CN114236573A - Positioning accuracy monitoring method and device, electronic equipment and storage medium - Google Patents
Positioning accuracy monitoring method and device, electronic equipment and storage medium Download PDFInfo
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- CN114236573A CN114236573A CN202210169760.XA CN202210169760A CN114236573A CN 114236573 A CN114236573 A CN 114236573A CN 202210169760 A CN202210169760 A CN 202210169760A CN 114236573 A CN114236573 A CN 114236573A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/20—Integrity monitoring, fault detection or fault isolation of space segment
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/23—Testing, monitoring, correcting or calibrating of receiver elements
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/396—Determining accuracy or reliability of position or pseudorange measurements
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Abstract
The invention relates to a positioning accuracy monitoring method, a positioning accuracy monitoring device, electronic equipment and a storage medium, wherein the positioning accuracy monitoring method comprises the following steps: respectively utilizing a plurality of objects to carry out positioning processing on a preset target, and acquiring first satellite orbit position information of the preset target, which corresponds to each of the plurality of objects; determining position deviation information corresponding to each of the plurality of objects according to the first satellite orbit position information; determining second satellite orbit position information of a preset target based on the first satellite orbit position information and the position deviation information; and determining the positioning precision information of the monitored object according to the second satellite orbit position information and the first satellite orbit position information corresponding to the monitored object. According to the technical scheme of the invention, the positioning precision information of the monitored object is determined according to the second satellite orbit position information and the first satellite orbit position information of the monitored object, so that the real-time satellite positioning precision monitoring of the object is realized.
Description
Technical Field
The invention relates to the technical field of satellite orbit positioning, in particular to a positioning accuracy monitoring method and device, electronic equipment and a storage medium.
Background
The real-time Satellite orbit location service is a necessary location service for high-precision positioning of non-differential GNSS (Global Navigation Satellite System), and the positioning precision of the real-time Satellite orbit location service depends on whether high-precision positioning of GNSS can be realized. However, most current service providers only provide real-time orbit location services and lack monitoring of the accuracy of the positioning. However, when there is an abnormal value in the real-time satellite orbit, the abnormal value will affect the positioning accuracy of the user, and the use of the user cannot be guaranteed. Therefore, quality needs to be monitored and evaluated before real-time orbit dissemination.
Because the real-time satellite orbit position service cannot find satellite orbit position service with higher precision as a reference true value for real-time comparison, monitoring can be carried out only by a mode of internally conforming to precision check and external monitoring station real-time monitoring. However, the missing detection probability of the internal coincidence precision detection method is higher. The monitoring result of the external monitoring station has a certain time delay, the provided information is later than the time used by a user, the information cannot be used for real-time precision monitoring, and the broadcasting of wrong satellite orbit position information cannot be avoided. The existing method cannot fundamentally realize the continuity and the availability of the satellite orbit position service and cannot meet the requirement of automatic driving on the GNSS high-precision satellite orbit position service.
Disclosure of Invention
The invention aims to provide a positioning precision monitoring method, a positioning precision monitoring device, an electronic device and a storage medium, which are used for determining position deviation information corresponding to a plurality of objects based on first satellite orbit position information corresponding to the objects, determining second satellite orbit position information according to the position deviation information and the first satellite orbit position information corresponding to the objects, and determining the positioning precision information of the monitored object according to the second satellite orbit position information and the first satellite orbit position information of the monitored object, thereby realizing the real-time satellite positioning precision monitoring of the objects.
In order to achieve the purpose, the invention provides the following scheme:
a method of positioning accuracy monitoring, the method comprising:
respectively utilizing a plurality of objects to carry out positioning processing on a preset target, and acquiring first satellite orbit position information of the preset target, which corresponds to the plurality of objects, wherein the plurality of objects comprise monitoring objects and at least two reference objects;
determining position deviation information corresponding to each of the plurality of objects according to the first satellite orbit position information;
determining second satellite orbit position information of the preset target based on the first satellite orbit position information and the position deviation information;
and determining the positioning precision information of the monitored object according to the second satellite orbit position information and the first satellite orbit position information corresponding to the monitored object.
Optionally, the determining second satellite orbit position information of the preset target based on the first satellite orbit position information and the position deviation information includes:
determining at least two target objects of the plurality of objects based on the positional deviation information;
determining respective weight information of the at least two target objects;
and acquiring the second satellite orbit position information according to the weight information and the first satellite orbit position information corresponding to the plurality of objects respectively.
Optionally, the determining at least two target objects in the plurality of objects based on the position deviation information includes:
determining a culling object of the plurality of objects based on the positional deviation information;
and removing the removed objects in the plurality of objects to obtain the target object.
Optionally, the determining, according to the first satellite orbit position information corresponding to each of the multiple objects, position deviation information corresponding to each of the multiple objects includes:
coordinate conversion processing is carried out on the first satellite orbit position information corresponding to the plurality of objects respectively, and third satellite orbit position information corresponding to the plurality of objects respectively is obtained;
obtaining residuals corresponding to the plurality of objects according to the third satellite orbit position information;
and normalizing the residual errors to obtain the position deviation information corresponding to the plurality of objects.
Optionally, the obtaining, according to the third satellite orbit position information, residuals corresponding to the multiple objects respectively includes:
obtaining a median of third satellite orbit position information corresponding to the plurality of objects according to the third satellite orbit position information;
and obtaining the residual error based on the median and the third satellite orbit position information.
Optionally, the positioning processing is performed on a preset target by using a plurality of objects, respectively, to obtain first satellite orbit position information of the preset target, which corresponds to each of the plurality of objects, and the method includes:
under the condition that the epoch of the monitored object is lost, acquiring first satellite orbit position information corresponding to the monitored object based on an extrapolation algorithm;
and under the condition that the epoch of the monitored object is not lost, acquiring first satellite orbit position information corresponding to the monitored object.
Optionally, the determining, according to the second satellite orbit position information and the first satellite orbit position information corresponding to the monitored object, the positioning accuracy information of the monitored object includes:
obtaining position difference value information according to the second satellite orbit position information and first satellite orbit position information corresponding to the monitored object;
and taking the position difference information as the positioning precision information of the monitored object.
In another aspect, the present invention further provides a positioning accuracy monitoring device, including:
the system comprises a first satellite orbit position information acquisition module, a second satellite orbit position information acquisition module and a third satellite orbit position information acquisition module, wherein the first satellite orbit position information acquisition module is used for respectively positioning a preset target by utilizing a plurality of objects to acquire first satellite orbit position information of the preset target, which corresponds to the plurality of objects, and the plurality of objects comprise monitoring objects and at least two reference objects;
a position deviation information determining module, configured to determine, according to the first satellite orbit position information, position deviation information corresponding to each of the plurality of objects;
a second satellite orbit position information determining module, configured to determine second satellite orbit position information of the preset target based on the first satellite orbit position information and the position deviation information;
and the positioning precision information determining module is used for determining the positioning precision information of the monitored object according to the second satellite orbit position information and the first satellite orbit position information corresponding to the monitored object.
In another aspect, the present invention further provides an electronic device, including: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to perform the positioning accuracy monitoring method.
In another aspect, the present invention also provides a non-volatile computer-readable storage medium, on which computer program instructions are stored, wherein the computer program instructions, when executed by a processor, implement the positioning accuracy monitoring method.
According to the positioning accuracy monitoring method, the positioning accuracy monitoring device, the electronic equipment and the storage medium, the position deviation information corresponding to the objects is determined based on the first satellite orbit position information corresponding to the objects, the second satellite orbit position information is determined according to the position deviation information and the first satellite orbit position information corresponding to the objects, the positioning accuracy information of the monitored object is determined according to the second satellite orbit position information and the first satellite orbit position information of the monitored object, and real-time satellite positioning accuracy monitoring of the monitored object is achieved.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings used in the description of the embodiment or the prior art will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art it is also possible to derive other drawings from these drawings without inventive effort.
Fig. 1 is a flowchart of a method for monitoring positioning accuracy according to an embodiment of the present invention;
fig. 2 is a flowchart of a method for determining second satellite orbit position information of a predetermined target based on first satellite orbit position information and position deviation information according to an embodiment of the present invention;
FIG. 3 is a flowchart of a method for determining at least two target objects of a plurality of objects based on location deviation information according to an embodiment of the present invention;
fig. 4 is a flowchart of a method for determining position deviation information corresponding to a plurality of objects according to first satellite orbit position information corresponding to the plurality of objects according to an embodiment of the present invention;
fig. 5 is a flowchart of a method for obtaining residuals corresponding to a plurality of objects according to third satellite orbit position information according to an embodiment of the present invention;
fig. 6 is a flowchart of a method for positioning a preset target by using a plurality of objects respectively to obtain first satellite orbit position information of the preset target, where the first satellite orbit position information corresponds to each of the plurality of objects, according to an embodiment of the present invention;
fig. 7 is a flowchart of a method for determining positioning accuracy information of a monitored object according to second satellite orbit position information and first satellite orbit position information corresponding to the monitored object according to an embodiment of the present invention;
fig. 8 is a block diagram of a positioning accuracy monitoring apparatus according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
An embodiment of a positioning accuracy monitoring method according to the present invention is described below, and fig. 1 is a flowchart of a positioning accuracy monitoring method according to an embodiment of the present invention. The present specification provides method steps as described in the examples or flowcharts, but may include more or fewer steps based on routine or non-inventive labor. The order of steps recited in the embodiments is merely one manner of performing the steps in a multitude of orders and does not represent the only order of execution. In practice, the system products may be executed sequentially or in parallel (e.g., in the context of parallel processors or multi-threaded processing) in accordance with the methods described in the embodiments or figures. As shown in fig. 1, the present embodiment provides a positioning accuracy monitoring method, including:
s101, a plurality of objects are used for positioning a preset target respectively, and first satellite orbit position information of the preset target corresponding to the plurality of objects is obtained, wherein the plurality of objects comprise a monitoring object and at least two reference objects.
Wherein the object may refer to a service provider for providing a satellite orbital location. The plurality of objects may include a monitoring object and at least two reference objects. The monitoring object may refer to a satellite orbit location service provider that has a real-time accuracy monitoring requirement. The reference object may be used to provide reference data for determination of real-time accuracy of the monitored object. The reference object may be a real-time satellite orbital location service provider publicly available internationally. The preset target may refer to a satellite in an operation state. The first satellite orbit position information corresponding to each object may refer to satellite orbit position information of a preset target obtained by positioning the object.
In practical application, a plurality of objects are respectively controlled to carry out positioning processing on a preset target, and each object can be respectively positioned to obtain first satellite orbit position information of the preset target. The first satellite orbit position information corresponding to each of the plurality of objects can be obtained by sending a position request instruction to each of the plurality of objects. It can be understood that the first satellite orbit position information corresponding to the plurality of objects is the position information of the same target, that is, the position information of the preset target.
S102, satellite orbit position deviation information corresponding to the plurality of objects is determined according to the first satellite orbit position information.
The satellite orbit position deviation information corresponding to each object can represent the deviation information of the satellite orbit positions of the object and other objects.
In practical application, mean value processing can be performed according to the first satellite orbit position information respectively corresponding to a plurality of objects to obtain position mean value information; and obtaining a difference value between the first satellite orbit position information corresponding to each object and the position mean value information to obtain position deviation information corresponding to each object.
S103, determining second satellite orbit position information of a preset target based on the first satellite orbit position information and the position deviation information.
The second satellite orbit position information may refer to estimated information of the current satellite orbit position of the preset target.
In practical application, the first satellite orbit position information with smaller position deviation can be selected to estimate the second satellite orbit position information according to the position deviation information corresponding to a plurality of objects. Specifically, the first satellite orbit position information of the object corresponding to the position deviation information smaller than the preset deviation threshold may be selected to perform estimation of the second satellite orbit position information. The second satellite orbit position information of the preset target can be obtained by carrying out mean value processing on the plurality of first satellite orbit position information.
And S104, determining the positioning precision information of the monitored object according to the second satellite orbit position information and the first satellite orbit position information corresponding to the monitored object.
The positioning accuracy information of the monitoring object can represent the proximity degree of the position of the monitoring object for positioning the satellite orbit position and the real position of the satellite. The positioning precision information of the monitoring object can be used for evaluating the accuracy of the satellite orbit positioning of the monitoring object in real time. It is understood that the higher the positioning accuracy of the monitoring object, the more accurate the positioning of the satellite orbit position by the monitoring object.
In practical application, the difference value processing is performed on the second satellite orbit position information and the first satellite orbit position information corresponding to the monitored object, so that the satellite orbit positioning precision information of the monitored object can be obtained. The quality of the current positioning data of the monitoring object can be evaluated by taking the positioning precision information of the monitoring object as the reference information of the current satellite positioning data of the monitoring object. Furthermore, for the positioning data with poor quality, the accuracy of the positioning of the monitoring object may be improved by means of elimination, or the accuracy may also be improved by means of correction, which is not limited in the present disclosure.
The method comprises the steps of determining position deviation information corresponding to a plurality of objects based on first satellite orbit position information corresponding to the objects, determining second satellite orbit position information according to the position deviation information and the first satellite orbit position information corresponding to the objects, and determining positioning precision information of the monitored object according to the second satellite orbit position information and the first satellite orbit position information of the monitored object, so that real-time satellite positioning precision monitoring of the monitored object is achieved.
Fig. 2 is a flowchart of a method for determining second satellite orbit position information of a preset target based on first satellite orbit position information and position deviation information according to an embodiment of the present invention. In one possible embodiment, as shown in fig. 2, the step S103 may include:
s201, at least two target objects in the plurality of objects are determined based on the position deviation information.
The target object may be an object corresponding to the first satellite orbit position information with a small position deviation.
In practical application, an object corresponding to the position deviation information smaller than the preset deviation threshold value can be selected as a target object.
S202, determining the respective weight information of at least two target objects.
The weight information corresponding to each target object can represent the importance degree of the first satellite orbit position information corresponding to the target object in the estimation process of the second satellite orbit position information.
In practical application, the weight information of each object can be determined according to the first satellite orbit position information corresponding to the object. Specifically, the weight information corresponding to each object can be obtained according to the following weighting function:
wherein the content of the first and second substances,
in order to be the weight, the weight is,
is deviation information; in particular, the amount of the solvent to be used,
may be the normalized residual.
And S203, acquiring second satellite orbit position information according to the weight information and the first satellite orbit position information corresponding to the plurality of objects respectively.
In practical applications, the second satellite orbit position information can be calculated according to the following formula:
wherein the content of the first and second substances,
weight information for different objects; n is the number of objects;
is second satellite orbital position information.
In the process of estimating the second satellite orbit position information in real time, due to the elimination of the first satellite orbit position information corresponding to the object with large partial deviation, the object is missing, and the missing object can be completed by interoperating a plurality of objects and performing weighted average on the first satellite orbit position information corresponding to different objects according to equivalent weights.
Fig. 3 is a flowchart of a method for determining at least two target objects of a plurality of objects based on position deviation information according to an embodiment of the present invention. In one possible implementation, as shown in fig. 3, the step S201 may include:
s301, determining a removed object in the multiple objects based on the position deviation information.
The removed object may be an object corresponding to the first satellite orbit position information with a large position deviation.
In practical application, an object corresponding to the position deviation information greater than or equal to the preset deviation threshold value may be selected as a rejection object. Specifically, the positional deviation information may be a normalized residual; the preset deviation threshold for picking the culling object may preferably be 6.
S302, removing the removed objects in the multiple objects to obtain target objects.
In practical applications, by removing a removed object from a plurality of objects, the remaining objects can be targeted.
When different objects are compared, the situation that some objects are abnormal exists, and the accuracy can be improved by detecting and eliminating the abnormal objects.
Fig. 4 is a flowchart of a method for determining position deviation information corresponding to a plurality of objects according to first satellite orbit position information corresponding to the plurality of objects according to an embodiment of the present invention. In one possible implementation, as shown in fig. 4, the step S102 may include:
s401, coordinate conversion processing is carried out on the first satellite orbit position information corresponding to the plurality of objects respectively, and third satellite orbit position information corresponding to the plurality of objects respectively is obtained.
In the method, the coordinate frames of different objects need to be unified before comparison between the different objects because the coordinate frames of the different objects are not unified. The third satellite orbit position information corresponding to each of the plurality of objects may be satellite orbit position information corresponding to each of the plurality of objects after the coordinate frame is unified.
In practical application, coordinate frames among different objects can be unified through the Hull-still conversion. Specifically, the conversion formula is as follows:
s402, obtaining residual errors corresponding to the multiple objects according to the third satellite orbit position information.
In one possible implementation, as shown in fig. 5, the step S402 may include:
and S501, acquiring median of the third satellite orbit position information corresponding to the plurality of objects according to the third satellite orbit position information.
In practical application, the advantage of strong median robust performance can be utilized, the median is taken as an initial estimation value, and a specific acquisition formula is as follows:
in the formula (I), the compound is shown in the specification,L i respectively real-time satellite orbit coordinates corresponding to different objects,
is the initial estimate needed in the gross error detection.
S502, obtaining a residual error based on the median and the third satellite orbit position information.
In practical application, real-time satellite orbit coordinates of different objects and corresponding median thereof
Making a difference, obtaining the residual error corresponding to each of the multiple objectsv i . The formula is as follows:
and S403, carrying out standardization processing on the residual error to obtain position deviation information corresponding to each of the plurality of objects.
In practical applications, the residual error is normalized as follows:
wherein the content of the first and second substances,
。
due to the fact that the number of the objects is limited, the statistical result is easily affected by the abnormal objects, the abnormal objects are not easy to monitor and remove, gross error detection and gross error removal are carried out through the standardized residual errors, the abnormal objects can be detected under the condition that the number of the objects is limited, and usability of the monitored objects is improved.
Fig. 6 is a flowchart of a method for obtaining first satellite orbit position information of a preset target corresponding to a plurality of objects by performing positioning processing on the preset target by using the plurality of objects respectively according to an embodiment of the present invention. In one possible implementation, as shown in fig. 6, the step S101 may include:
s601, under the condition that the epoch of the monitored object is lost, acquiring first satellite orbit position information corresponding to the monitored object based on an extrapolation algorithm.
S602, under the condition that the epoch of the monitored object is not lost, acquiring the first satellite orbit position information corresponding to the monitored object.
Because the monitoring object has the condition that the epoch is lost due to various reasons, the missing epoch is supplemented by adopting an extrapolation algorithm, and the continuity of the positioning data of the monitoring object is improved.
Fig. 7 is a flowchart of a method for determining positioning accuracy information of a monitored object according to second satellite orbit position information and first satellite orbit position information corresponding to the monitored object according to an embodiment of the present invention. In one possible embodiment, as shown in fig. 7, the step S104 may include:
and S701, acquiring position difference value information according to the second satellite orbit position information and the first satellite orbit position information corresponding to the monitored object.
In practical application, the position difference information calculation formula is as follows:
and S702, using the position difference information as the positioning precision information of the monitoring object.
In practical application, the position difference information is used as the positioning accuracy information of the monitored object. Specifically, for the fusion object, the statistical values of all the objects may be used as the final positioning accuracy information.
Fig. 8 is a block diagram of a positioning accuracy monitoring apparatus according to an embodiment of the present invention. On the other hand, the present embodiment further provides a positioning accuracy monitoring device, as shown in fig. 8, the device includes:
a first satellite orbit position information obtaining module 10, configured to perform positioning processing on a preset target by using a plurality of objects respectively, and obtain first satellite orbit position information of the preset target, where the first satellite orbit position information corresponds to each of the plurality of objects, and the plurality of objects include a monitoring object and at least two reference objects;
a position deviation information determining module 20, configured to determine, according to the first satellite orbit position information, position deviation information corresponding to each of the plurality of objects;
a second satellite orbit position information determination module 30, configured to determine second satellite orbit position information of a preset target based on the first satellite orbit position information and the position deviation information;
and the positioning precision information determining module 40 is configured to determine the positioning precision information of the monitored object according to the second satellite orbit position information and the first satellite orbit position information corresponding to the monitored object.
On the other hand, an embodiment of the present invention further provides an electronic device, including: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to perform the positioning accuracy monitoring method described above.
In another aspect, an embodiment of the present invention further provides a non-volatile computer-readable storage medium, on which computer program instructions are stored, where the computer program instructions, when executed by a processor, implement the positioning accuracy monitoring method.
It is noted that while for simplicity of explanation, the foregoing method embodiments have been presented as a series of interrelated states or acts, it should be appreciated by those skilled in the art that the present invention is not limited by the order of acts, as some steps may occur in other orders or concurrently in accordance with the invention. Similarly, the modules of the positioning accuracy monitoring apparatus refer to a computer program or a program segment for executing one or more specific functions, and the distinction between the modules does not mean that the actual program code is necessarily separated. Further, the above embodiments may be arbitrarily combined to obtain other embodiments.
In the foregoing embodiments, the descriptions of the embodiments have respective emphasis, and reference may be made to related descriptions of other embodiments for parts that are not described in detail in a certain embodiment. Those of skill in the art will further appreciate that the various illustrative logical blocks, units, and steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both. To clearly illustrate the interchangeability of hardware and software, various illustrative components, elements, and steps have been described above generally in terms of their functionality. Whether such functionality is implemented as hardware or software depends upon the particular application and design requirements of the overall system. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present embodiments.
The foregoing description has disclosed fully preferred embodiments of the present invention. It should be noted that those skilled in the art can make modifications to the embodiments of the present invention without departing from the scope of the appended claims. Accordingly, the scope of the appended claims is not to be limited to the specific embodiments described above.
Claims (10)
1. A method for monitoring positioning accuracy, the method comprising:
respectively utilizing a plurality of objects to carry out positioning processing on a preset target, and acquiring first satellite orbit position information of the preset target, which corresponds to the plurality of objects, wherein the plurality of objects comprise monitoring objects and at least two reference objects;
determining position deviation information corresponding to each of the plurality of objects according to the first satellite orbit position information;
determining second satellite orbit position information of the preset target based on the first satellite orbit position information and the position deviation information;
and determining the positioning precision information of the monitored object according to the second satellite orbit position information and the first satellite orbit position information corresponding to the monitored object.
2. The method of claim 1, wherein determining second satellite orbit position information of the predetermined target based on the first satellite orbit position information and the position deviation information comprises:
determining at least two target objects of the plurality of objects based on the positional deviation information;
determining respective weight information of the at least two target objects;
and acquiring the second satellite orbit position information according to the weight information and the first satellite orbit position information corresponding to the plurality of objects respectively.
3. The method of claim 2, wherein said determining at least two target objects of said plurality of objects based on said positional deviation information comprises:
determining a culling object of the plurality of objects based on the positional deviation information;
and removing the removed objects in the plurality of objects to obtain the target object.
4. The method of claim 1, wherein determining the position deviation information corresponding to each of the plurality of objects according to the first satellite orbit position information corresponding to each of the plurality of objects comprises:
coordinate conversion processing is carried out on the first satellite orbit position information corresponding to the plurality of objects respectively, and third satellite orbit position information corresponding to the plurality of objects respectively is obtained;
obtaining residuals corresponding to the plurality of objects according to the third satellite orbit position information;
and normalizing the residual errors to obtain the position deviation information corresponding to the plurality of objects.
5. The method of claim 4, wherein obtaining residuals corresponding to each of the plurality of objects according to the third satellite orbit position information comprises:
obtaining a median of third satellite orbit position information corresponding to the plurality of objects according to the third satellite orbit position information;
and obtaining the residual error based on the median and the third satellite orbit position information.
6. The method according to claim 1, wherein the performing a positioning process on a preset target by using a plurality of objects respectively to obtain first satellite orbit position information of the preset target corresponding to each of the plurality of objects comprises:
under the condition that the epoch of the monitored object is lost, acquiring first satellite orbit position information corresponding to the monitored object based on an extrapolation algorithm;
and under the condition that the epoch of the monitored object is not lost, acquiring first satellite orbit position information corresponding to the monitored object.
7. The method according to claim 1, wherein the determining the positioning accuracy information of the monitored object according to the second satellite orbit position information and the first satellite orbit position information corresponding to the monitored object comprises:
obtaining position difference value information according to the second satellite orbit position information and first satellite orbit position information corresponding to the monitored object;
and taking the position difference information as the positioning precision information of the monitored object.
8. A positioning accuracy monitoring device, the device comprising:
the system comprises a first satellite orbit position information acquisition module, a second satellite orbit position information acquisition module and a third satellite orbit position information acquisition module, wherein the first satellite orbit position information acquisition module is used for respectively positioning a preset target by utilizing a plurality of objects to acquire first satellite orbit position information of the preset target, which corresponds to the plurality of objects, and the plurality of objects comprise monitoring objects and at least two reference objects;
a position deviation information determining module, configured to determine, according to the first satellite orbit position information, position deviation information corresponding to each of the plurality of objects;
a second satellite orbit position information determining module, configured to determine second satellite orbit position information of the preset target based on the first satellite orbit position information and the position deviation information;
and the positioning precision information determining module is used for determining the positioning precision information of the monitored object according to the second satellite orbit position information and the first satellite orbit position information corresponding to the monitored object.
9. An electronic device, comprising:
a processor;
a memory for storing processor-executable instructions;
wherein the processor is configured to execute the executable instructions to implement the positioning accuracy monitoring method of any one of claims 1 to 7.
10. A non-transitory computer readable storage medium having computer program instructions stored thereon, wherein the computer program instructions, when executed by a processor, implement the positioning accuracy monitoring method according to any one of claims 1 to 7.
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| CN114993348A (en) * | 2022-05-30 | 2022-09-02 | 中国第一汽车股份有限公司 | Map precision testing method and device, electronic equipment and storage medium |
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