CN113900868A - Serial port testing method and device, movable carrier and storage medium - Google Patents
Serial port testing method and device, movable carrier and storage medium Download PDFInfo
- Publication number
- CN113900868A CN113900868A CN202111113598.1A CN202111113598A CN113900868A CN 113900868 A CN113900868 A CN 113900868A CN 202111113598 A CN202111113598 A CN 202111113598A CN 113900868 A CN113900868 A CN 113900868A
- Authority
- CN
- China
- Prior art keywords
- serial port
- positioning
- data
- inertial navigation
- coordinate
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000012360 testing method Methods 0.000 title claims abstract description 117
- 238000003860 storage Methods 0.000 title claims abstract description 15
- 238000000034 method Methods 0.000 claims abstract description 22
- 238000010998 test method Methods 0.000 claims description 5
- 238000004891 communication Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 6
- 230000001133 acceleration Effects 0.000 description 4
- 230000003993 interaction Effects 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 239000002699 waste material Substances 0.000 description 2
- 230000003466 anti-cipated effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 230000001131 transforming effect Effects 0.000 description 1
- 238000013024 troubleshooting Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F11/00—Error detection; Error correction; Monitoring
- G06F11/22—Detection or location of defective computer hardware by testing during standby operation or during idle time, e.g. start-up testing
- G06F11/2205—Detection or location of defective computer hardware by testing during standby operation or during idle time, e.g. start-up testing using arrangements specific to the hardware being tested
- G06F11/221—Detection or location of defective computer hardware by testing during standby operation or during idle time, e.g. start-up testing using arrangements specific to the hardware being tested to test buses, lines or interfaces, e.g. stuck-at or open line faults
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- Computer Hardware Design (AREA)
- Quality & Reliability (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention belongs to the technical field of automatic driving, and discloses a serial port testing method, a serial port testing device, a movable carrier and a storage medium. The method comprises the following steps: when the movable carrier is in an automatic driving state, removing inertial navigation data of the inertial navigation serial port, and changing a data receiving mode of the coordinate positioning serial port into a target data receiving mode through the inertial navigation serial port; when the data receiving mode of the coordinate positioning serial port is successfully changed, sending a preset instruction to the coordinate positioning serial port; and when the coordinate positioning serial port successfully receives the preset instruction, performing serial port test on the coordinate positioning serial port according to the positioning data of the inertial navigation module. In this way, the data receiving mode of the coordinate positioning serial port is changed, so that the coordinate positioning serial port can receive the positioning data of the inertial navigation module, the serial port can be tested through the positioning data of the inertial navigation module, the inertial navigation data testing serial port which cannot be influenced by the external environment can be used even in a poor satellite positioning signal place, and the accuracy of serial port testing is improved.
Description
Technical Field
The invention relates to the technical field of automatic driving, in particular to a serial port testing method and device, a movable carrier and a storage medium.
Background
When the vehicle is driven automatically, the positioning data is very important for the movable carrier, so that the connectivity of the serial port for transmitting the positioning data to the host computer of the movable carrier needs to be checked in real time, and safety accidents are prevented from happening.
At present, the connectivity of detecting the serial ports uses satellite positioning data to test usually, and can lead to the satellite signal not good when the portable carrier is in places such as indoor, high building gathering for portable carrier is because can not obtain anticipated test result and continuously uses this satellite navigation positioning data repeated detection serial ports when using satellite navigation positioning data to detect the serial ports, thereby causes the system resource waste, and can not obtain accurate serial ports testing result.
Disclosure of Invention
The invention mainly aims to provide a serial port testing method, a serial port testing device, a movable carrier and a storage medium, and aims to solve the technical problem that an accurate serial port testing interface cannot be obtained when a serial port is tested by using satellite positioning data in a place with poor satellite signals in the prior art.
In order to achieve the aim, the invention provides a serial port testing method, which comprises the following steps:
when the movable carrier is in an automatic driving state, removing inertial navigation data of an inertial navigation serial port, and changing a data receiving mode of a coordinate positioning serial port into a target data receiving mode through the inertial navigation serial port;
when the data receiving mode of the coordinate positioning serial port is successfully changed, sending a preset instruction to the coordinate positioning serial port;
and when the coordinate positioning serial port successfully receives the preset instruction, performing serial port test on the coordinate positioning serial port according to the positioning data of the inertial navigation module.
Optionally, the step of performing a serial port test on the coordinate positioning serial port according to the positioning data of the inertial navigation module includes:
acquiring the positioning data fed back by the coordinate positioning serial port to obtain a first feedback result;
analyzing the first feedback result to obtain a first serial port test result;
judging whether the coordinate positioning serial port is normally connected or not according to a first serial port test result;
when the coordinate positioning serial port is normally connected, restoring the data receiving mode of the coordinate positioning serial port to the initial data receiving mode;
and when the data receiving mode of the coordinate positioning serial port is successfully restored, judging that the serial port test is passed.
Optionally, before the step of clearing the inertial navigation data of the inertial navigation serial port and changing the data receiving mode of the coordinate positioning serial port to the target data receiving mode through the inertial navigation serial port when the movable carrier is in the automatic driving state, the method further includes:
acquiring historical satellite positioning data and historical inertial navigation positioning data, and acquiring current base station positioning data of the movable carrier;
determining a first confidence coefficient of satellite module positioning according to the current base station positioning data and historical satellite positioning data, and determining a second confidence coefficient of inertial navigation module positioning according to the current base station positioning data and the historical inertial navigation positioning data;
comparing the first confidence level and the second confidence level with a confidence level threshold value respectively;
and when the first confidence coefficient is smaller than the confidence coefficient threshold value and the second confidence coefficient is larger than the confidence coefficient threshold value, executing the step of clearing the inertial navigation data of the inertial navigation serial port.
Optionally, the step of determining a first confidence coefficient of the positioning of the satellite module according to the current base station positioning data and the historical satellite positioning data, and determining a second confidence coefficient of the positioning of the inertial navigation module according to the current base station positioning data and the historical inertial navigation positioning data includes:
determining current positioning according to the current base station positioning data;
generating a satellite positioning track according to the historical satellite positioning data, and generating an inertial navigation positioning track according to the historical inertial navigation positioning data;
and determining a first confidence coefficient according to the current positioning and the satellite positioning track, and determining a second confidence coefficient according to the current positioning and the inertial navigation positioning track.
Optionally, the step of determining a first confidence level according to the current positioning and the satellite positioning trajectory, and determining a second confidence level according to the current positioning and the inertial navigation positioning trajectory includes:
determining a first offset according to the current positioning and the satellite positioning track, and determining a second offset according to the current positioning and the inertial navigation positioning track;
and determining a first confidence degree according to the first deviation degree, and determining a second confidence degree according to the second deviation degree.
Optionally, after the step of comparing the first confidence level and the second confidence level with a confidence level threshold, the method further includes:
when the first confidence coefficient is larger than the confidence coefficient threshold value and the second confidence coefficient is smaller than the confidence coefficient threshold value, testing the coordinate positioning serial port based on the positioning data of the satellite module;
comparing the first confidence level to the second confidence level when the first confidence level and the second confidence level are both greater than the confidence level threshold;
when the first confidence coefficient is larger than the second confidence coefficient, testing the coordinate positioning serial port based on the positioning data of the satellite module;
and when the first confidence coefficient is smaller than the second confidence coefficient, testing the coordinate positioning serial port based on the positioning data of the inertial navigation module.
Optionally, the step of testing the coordinate positioning serial port based on the positioning data of the satellite module includes:
acquiring a current data receiving mode of the coordinate positioning serial port;
when the current receiving mode is the initial receiving mode, sending a preset instruction to the coordinate positioning serial port to enable the coordinate positioning serial port to feed back the positioning data of the satellite module and obtain a second feedback result;
analyzing the second feedback result to obtain a second serial port test result;
and judging whether the coordinate positioning serial port is normally connected or not according to the second serial port test result.
In addition, in order to achieve the above object, the present invention further provides a serial port testing apparatus, including:
the clearing module is used for clearing inertial navigation data of the inertial navigation serial port when the movable carrier is in an automatic driving state, and changing a data receiving mode of the coordinate positioning serial port into a target data receiving mode through the inertial navigation serial port;
the sending module is used for sending a preset instruction to the coordinate positioning serial port when the data receiving mode of the coordinate positioning serial port is successfully changed;
and the test module is used for carrying out serial port test on the coordinate positioning serial port according to the positioning data of the inertial navigation module when the coordinate positioning serial port successfully receives the preset instruction.
Further, to achieve the above object, the present invention also proposes a movable carrier comprising: the device comprises a memory, a processor and a serial port test program which is stored on the memory and can run on the processor, wherein the serial port test program is configured to realize the steps of the serial port test method.
In addition, in order to achieve the above object, the present invention further provides a storage medium, where the storage medium stores a serial port test program, and the serial port test program implements the steps of the serial port test method described above when executed by a processor.
When the movable carrier is in an automatic driving state, the inertial navigation data of the inertial navigation serial port is cleared, and the data receiving mode of the coordinate positioning serial port is changed into a target data receiving mode through the inertial navigation serial port; when the data receiving mode of the coordinate positioning serial port is successfully changed, sending a preset instruction to the coordinate positioning serial port; and when the coordinate positioning serial port successfully receives the preset instruction, performing serial port test on the coordinate positioning serial port according to the positioning data of the inertial navigation module. In this way, the data receiving mode of the coordinate positioning serial port is changed, so that the coordinate positioning serial port can receive the positioning data of the inertial navigation module, the serial port can be tested through the positioning data of the inertial navigation module, the inertial navigation data testing serial port which cannot be influenced by the external environment can be used even in a poor satellite positioning signal place, and the accuracy of serial port testing is improved.
Drawings
FIG. 1 is a schematic flow chart of a serial port testing method according to a first embodiment of the present invention;
FIG. 2 is a schematic flow chart of a serial port testing method according to a second embodiment of the present invention;
FIG. 3 is a schematic flowchart of step S020 in the third embodiment of the serial port testing method of the present invention;
FIG. 4 is a schematic track diagram of an embodiment of a serial port testing method of the present invention;
FIG. 5 is a block diagram of the serial port testing device according to the first embodiment of the present invention;
fig. 6 is a schematic structural diagram of a movable carrier of a hardware operating environment according to an embodiment of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
An embodiment of the present invention provides a serial port testing method, and referring to fig. 1, fig. 1 is a schematic flow diagram of a first embodiment of a serial port testing method according to the present invention.
In this embodiment, the serial port testing method includes the following steps:
step S100: when the movable carrier is in an automatic driving state, the inertial navigation data of the inertial navigation serial port is cleared, and the data receiving mode of the coordinate positioning serial port is changed into a target data receiving mode through the inertial navigation serial port.
It should be noted that the execution main body of this embodiment may be a control terminal on a movable carrier, an operating system is operated on the control terminal, so as to implement a function customized by a manufacturer or a user, the movable carrier has multiple presentation forms, such as a carrier with a moving capability, such as an automobile, a robot, an aircraft, and the like, and the form of the movable carrier is not limited in this embodiment.
It can be understood that, when the movable carrier is in automatic driving, the control terminal on the movable carrier needs to acquire various sensor data and positioning data in real time, determine the specific position of the control terminal on the high-precision map according to the positioning data, and implement automatic driving operation according to the sensor data. Various sensors and control terminals are connected through wiring harnesses and serial ports, so that data can be transmitted normally, and connection errors among the sensors, equipment and the control terminals are caused due to shaking generated when a movable carrier runs or manual splicing in a production line process of the movable carrier, so that the serial ports, connected with the control terminals, of various equipment are required to be subjected to connectivity tests in real time, and safety accidents caused by burst connection errors are avoided.
It should be noted that, a Satellite module is disposed on the movable carrier and is used to implement Satellite Positioning of the movable carrier, and the Satellite Positioning System may be a Global Positioning System (GPS) or a BeiDou Navigation Satellite System (BDS), which is not limited in this embodiment. The inertial navigation module is used for acquiring inertial navigation data, and the inertial navigation system is an autonomous navigation system which does not depend on external information and does not radiate energy to the outside. The basic working principle of inertial navigation is based on Newton's law of mechanics, and by measuring the acceleration of a carrier in an inertial reference system, integrating the acceleration with time and transforming the acceleration into a navigation coordinate system, information such as speed, yaw angle and position in the navigation coordinate system can be obtained.
It should be understood that, in order to avoid data coupling, all the inertial navigation data of the inertial navigation serial port needs to be eliminated through a serial port tool, and the serial port tool is software capable of operating the serial port. After the data of the inertial navigation serial port is cleared, a data receiving mode of a coordinate positioning port is modified through the inertial navigation serial port, the coordinate positioning serial port is used for receiving and sending global positioning real-time coordinates, the data receiving mode comprises a type of received data, in the initial data receiving mode, satellite positioning data is received by the coordinate positioning serial port, and inertial navigation positioning data is received by the target data receiving mode.
It should be noted that when the data receiving mode of the coordinate positioning serial port is unsuccessfully modified, the modification is repeated, and when the modification fails five times, prompt information is generated to prompt an engineer that the data mode of the coordinate positioning serial port fails to be modified, and meanwhile, the prompt information is sent to a remote service to prompt the remote engineer to repair the data mode.
It can be understood that when the data receiving mode of the coordinate positioning serial port is modified successfully, the subsequent test is continued.
Step S200: and when the data receiving mode of the coordinate positioning serial port is successfully changed, sending a preset instruction to the coordinate positioning serial port.
In the specific implementation, after the data receiving mode of the coordinate positioning serial port is modified successfully, a preset instruction is sent to the coordinate positioning serial port, when the coordinate positioning serial port feeds back that the receiving instruction fails, the preset instruction is sent for five times repeatedly, and when all the five times of receiving fails, prompt information is generated to prompt an engineer that the connection of the coordinate positioning serial port fails. The preset instruction is used for enabling the coordinate positioning serial port to feed back positioning data circulating on the coordinate positioning serial port.
Step S300: and when the coordinate positioning serial port successfully receives the preset instruction, performing serial port test on the coordinate positioning serial port according to the positioning data of the inertial navigation module.
Further, step S300 includes: acquiring the positioning data fed back by the coordinate positioning serial port to obtain a first feedback result; analyzing the first feedback result to obtain a first serial port test result; and judging whether the coordinate positioning serial port is normally connected or not according to the first serial port test result. When the coordinate positioning serial port is normally connected, restoring the data receiving mode of the coordinate positioning serial port to the initial data receiving mode; and when the data receiving mode of the coordinate positioning serial port is successfully restored, judging that the serial port test is passed.
It can be understood that, after the instruction receipt succeeds when predetermineeing, the coordinate location serial ports then feed back the locating data that inertial navigation module sent, thereby obtain first feedback result, analyze first feedback result, thereby obtain the receiving and dispatching data of coordinate location serial ports, again with being compared the locating data that inertial navigation module sent with receiving and dispatching data, thereby obtain first serial ports test result, whether can obtain the coordinate location serial ports from first serial ports test result has data to lose, data such as data transmission's delay rate, thereby judge whether the connection of coordinate location serial ports is normal, when connecting normally, then resume the received data mode of coordinate location serial ports to initial received data mode, when not resuming successfully, repeated five times that resume, when all failed, then indicate the engineer to insert and resume the coordinate location serial ports. And when the recovery is successful, indicating that the coordinate positioning serial port test is passed.
In the embodiment, when the movable carrier is in an automatic driving state, inertial navigation data of an inertial navigation serial port is cleared, and a data receiving mode of a coordinate positioning serial port is changed into a target data receiving mode through the inertial navigation serial port; when the data receiving mode of the coordinate positioning serial port is successfully changed, sending a preset instruction to the coordinate positioning serial port; and when the coordinate positioning serial port successfully receives the preset instruction, performing serial port test on the coordinate positioning serial port according to the positioning data of the inertial navigation module. In this way, the data receiving mode of the coordinate positioning serial port is changed, so that the coordinate positioning serial port can receive the positioning data of the inertial navigation module, the serial port can be tested through the positioning data of the inertial navigation module, the inertial navigation data testing serial port which cannot be influenced by the external environment can be used even in a poor satellite positioning signal place, and the accuracy of serial port testing is improved.
Referring to fig. 2, fig. 2 is a schematic flowchart of a serial port testing method according to a second embodiment of the present invention.
Based on the first embodiment, before the step S100, the serial port testing method in this embodiment further includes:
step S010: and acquiring historical satellite positioning data and historical inertial navigation positioning data, and acquiring current base station positioning data of the movable carrier.
It is understood that the historical satellite positioning data refers to satellite positioning data from a preset time period to the current time, for example: the preset time period is 5 minutes, the current time is 12 points and 15 minutes, and the historical satellite positioning data is the satellite positioning data between 12 points and 10 minutes and 12 points and 15 minutes. Similarly, the historical inertial navigation positioning data refers to inertial navigation data from a preset time period to the current time. The inertial navigation data is obtained by the inertial navigation module, and the inertial navigation system is an autonomous navigation system which does not depend on external information and does not radiate energy to the outside.
In concrete implementation, because inertial navigation's characteristic, can not influenced by external environment, therefore inertial navigation positioning data is a good data source that is used for testing serial ports connectivity, but inertial navigation can increase along with time usually, location accuracy can reduce, consequently, be not applicable to the main positioning data source as the movable carrier for a long time, and satellite positioning is indoor, the local area of shelter from thing gathering can lead to the positioning signal poor, data transmission interrupt scheduling problem, can't regard as the only data source of serial ports connectivity test, consequently, need be according to the current state of movable carrier, select one of them positioning data as the data source that detects the serial ports.
It should be noted that, in general, mobile signals are better in a city, the distribution number of base stations is large, and a current positioning position, that is, a current positioning data of the base station, can be determined by a communication time difference between the mobile carrier and the base station, and in a high-rise dense area in the city, satellite positioning is less accurate than base station positioning, and therefore, the mobile carrier uses base station positioning as a reference.
It can be understood that, because the number of base stations is small in a remote area, such as a suburb, the mobile signal is poor, and compared with the satellite positioning data and the inertial navigation positioning data, the base station positioning data cannot be used as a stable data source for testing the serial port.
In a specific implementation, before acquiring current base station location data of a mobile carrier, signal strength and bandwidth of mobile data need to be detected, and when the signal strength and the bandwidth meet certain conditions, base station location can be used as reference location. For example: the strength of the current mobile signal is-67 (dBm), the preset strength is-90 (dBm), the current bandwidth is 1Mb/s, the preset bandwidth is 0.5Mb/s, the current signal strength is greater than the preset signal strength, and the current bandwidth is greater than the preset bandwidth, so that the mobile signal meets the condition and can be used as a positioning reference.
Step S020: and determining a first confidence coefficient of the positioning of the satellite module according to the current base station positioning data and the historical satellite positioning data, and determining a second confidence coefficient of the positioning of the inertial navigation module according to the current base station positioning data and the historical inertial navigation positioning data.
It should be noted that the confidence degree refers to the credibility of a result obtained when the data source is used for serial port testing, and generally, the more unstable the data interaction process is, the higher the probability of occurrence of phenomena such as packet loss and data delay is, the lower the corresponding confidence degree is.
In specific implementation, the current mobile signal strength is determined according to the current base station positioning data, the satellite positioning signal strength within a period of time can be determined according to historical satellite positioning data, so that the mean value of the satellite positioning signal strength is obtained, the mean value of the satellite signal strength is compared with the mobile signal strength, and a first confidence coefficient can be obtained. For example: the current mobile signal strength is-80 (dBm), the satellite positioning signal strength in a period of time is sampled, the satellite positioning signal strength is acquired every 5 seconds, the satellite positioning signal strength is-88 (dBm), -90(dBm), -92(dBm) for a plurality of times, the mean value of the satellite positioning signal strength is-90 (dBm), and the first confidence coefficient is (-80)/(-90) ═ 0.89. The above is only a distance description, and the present embodiment is not limited.
Further, in inertial navigation positioning, due to the fact that zero drift of a gyroscope is serious, and vehicle vibration and other factors, high-precision information such as azimuth and speed cannot be obtained through direct integral acceleration, and therefore an inertial navigation system is difficult to independently work for a long time, and the confidence coefficient of data is lower as the inertial navigation working time is longer. Determining a current time point according to the current base station positioning data, determining an initial working time point of inertial navigation positioning according to the historical inertial navigation positioning data, determining working time of inertial navigation according to the initial working time point and the current time point, and comparing the working time with a working time threshold value to obtain a second confidence coefficient. For example: when the current time point is 10 points and 30 minutes, the initial working time point is 9 points and 40 minutes, the working time is 50 minutes, and the working time threshold is 40 minutes, the second confidence coefficient is 40/50-0.8. The above are merely examples, and the present embodiment is not limited thereto.
Step S030: comparing the first confidence level and the second confidence level with a confidence level threshold value respectively.
It should be noted that the confidence threshold is a basic condition that can guarantee the reliability of the serial port test result, and therefore, the first confidence and the second confidence need to be compared with the confidence threshold respectively, so as to determine whether to use the positioning data of the satellite module as a test data source or to use the positioning data of the inertial navigation module as a test data source.
Step S040: and when the first confidence coefficient is smaller than the confidence coefficient threshold value and the second confidence coefficient is larger than the confidence coefficient threshold value, executing the step of clearing the inertial navigation data of the inertial navigation serial port.
Further, after the step of comparing the first confidence level and the second confidence level with the confidence level threshold, respectively, the method further includes: when the first confidence coefficient is larger than the confidence coefficient threshold value and the second confidence coefficient is smaller than the confidence coefficient threshold value, testing the coordinate positioning serial port based on the positioning data of the satellite module; comparing the first confidence level to the second confidence level when the first confidence level and the second confidence level are both greater than the confidence level threshold; when the first confidence coefficient is larger than the second confidence coefficient, testing the coordinate positioning serial port based on the positioning data of the satellite module; and when the first confidence coefficient is smaller than the second confidence coefficient, executing the step of clearing the inertial navigation data of the inertial navigation serial port.
In a specific implementation, a test mode is determined according to a result obtained by comparing the first confidence coefficient and the second confidence coefficient with a confidence coefficient threshold, for example: the first confidence coefficient is 0.85, the second confidence coefficient is 0.78, the confidence coefficient threshold value is 0.8, the first confidence coefficient is larger than the confidence coefficient threshold value at the moment, and the second confidence coefficient is smaller than the confidence coefficient threshold value, so that the data source of the positioning module corresponding to the first confidence coefficient can meet the basic condition of the serial port test, and the positioning data of the satellite module is selected as the data source for testing the serial port at the moment. If the first confidence is 0.78, the second confidence is 0.83 and the confidence threshold is 0.8, the first confidence is smaller than the confidence threshold, the second confidence is larger than the confidence threshold, and the positioning data of the inertial navigation module is used as the data source. If the first confidence is 0.81, the second confidence is 0.88, the confidence threshold is 0.8, and both the first confidence and the second confidence are greater than the confidence threshold, the first confidence and the confidence are required to be compared, and at this time, the positioning data of the satellite module corresponding to the first confidence is used as a test data source if the first confidence is greater than the second confidence.
Further, the step of testing the coordinate positioning serial port based on the positioning data of the satellite module includes: acquiring a current data receiving mode of the coordinate positioning serial port; when the current receiving mode is the initial receiving mode, sending a preset instruction to the coordinate positioning serial port to enable the coordinate positioning serial port to feed back the positioning data of the satellite module and obtain a second feedback result; analyzing the second feedback result to obtain a second serial port test result; and judging whether the coordinate positioning serial port is normally connected or not according to the second serial port test result.
In the specific implementation, when the positioning data received by the satellite module is used for serial port testing, whether the coordinate positioning serial port is in an initial data receiving mode or not is judged at first, and when the coordinate positioning serial port is not in the initial data receiving mode, the data of the satellite serial port needs to be cleared, and the data receiving mode of the coordinate positioning serial port is changed into the initial data receiving mode. And if the current data receiving mode of the coordinate positioning serial port is the initial data receiving mode, directly operating the coordinate positioning serial port without operating the satellite serial port.
The method comprises the steps of sending a preset instruction to a coordinate positioning serial port, feeding back positioning data sent by a satellite module after the instruction is successfully received by the coordinate positioning serial port to obtain a second feedback result, analyzing the second feedback result to obtain transceiving data, comparing the transceiving data with the data received by the satellite module to obtain a second serial port test result, and judging whether the coordinate positioning serial port can normally work or not according to the second serial port test result.
Further, if the first confidence coefficient and the second confidence coefficient are both smaller than the confidence coefficient threshold value, it is indicated that the positioning data generated by the two positioning modules are not data with high confidence coefficient, at this time, the connectivity test of the serial port is stopped, the positioning data generated by the satellite module and the inertial navigation module are continuously acquired, and the confidence coefficient is calculated until the confidence coefficient meets the condition; if the confidence degrees corresponding to the positioning data generated by the satellite module and the inertial navigation module cannot be greater than the confidence degree threshold value within the preset time, it is indicated that the positioning module of the movable carrier may have errors and needs to be overhauled.
In the embodiment, historical satellite positioning data and historical inertial navigation positioning data are obtained, and current base station positioning data of the movable carrier is obtained; determining a first confidence coefficient of satellite module positioning according to the current base station positioning data and historical satellite positioning data, and determining a second confidence coefficient of inertial navigation module positioning according to the current base station positioning data and the historical inertial navigation positioning data; comparing the first confidence level and the second confidence level with a confidence level threshold value respectively; and when the first confidence coefficient is smaller than the confidence coefficient threshold value and the second confidence coefficient is larger than the confidence coefficient threshold value, executing the step of clearing the inertial navigation data of the inertial navigation serial port. By the above mode, the base station positioning is used as a reference, the corresponding confidence coefficient is determined based on the satellite positioning data and the inertial navigation positioning data under the current field condition, and the test mode is determined according to the confidence coefficient, so that the serial port test mode with higher reliability can be selected based on the current field condition, the efficiency of troubleshooting serial port connection errors is improved, and the system resource waste is reduced.
Referring to fig. 3, fig. 3 is a schematic flowchart of a serial port testing method according to a third embodiment of the present invention.
Based on the third embodiment, in the step S020, the serial port testing method according to the embodiment further includes:
step S021: and determining the current location according to the current base station location data.
It should be noted that when the mobile terminal is located in a region with a good mobile signal, for example, an urban road with a dense high-rise building, the satellite positioning signal may cause a satellite positioning data transmission card segment and packet loss due to the shielding of the high-rise building, so that a test result of testing the connectivity of the serial port in real time is affected, and thus the reliability of the test is reduced.
In a specific implementation, the movable carrier is further provided with an internet of things card, and the internet of things card can perform data interaction with the base station. When the mobile carrier and the base station perform data interaction, the corresponding base station identification number can be determined, and because each base station has a certain coverage (namely a base station cell), the base station cell where the mobile carrier is currently located can be determined, so that whether the mobile carrier drives into an area with poor satellite signals or not can be judged.
Step S022: and generating a satellite positioning track according to the historical satellite positioning data, and generating an inertial navigation positioning track according to the historical inertial navigation positioning data.
It can be understood that the historical satellite positioning data refers to satellite positioning data from a time before a preset time period to a current time period, a continuous positioning track is generated according to continuous positioning data in the preset time period, and similarly, the inertial navigation positioning track is also a continuous positioning track generated according to the historical inertial navigation positioning data.
Step S023: and determining a first confidence coefficient according to the current positioning and the satellite positioning track, and determining a second confidence coefficient according to the current positioning and the inertial navigation positioning track.
It should be noted that the satellite positioning track is a route obtained by fitting a plurality of satellite positioning coordinates. And searching a corresponding route on the automatic driving planning route according to the initial coordinates of the satellite positioning track and the currently positioned coordinates of the mobile signal positioning, comparing the planning route with the satellite positioning track, determining a deviation value between the satellite positioning track and the planning route, and obtaining a first confidence coefficient according to the deviation value. Similarly, a corresponding route is searched on the automatic driving planning route according to the initial coordinates of the inertial navigation positioning track and the currently positioned coordinates positioned by the mobile signal, the planning route is compared with the inertial navigation positioning track, a deviation value between the inertial navigation positioning track and the planning route can be determined, and a second confidence coefficient is obtained according to the deviation value.
Further, to obtain more accurate confidence, step S023 includes: determining a first offset according to the current positioning and the satellite positioning track, and determining a second offset according to the current positioning and the inertial navigation positioning track; and determining a first confidence degree according to the first deviation degree, and determining a second confidence degree according to the second deviation degree.
In the specific implementation, a first intersection point of two tracks is determined according to a satellite positioning track and an inertial navigation positioning track, the first intersection point is used as an initial point, if no intersection point exists, a middle point of two initial positions is used as the initial point, a planning track on a planning route is determined according to the initial point and the current positioning of mobile signal positioning, the planning track is compared with the satellite positioning track to obtain a first deviation degree, the planning track is compared with the inertial navigation positioning track to obtain a second deviation degree, and a corresponding confidence coefficient is obtained according to the deviation degree. As shown in fig. 4, L1 is a satellite positioning track, L2 is an inertial navigation positioning track, L3 is a planned track, a is a current position, and B is a first intersection point.
The present embodiment determines the current location according to the current base station location data; generating a satellite positioning track according to the historical satellite positioning data, and generating an inertial navigation positioning track according to the historical inertial navigation positioning data; and determining a first confidence coefficient according to the current positioning and the satellite positioning track, and determining a second confidence coefficient according to the current positioning and the inertial navigation positioning track. By the above mode, the satellite positioning track generated based on historical satellite positioning data and the confidence coefficient corresponding to the inertial navigation positioning track generated based on historical inertial navigation positioning data can be determined, and therefore the target mode of the test serial port can be selected more accurately.
In addition, an embodiment of the present invention further provides a storage medium, where the storage medium stores a serial port test program, and the serial port test program implements the steps of the serial port test method described above when executed by a processor.
Since the storage medium adopts all technical solutions of all the embodiments, at least all the beneficial effects brought by the technical solutions of the embodiments are achieved, and no further description is given here.
Referring to fig. 5, fig. 5 is a block diagram of a serial port testing device according to a first embodiment of the present invention.
As shown in fig. 5, the serial port testing apparatus provided in the embodiment of the present invention includes:
the clearing module 10 is used for clearing inertial navigation data of the inertial navigation serial port when the movable carrier is in an automatic driving state, and changing a data receiving mode of the coordinate positioning serial port into a target data receiving mode through the inertial navigation serial port;
the sending module 20 is configured to send a preset instruction to the coordinate positioning serial port when the data receiving mode of the coordinate positioning serial port is successfully changed;
and the test module 30 is configured to perform a serial port test on the coordinate positioning serial port according to the positioning data of the inertial navigation module when the coordinate positioning serial port successfully receives the preset instruction.
It should be understood that the above is only an example, and the technical solution of the present invention is not limited in any way, and in a specific application, a person skilled in the art may set the technical solution as needed, and the present invention is not limited thereto.
In the embodiment, when the movable carrier is in an automatic driving state, inertial navigation data of an inertial navigation serial port is cleared, and a data receiving mode of a coordinate positioning serial port is changed into a target data receiving mode through the inertial navigation serial port; when the data receiving mode of the coordinate positioning serial port is successfully changed, sending a preset instruction to the coordinate positioning serial port; and when the coordinate positioning serial port successfully receives the preset instruction, performing serial port test on the coordinate positioning serial port according to the positioning data of the inertial navigation module. In this way, the data receiving mode of the coordinate positioning serial port is changed, so that the coordinate positioning serial port can receive the positioning data of the inertial navigation module, the serial port can be tested through the positioning data of the inertial navigation module, the inertial navigation data testing serial port which cannot be influenced by the external environment can be used even in a poor satellite positioning signal place, and the accuracy of serial port testing is improved.
It should be noted that the above-described work flows are only exemplary, and do not limit the scope of the present invention, and in practical applications, a person skilled in the art may select some or all of them to achieve the purpose of the solution of the embodiment according to actual needs, and the present invention is not limited herein.
In addition, the technical details that are not described in detail in this embodiment may refer to the serial port testing method provided in any embodiment of the present invention, and are not described herein again.
Referring to fig. 6, fig. 6 is a schematic diagram of a movable carrier structure of a hardware operating environment according to an embodiment of the present invention.
As shown in fig. 6, the movable carrier may include: a processor 1001, such as a Central Processing Unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a Wireless interface (e.g., a Wireless-Fidelity (Wi-Fi) interface). The Memory 1005 may be a Random Access Memory (RAM) Memory, or may be a Non-Volatile Memory (NVM), such as a disk Memory. The memory 1005 may alternatively be a storage device separate from the processor 1001.
Those skilled in the art will appreciate that the configuration shown in fig. 6 does not constitute a limitation of the movable carrier, and may include more or fewer components than those shown, or some components in combination, or a different arrangement of components.
As shown in fig. 6, the memory 1005, which is a storage medium, may include an operating system, a network communication module, a user interface module, and a serial port test program therein.
In the removable carrier shown in fig. 6, the network interface 1004 is primarily used for data communication with a network server; the user interface 1003 is mainly used for data interaction with a user; the processor 1001 and the memory 1005 in the removable carrier of the present invention may be disposed in the removable carrier, and the removable carrier calls the serial port test program stored in the memory 1005 through the processor 1001 and performs the following operations:
when the movable carrier is in an automatic driving state, removing inertial navigation data of an inertial navigation serial port, and changing a data receiving mode of a coordinate positioning serial port into a target data receiving mode through the inertial navigation serial port;
when the data receiving mode of the coordinate positioning serial port is successfully changed, sending a preset instruction to the coordinate positioning serial port;
and when the coordinate positioning serial port successfully receives the preset instruction, performing serial port test on the coordinate positioning serial port according to the positioning data of the inertial navigation module.
Further, the processor 1001 may call the serial port test program stored in the memory 1005, and further perform the following operations:
acquiring the positioning data fed back by the coordinate positioning serial port to obtain a first feedback result;
analyzing the first feedback result to obtain a first serial port test result;
and judging whether the coordinate positioning serial port is normally connected or not according to the first serial port test result.
When the coordinate positioning serial port is normally connected, restoring the data receiving mode of the coordinate positioning serial port to the initial data receiving mode;
and when the data receiving mode of the coordinate positioning serial port is successfully restored, judging that the serial port test is passed.
Further, the processor 1001 may call the serial port test program stored in the memory 1005, and further perform the following operations:
acquiring historical satellite positioning data and historical inertial navigation positioning data, and acquiring current base station positioning data of the movable carrier;
determining a first confidence coefficient of satellite module positioning according to the current base station positioning data and historical satellite positioning data, and determining a second confidence coefficient of inertial navigation module positioning according to the current base station positioning data and the historical inertial navigation positioning data;
comparing the first confidence level and the second confidence level with a confidence level threshold value respectively;
and when the first confidence coefficient is smaller than the confidence coefficient threshold value and the second confidence coefficient is larger than the confidence coefficient threshold value, executing the step of clearing the inertial navigation data of the inertial navigation serial port.
Further, the processor 1001 may call the serial port test program stored in the memory 1005, and further perform the following operations:
determining current positioning according to the current base station positioning data;
generating a satellite positioning track according to the historical satellite positioning data, and generating an inertial navigation positioning track according to the historical inertial navigation positioning data;
and determining a first confidence coefficient according to the current positioning and the satellite positioning track, and determining a second confidence coefficient according to the current positioning and the inertial navigation positioning track.
Further, the processor 1001 may call the serial port test program stored in the memory 1005, and further perform the following operations:
determining a first offset according to the current positioning and the satellite positioning track, and determining a second offset according to the current positioning and the inertial navigation positioning track;
and determining a first confidence degree according to the first deviation degree, and determining a second confidence degree according to the second deviation degree.
Further, the processor 1001 may call the serial port test program stored in the memory 1005, and further perform the following operations:
when the first confidence coefficient is larger than the confidence coefficient threshold value and the second confidence coefficient is smaller than the confidence coefficient threshold value, testing the coordinate positioning serial port based on the positioning data of the satellite module;
comparing the first confidence level to the second confidence level when the first confidence level and the second confidence level are both greater than the confidence level threshold;
when the first confidence coefficient is larger than the second confidence coefficient, testing the coordinate positioning serial port based on the positioning data of the satellite module;
and when the first confidence coefficient is smaller than the second confidence coefficient, testing the coordinate positioning serial port based on the positioning data of the inertial navigation module.
Further, the processor 1001 may call the serial port test program stored in the memory 1005, and further perform the following operations:
acquiring a current data receiving mode of the coordinate positioning serial port;
when the current receiving mode is the initial receiving mode, sending a preset instruction to the coordinate positioning serial port to enable the coordinate positioning serial port to feed back the positioning data of the satellite module and obtain a second feedback result;
analyzing the second feedback result to obtain a second serial port test result;
and judging whether the coordinate positioning serial port is normally connected or not according to the second serial port test result.
In the embodiment, when the movable carrier is in an automatic driving state, inertial navigation data of an inertial navigation serial port is cleared, and a data receiving mode of a coordinate positioning serial port is changed into a target data receiving mode through the inertial navigation serial port; when the data receiving mode of the coordinate positioning serial port is successfully changed, sending a preset instruction to the coordinate positioning serial port; and when the coordinate positioning serial port successfully receives the preset instruction, performing serial port test on the coordinate positioning serial port according to the positioning data of the inertial navigation module. In this way, the data receiving mode of the coordinate positioning serial port is changed, so that the coordinate positioning serial port can receive the positioning data of the inertial navigation module, the serial port can be tested through the positioning data of the inertial navigation module, the inertial navigation data testing serial port which cannot be influenced by the external environment can be used even in a poor satellite positioning signal place, and the accuracy of serial port testing is improved.
Further, it is to be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system 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 system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention or portions thereof that contribute to the prior art may be embodied in the form of a software product, where the computer software product is stored in a storage medium (e.g. Read Only Memory (ROM)/RAM, magnetic disk, optical disk), and includes several instructions for enabling a terminal device (e.g. a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A serial port test method is characterized by comprising the following steps:
when the movable carrier is in an automatic driving state, removing inertial navigation data of an inertial navigation serial port, and changing a data receiving mode of a coordinate positioning serial port into a target data receiving mode through the inertial navigation serial port;
when the data receiving mode of the coordinate positioning serial port is successfully changed, sending a preset instruction to the coordinate positioning serial port;
and when the coordinate positioning serial port successfully receives the preset instruction, performing serial port test on the coordinate positioning serial port according to the positioning data of the inertial navigation module.
2. The method of claim 1, wherein the step of performing serial port testing on the coordinate positioning serial port according to the positioning data of the inertial navigation module comprises:
acquiring the positioning data fed back by the coordinate positioning serial port to obtain a first feedback result;
analyzing the first feedback result to obtain a first serial port test result;
judging whether the coordinate positioning serial port is normally connected or not according to a first serial port test result;
when the coordinate positioning serial port is normally connected, restoring the data receiving mode of the coordinate positioning serial port to the initial data receiving mode;
and when the data receiving mode of the coordinate positioning serial port is successfully restored, judging that the serial port test is passed.
3. The method of claim 1, wherein prior to the step of clearing the inertial navigation data of the inertial navigation serial port and changing the data reception mode of the coordinate positioning serial port to the target data reception mode via the inertial navigation serial port when the movable carrier is in the autonomous driving state, further comprising:
acquiring historical satellite positioning data and historical inertial navigation positioning data, and acquiring current base station positioning data of the movable carrier;
determining a first confidence coefficient of satellite module positioning according to the current base station positioning data and historical satellite positioning data, and determining a second confidence coefficient of inertial navigation module positioning according to the current base station positioning data and the historical inertial navigation positioning data;
comparing the first confidence level and the second confidence level with a confidence level threshold value respectively;
and when the first confidence coefficient is smaller than the confidence coefficient threshold value and the second confidence coefficient is larger than the confidence coefficient threshold value, executing the step of clearing the inertial navigation data of the inertial navigation serial port.
4. The method of claim 3, wherein the step of determining a first confidence level of the positioning of the satellite module according to the current base station positioning data and the historical satellite positioning data, and determining a second confidence level of the positioning of the inertial navigation module according to the current base station positioning data and the historical inertial navigation positioning data comprises:
determining current positioning according to the current base station positioning data;
generating a satellite positioning track according to the historical satellite positioning data, and generating an inertial navigation positioning track according to the historical inertial navigation positioning data;
and determining a first confidence coefficient according to the current positioning and the satellite positioning track, and determining a second confidence coefficient according to the current positioning and the inertial navigation positioning track.
5. The method of claim 4, wherein said determining a first confidence level based on said current position fix and said satellite position fix trajectory and a second confidence level based on said current position fix and said inertial position fix trajectory comprises:
determining a first offset according to the current positioning and the satellite positioning track, and determining a second offset according to the current positioning and the inertial navigation positioning track;
and determining a first confidence degree according to the first deviation degree, and determining a second confidence degree according to the second deviation degree.
6. The method of claim 3, wherein the step of comparing the first confidence level and the second confidence level to confidence level thresholds, respectively, is followed by further comprising:
when the first confidence coefficient is larger than the confidence coefficient threshold value and the second confidence coefficient is smaller than the confidence coefficient threshold value, testing the coordinate positioning serial port based on the positioning data of the satellite module;
comparing the first confidence level to the second confidence level when the first confidence level and the second confidence level are both greater than the confidence level threshold;
when the first confidence coefficient is larger than the second confidence coefficient, testing the coordinate positioning serial port based on the positioning data of the satellite module;
and when the first confidence coefficient is smaller than the second confidence coefficient, executing the step of clearing the inertial navigation data of the inertial navigation serial port.
7. The method of claim 6, wherein the step of testing the coordinate positioning serial port based on the positioning data of the satellite module comprises:
acquiring a current data receiving mode of the coordinate positioning serial port;
when the current receiving mode is the initial receiving mode, sending a preset instruction to the coordinate positioning serial port to enable the coordinate positioning serial port to feed back the positioning data of the satellite module and obtain a second feedback result;
analyzing the second feedback result to obtain a second serial port test result;
and judging whether the coordinate positioning serial port is normally connected or not according to the second serial port test result.
8. The serial port testing device is characterized by comprising:
the clearing module is used for clearing inertial navigation data of the inertial navigation serial port when the movable carrier is in an automatic driving state, and changing a data receiving mode of the coordinate positioning serial port into a target data receiving mode through the inertial navigation serial port;
the sending module is used for sending a preset instruction to the coordinate positioning serial port when the data receiving mode of the coordinate positioning serial port is successfully changed;
and the test module is used for carrying out serial port test on the coordinate positioning serial port according to the positioning data of the inertial navigation module when the coordinate positioning serial port successfully receives the preset instruction.
9. A movable carrier, characterized in that the movable carrier comprises: the serial port testing device comprises a memory, a processor and a serial port testing program which is stored on the memory and can run on the processor, wherein the serial port testing program is configured to realize the serial port testing method as claimed in any one of claims 1 to 7.
10. A storage medium, wherein a serial port test program is stored on the storage medium, and when being executed by a processor, the serial port test program realizes the serial port test method according to any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111113598.1A CN113900868A (en) | 2021-09-22 | 2021-09-22 | Serial port testing method and device, movable carrier and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111113598.1A CN113900868A (en) | 2021-09-22 | 2021-09-22 | Serial port testing method and device, movable carrier and storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113900868A true CN113900868A (en) | 2022-01-07 |
Family
ID=79029041
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111113598.1A Pending CN113900868A (en) | 2021-09-22 | 2021-09-22 | Serial port testing method and device, movable carrier and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113900868A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117573449A (en) * | 2023-11-17 | 2024-02-20 | 广州安聚物联网科技有限公司 | System and method for testing serial port equipment |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20160255420A1 (en) * | 2015-02-26 | 2016-09-01 | Barry John McCleland | Monitoring device and systems and methods related thereto |
| CN109376042A (en) * | 2018-10-12 | 2019-02-22 | 华自科技股份有限公司 | Serial ports test method, device, communication manager and storage medium |
| CN110708712A (en) * | 2019-10-15 | 2020-01-17 | 四川九州电子科技股份有限公司 | Intelligent test system and method for wireless AP coverage and communication capability |
-
2021
- 2021-09-22 CN CN202111113598.1A patent/CN113900868A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20160255420A1 (en) * | 2015-02-26 | 2016-09-01 | Barry John McCleland | Monitoring device and systems and methods related thereto |
| CN109376042A (en) * | 2018-10-12 | 2019-02-22 | 华自科技股份有限公司 | Serial ports test method, device, communication manager and storage medium |
| CN110708712A (en) * | 2019-10-15 | 2020-01-17 | 四川九州电子科技股份有限公司 | Intelligent test system and method for wireless AP coverage and communication capability |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117573449A (en) * | 2023-11-17 | 2024-02-20 | 广州安聚物联网科技有限公司 | System and method for testing serial port equipment |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108562923B (en) | Multi-source information fusion ship positioning method based on AIS ship station | |
| CN110597252B (en) | Fusion positioning control method, device and equipment for automatic driving automobile and storage medium | |
| US7880673B2 (en) | Position determination system and position determination method | |
| US20100322077A1 (en) | Environment analysis system and method for indoor wireless location | |
| CN107430198B (en) | Self-organizing real-time dynamic roaming network for automobile | |
| US10694485B2 (en) | Method and apparatus for correcting multipath offset and determining wireless station locations | |
| CN112130178A (en) | Vehicle-mounted unit positioning error testing method and device and vehicle-road cooperative testing method | |
| CN113055949B (en) | Positioning method, apparatus, device and medium | |
| EP3919864B1 (en) | Method and apparatus for processing map data | |
| CN110988949A (en) | Positioning method, positioning device, computer readable storage medium and mobile device | |
| CN105554702A (en) | Cross network positioning system and method, positioning server and mobile terminal | |
| CN113900868A (en) | Serial port testing method and device, movable carrier and storage medium | |
| CN111323799A (en) | Unmanned aerial vehicle positioning method and device, computer readable storage medium and electronic equipment | |
| CN111551190B (en) | Method, apparatus, device and medium for determining location capability for autonomous driving | |
| CN113031018A (en) | Beidou satellite navigation system performance testing device based on unmanned aerial vehicle | |
| CN109525947B (en) | Unmanned aerial vehicle motion trail recording method and device | |
| CN110411499B (en) | Evaluation method and evaluation system for detection and identification capability of sensor | |
| CN109556614B (en) | Positioning method and device for unmanned vehicle | |
| CN112118529A (en) | Mobile terminal positioning method, vehicle-mounted terminal and mobile terminal | |
| CN115291262A (en) | Satellite positioning data correction method and device, electronic equipment and storage medium | |
| CN114325662A (en) | External parameter calibration method, device, equipment and storage medium for vehicle-mounted radar | |
| CN114413929A (en) | Positioning information verification method, device and system, unmanned vehicle and storage medium | |
| CN114323693A (en) | Test method, device, equipment and storage medium for vehicle road cloud perception system | |
| CN110906944A (en) | Positioning method and device in multipath environment and cloud server | |
| CN116124134B (en) | Multisource data fusion positioning navigation system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |