disclosure.
The whole process is divided into two parts of recording and playback.
The recording process is as follows:
fig. 3 shows a system for recording multi-source data and radio frequency analog data. When recording, a radio frequency information acquisition instrument is needed for acquiring satellite signals and recording the satellite signals in the instrument. The acquisition of multi-source digitized information data requires the tools described herein to record the data. The synchronization process for multi-source data recording is shown in fig. 4.
And the high-precision positioning terminal starts positioning through the received satellite signals at a certain moment, and at the moment, the high-precision positioning terminal outputs a positioning result. The positioning information is output according to the standard NMEA protocol format, and the received data is stored in a file according to the protocol without analysis according to the timeliness of the differential data. When the method is used in a vehicle scene, auxiliary information such as differential data, sensor data, vehicle speed and the like obtained at the same time can be recorded in a recorded data file, and the data file can be called a multi-source data file. The same time is the time corresponding to the output of the positioning result of the measured high-precision positioning terminal. For example, if the satellite positioning result is updated once in 1 second, a positioning result D is received at the Nth second time n And a positioning result D is received at the N +1 second time n+1 Then, the data received from each source at the Nth second and later until the (N + 1) th second(differential data, sensor data, vehicle speed, etc.) are associated with the positioning result D n At the same time. Because the sources of data from various sources are different, the data sequence obtained at this time is inconsistent with the data sequence obtained at the next time, and in order to ensure that the readability of the same file is high, the auxiliary information such as 1. differential data, 2. sensor data, 3. vehicle speed and the like can be recorded in the file in sequence, and the multi-source data can be composed of a set of the 3 data or can include other data. In some embodiments, the multi-source data may not include vehicle speed data, and the invention is not limited thereto. Each piece of positioning information corresponds to a piece of multi-source data (which may contain data from multiple sources), if a piece of multi-source data is recorded in the multi-source data file as a segment.
During recording, only the multi-source data segment at each moment is recorded, a special FLAG identifier is added in front of each multi-source data segment as a mark, and an identifier' MULSOURCE: ", and a FLAG identifier is added as a mark before each multi-source data. When the vehicle-mounted data type differential data type vehicle-mounted data type vehicle can be used.
Meanwhile, for the purpose of simulating reality during playback, each kind of data received at each moment is added with header information of a time stamp, such as sensor data: 1501655271.1, the FLAG identifier is only marked once per multi-source data segment, as the frequency of data generation is greater than 1hz, and each piece of data received at a time is time stamped with the time stamp information. An example of a marked data segment is as follows:
*********************
$GNGGA,,,,,,,,,,,,,,
MULSOURCE:
DIFF:
1501655271.1，*********
DEVI:
1501655270.1，*********
1501655270.2，*********
1501655270.3，*********
1501655270.4，*********
1501655270.5，*********
1501655270.6，*********
……
PERI:
1501655272.1，*********
……
$GNGGA,,,,,,,,,,,,,,
**********************
the playback is divided into synchronous simulation playback and asynchronous simulation playback, which are respectively explained as follows:
the method comprises the steps of recording multi-source digital data and satellite signal radio frequency data, wherein the aim is to perform playback operation in the later period, and the playback aim is to perform performance test on a high-precision positioning terminal. Due to the separated recording mode, the performance test of the high-precision positioning terminal can be completed in a laboratory by using the recorded satellite signal radio frequency data and the multi-source digital information data without repeatedly testing an actual test scene.
The synchronous simulated playback process is shown in fig. 6.
During playback, firstly processing the multi-source data file, finding out a multi-source data segment according to a FLAG identifier with 'MULSOURCE:', then finding out each multi-source data type through a FLAG marked by each multi-source data, sequencing the multi-source data according to the time sequence according to a timestamp in front of each data, finally regenerating a multi-source data file sequenced according to the time sequence, and marking as a multi-source data file F, wherein a flow chart is shown in figure 5. The first sorting according to the type of the source is used during recording, which has the advantage of good readability, and the sorting is performed according to time before playback, so as to ensure the accuracy of playback.
The high-precision positioning terminal receives satellite data collected by the radio frequency analog signal collector and starts playback, a positioning result is output, the position of the same positioning result recorded during recording is found in a newly generated multi-source data file according to the output positioning result, and then a multi-source data segment with a FLAG identifier at the same moment is found. And respectively finding auxiliary information data such as differential data, sensor data, vehicle speed and the like according to the single FLAG identifier of each multi-source data, wherein the new multi-source data files are processed by sequencing according to the sequence, all the multi-source data are sent to the high-precision positioning terminal according to the recording sequence, and the high-precision positioning terminal finally outputs a high-precision positioning result according to the input multi-source data.
An example of a temporally sequenced multisource data segment is as follows:
*********************
$GNGGA,,,,,,,,,,,,,,
MULSOURCE:
DEVI:
1501655270.1，*********
1501655270.2，*********
1501655270.3，*********
1501655270.4，*********
1501655270.5，*********
1501655270.6，*********
……
DIFF:
1501655271.1，*********
PERI:
1501655272.1，*********
……
$GNGGA,,,,,,,,,,,,,,
**********************
the asynchronous emulated playback process is shown in fig. 7.
Compared with synchronous simulation playback, asynchronous simulation playback has rich configuration file lists for asynchronous simulation playback tests. An example of the type of asynchronous simulation is shown in table 2 and table 3, where table 2 is an example of a single type of asynchronous simulation playback of digitized information data, and table 3 is an example of a plurality of types of asynchronous simulation playback of digitized information data. The individual digitized information data numbers referred to in tables 2 and 3 are shown in table 1. If the simulation type is updated, the playback test can be completed only by updating the configuration file list.
During playback, similar to synchronous simulation, a new multi-source data file which is sequenced according to the time stamp sequence, is provided with a FLAG identifier and consists of a plurality of multi-source data segments is generated and recorded as a multi-source data file F.
And corresponding to a rich configuration file according to the type number in the abnormal simulation type number column in the tables 2 and 3. And setting the operation on the multi-source data file in the configuration file. The steps of playback do not need to be set every time of playback, and only the configuration type number needs to be selected.
For example, the absence of a certain multi-source data needs to be tested, a rule of the number of the multi-source data is given according to table 1, for example, the absence simulation of sensor data, namely B absence, and the synchronous simulation of other multi-source data, namely a and C have no abnormality, when playing back, only the corresponding abnormality simulation type number is selected to be 4, namely, the absence of the sensor data is needed, and the setting of the length of the absence time is needed in the configuration file, and the format of the time can be the UTC time of GGA, the UTC time and the timestamp display, because all time formats can be mutually converted, the same as the time recording format in the multi-source data file can be used. Example (c): the miss times are 1501655270.2-1501655270.5, while traversing the UTC time of $ GNGGA, and the timestamp of each piece of data to find the data segment that set the delete. And deleting data to generate a new multi-source data file L.
The high-precision positioning terminal receives satellite data collected by the radio frequency analog signal collector, plays back the satellite data, outputs a positioning result, finds the position of the same positioning result recorded during recording in a newly generated multi-source data file L according to the output positioning result, and then finds a multi-source data segment with an FLAG identifier at the same moment. And auxiliary information data such as differential data, sensor data, vehicle speed and the like are respectively found according to the single FLAG identifier of each multi-source data, and because the new multi-source data file L is processed by sequencing according to the sequence and data segment deletion is processed, the multi-source data is only required to be sent to the high-precision positioning terminal according to the sequence, and the high-precision positioning terminal finally outputs a high-precision positioning result according to the input multi-source data.
The above completes the asynchronous simulation playback test of the type 4, and the other types of simulation processes are similar.
| Single digital information data | Encoding |
| Differential data | A |
| Sensor data | B |
| Auxiliary information data such as vehicle speed | C |
Table 1: single digital information data numbering table
Table 2: asynchronous simulation playback type of single digital information data
Table 3: asynchronous simulation playback type of multiple digital information data
A second embodiment of the present disclosure relates to a satellite positioning test system, the structure of which is shown in fig. 8, the satellite positioning test system including:
and the positioning terminal is used for receiving the satellite radio frequency signal and outputting positioning information.
And the radio frequency signal acquisition instrument is used for acquiring and recording the satellite radio frequency signals while the positioning terminal for acquisition receives the satellite radio frequency signals, and playing back the recorded satellite radio frequency signals to the tested positioning terminal during testing.
Multisource data recording device for receiving differential positioning data and sensor data when being used for the positioning terminal of collection to receive satellite radio-frequency signal, positioning terminal according to satellite radio-frequency signal output that will be used for the collection, differential positioning data and sensor data record are in first information set, wherein, first information set includes many multisource data, each multisource data is including differential positioning data and the sensor data corresponding to same positioning information, differential positioning data and sensor data in the multisource data have according to the time stamp that the time of receipt added. In one embodiment, the positioning information comprises information in GNGGA format or GPGGA format
And the data modification device is used for modifying the sensor data in the first information set and storing the modified first information set as a second information set. In one embodiment, the modification includes one or more of deleting, repeating, adjusting data values.
And the multi-source data playback device is used for acquiring positioning information from the tested positioning terminal, finding corresponding multi-source data in the second information set according to the acquired positioning information, and sending the differential positioning data and the sensor data in the corresponding multi-source data to the tested positioning terminal according to the sequence of the timestamps.
Optionally, the multi-source data recording device receives a satellite radio frequency signal through a positioning terminal for collection, and also receives wheel speed data from a vehicle for testing, and records the wheel speed data, positioning information and differential positioning data sensor data together in a first information set, wherein the positioning terminal for collection is installed in the vehicle, each piece of multi-source data in the first information set further includes wheel speed data corresponding to the same piece of positioning information, and the wheel speed data in the multi-source data has a timestamp added according to a receiving time. In one embodiment, the sensor data includes gyroscope data and accelerometer data. The gyroscope data and the accelerometer data are from a gyroscope and an accelerometer, respectively
The first embodiment is a method embodiment corresponding to the present embodiment, and the technical details in the first embodiment may be applied to the present embodiment, and the technical details in the present embodiment may also be applied to the first embodiment.
It should be noted that, as will be understood by those skilled in the art, the implementation functions of the modules shown in the embodiment of the satellite positioning test system described above can be understood by referring to the related description of the satellite positioning test method described above. The functions of the modules shown in the embodiments of the satellite positioning test system can be implemented by a program (executable instructions) running on a processor, and can also be implemented by specific logic circuits. The satellite positioning test system according to the embodiments of the present disclosure may also be stored in a computer-readable storage medium if it is implemented in the form of a software functional module and sold or used as an independent product. Based on such understanding, the technical solutions of the embodiments of the present disclosure or portions thereof contributing to the prior art may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the methods described in the embodiments of the present disclosure. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read Only Memory (ROM), a magnetic disk, or an optical disk, and various media capable of storing program codes. Thus, embodiments of the present disclosure are not limited to any specific combination of hardware and software.
Accordingly, embodiments of the present disclosure also provide a computer-readable storage medium having stored therein computer-executable instructions that, when executed by a processor, implement the method embodiments of the present disclosure. Computer-readable storage media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Disks (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. As defined herein, a computer readable storage medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
Additionally, embodiments of the present disclosure also provide a satellite positioning test system, comprising a memory for storing computer executable instructions, and a processor; the processor is configured to implement the steps of the method embodiments described above when executing the computer-executable instructions in the memory. The Processor may be a Central Processing Unit (CPU), other general-purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), or the like. The aforementioned memory may be a read-only memory (ROM), a Random Access Memory (RAM), a Flash memory (Flash), a hard disk, or a solid state disk. The steps of the method disclosed in the embodiments of the present invention may be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules in the processor.
It should be noted that, in the present patent application, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, the use of the verb "comprise a" to define an element does not exclude the presence of another, same element in a process, method, article, or apparatus that comprises the element. In the present patent application, if it is mentioned that a certain action is executed according to a certain element, it means that the action is executed according to at least the element, and two cases are included: performing the action based only on the element, and performing the action based on the element and other elements. The expression of multiple, etc. includes 2, and more than 2, more than 2.
This specification includes combinations of the various embodiments described herein. Separate references to "one embodiment" or "some embodiments" or "preferred embodiments" or the like do not necessarily refer to the same embodiments; however, these embodiments are not mutually exclusive, unless indicated as mutually exclusive or as would be apparent to one of ordinary skill in the art. It should be noted that the term "or" is used in this specification in a non-exclusive sense unless the context clearly dictates otherwise.
All documents mentioned in this specification are to be considered as being integrally included in the disclosure of the present application so as to be able to be a basis for modification as necessary. It should be understood that the above description is only for the preferred embodiment of the present disclosure, and is not intended to limit the scope of the present disclosure. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of one or more embodiments of the present disclosure should be included in the scope of protection of one or more embodiments of the present disclosure.
In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.
Claims (12)
1. A satellite positioning test method, comprising:
receiving satellite radio frequency signals through a positioning terminal for acquisition, and simultaneously receiving differential positioning data and sensor data;
recording positioning information, the differential positioning data and the sensor data output by the positioning terminal according to the satellite radio-frequency signal in a first information set, wherein the first information set comprises a plurality of pieces of multi-source data, each piece of multi-source data comprises the differential positioning data and the sensor data corresponding to the same piece of positioning information, and the differential positioning data and the sensor data in the multi-source data are added with timestamps according to receiving time;
modifying sensor data in the first information set, and storing the modified first information set as a second information set;
playing back the satellite radio frequency signal to a tested positioning terminal, acquiring positioning information from the tested positioning terminal, and finding corresponding multi-source data in the second information set according to the acquired positioning information;
and sending the differential positioning data and the sensor data in the multi-source data corresponding to the second information set to the tested positioning terminal according to the sequence of the timestamps.
2. The satellite positioning test method of claim 1, further comprising:
receiving a satellite radio frequency signal through a positioning terminal for acquisition, and simultaneously receiving wheel speed data from a vehicle, wherein the positioning terminal for acquisition is installed on the vehicle;
recording the wheel speed data, the positioning information, the differential positioning data and the sensor data together in the first information set, wherein each piece of multi-source data in the first information set further comprises the wheel speed data corresponding to the same piece of positioning information, and timestamps are added to the wheel speed data in the multi-source data according to receiving time.
3. The satellite positioning test method of claim 1, wherein the modification comprises one or more of deleting, repeating, adjusting data values.
4. The satellite positioning test method of claim 1, wherein before storing the modified first set of information as a second set of information, further comprising:
and modifying the differential positioning data in the first information set, wherein the modification comprises one or more of deleting, repeating and adjusting data values.
5. The satellite positioning test method of claim 2, wherein before storing the modified first set of information as the second set of information, further comprising:
modifying the wheel speed data in the first set of information, the modifying including one or more of deleting, repeating, adjusting data values.
6. The satellite positioning test method according to claim 1, wherein the recording of the positioning information output by the positioning terminal from the satellite radio frequency signal, the differential positioning data, and the sensor data in a first information set further comprises:
and respectively adding a zone bit for marking the data type to the differential positioning data and the sensor data in the multi-source data.
7. The satellite positioning test method of claim 6, wherein the modifying the sensor data in the first set of information further comprises:
and searching the sensor data in the multi-source data through the zone bit.
8. The satellite positioning test method of any of claims 1-7, wherein the sensor data comprises gyroscope data and accelerometer data.
9. A satellite positioning test system, comprising:
the positioning terminal is used for receiving the satellite radio frequency signal and outputting positioning information;
the radio frequency signal acquisition instrument is used for acquiring and recording satellite radio frequency signals while the positioning terminal for acquisition receives the satellite radio frequency signals, and playing back the recorded satellite radio frequency signals to the positioning terminal to be tested during testing;
the multi-source data recording device is used for receiving differential positioning data and sensor data while the positioning terminal for acquisition receives satellite radio-frequency signals, and recording positioning information, the differential positioning data and the sensor data output by the positioning terminal for acquisition according to the satellite radio-frequency signals into a first information set, wherein the first information set comprises a plurality of pieces of multi-source data, each piece of multi-source data comprises the differential positioning data and the sensor data corresponding to the same piece of positioning information, and the differential positioning data and the sensor data in the multi-source data have timestamps added according to receiving time;
the data modification device is used for modifying the sensor data in the first information set and storing the modified first information set as a second information set;
and the multi-source data playback device is used for acquiring positioning information from the tested positioning terminal, finding corresponding multi-source data in the second information set according to the acquired positioning information, and sending the corresponding differential positioning data and sensor data in the multi-source data to the tested positioning terminal according to the sequence of timestamps.
10. The satellite positioning test system of claim 9, further comprising:
the vehicle wheel used for providing the speed data, wherein the multi-source data recording device receives satellite radio-frequency signals through a positioning terminal used for collecting, and meanwhile receives the speed data of the vehicle wheel from the vehicle, and records the speed data of the vehicle wheel, the positioning information and the differential positioning data together in the first information set, wherein the positioning terminal used for collecting is installed in the vehicle, each piece of multi-source data in the first information set further comprises the speed data of the vehicle wheel corresponding to the same piece of positioning information, and the speed data of the vehicle wheel in the multi-source data has a timestamp added according to the receiving time.
11. The satellite positioning test system of claim 9, wherein the positioning information includes GNGGA-formatted or GPGGA-formatted information.
12. The satellite positioning test system of claim 9, further comprising: a gyroscope to provide gyroscope data and an accelerometer to provide accelerometer data, wherein the sensor data comprises gyroscope data and accelerometer data.
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