CN114355397B - Positioning sensor simulation method and device, electronic equipment and medium - Google Patents
Positioning sensor simulation method and device, electronic equipment and medium Download PDFInfo
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- CN114355397B CN114355397B CN202210274185.XA CN202210274185A CN114355397B CN 114355397 B CN114355397 B CN 114355397B CN 202210274185 A CN202210274185 A CN 202210274185A CN 114355397 B CN114355397 B CN 114355397B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/23—Testing, monitoring, correcting or calibrating of receiver elements
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/35—Constructional details or hardware or software details of the signal processing chain
- G01S19/37—Hardware or software details of the signal processing chain
Abstract
The invention relates to a positioning sensor simulation method, a positioning sensor simulation device, electronic equipment and a medium. The method comprises the following steps: determining an initial position coordinate of a receiving end according to the position of a satellite capable of receiving signals and the distance between the receiving end and the satellite; the initial position coordinate is a coordinate under a geocentric geostationary coordinate system; determining the deviation of the initial position coordinates according to an error model and an occlusion model; determining the position coordinate of the receiving end according to the initial position coordinate and the deviation; wherein the error model is used for representing an error of at least one of transmission delay, multipath effect or noise on the initial position; the shielding model is established based on the obstacle signal on the transmission link between the receiving end and the satellite and is used for representing the error brought to the initial position after the satellite is shielded by the obstacle. The method can achieve the effects of avoiding inaccurate shielding positioning, high positioning precision and good stability.
Description
Technical Field
The invention relates to the field of industrial simulation, in particular to a positioning sensor simulation method, a positioning sensor simulation device, electronic equipment and a medium.
Background
The industrial simulation is to convert each module in the entity industry into data and integrate the data into a virtual system environment, so as to simulate and realize general work and flow in each operation and realize interaction between the virtual and the entity. The automatic driving simulation is used as a part of industrial simulation, the real world is subjected to digital reduction mainly through computer modeling and virtual engine technologies, and meanwhile, the technologies of vehicle dynamics simulation, sensor fusion simulation, parallel acceleration calculation and the like are combined to realize the testing, verification and evaluation of automatic driving related algorithms. An automatic driving automobile in a simulation experiment usually runs in a virtual traffic environment, an outdoor positioning system is used as one of virtual sensors, and all-weather, continuous and real-time three-dimensional navigation and positioning can be realized in a simulation scene. The satellite positioning method widely used nowadays completely depends on weak radio signals transmitted by a remote orbiting satellite, so that under complex urban environments, such as buildings, bridges, tunnels, mountainous areas, canyons or jungles, the satellite signals are easily blocked to cause inaccurate positioning. Meanwhile, when the satellite positioning is used for automatic driving, the problems that the positioning precision is not ideal enough and the stability cannot be guaranteed exist. How to simulate the working process of real positioning equipment in a simulation environment and how to effectively simulate instability factors and perception defects are one of the difficulties in industrial-grade sensor simulation.
In view of the above, the present invention is particularly proposed.
Disclosure of Invention
The invention aims to provide a positioning sensor simulation method, a positioning sensor simulation device, electronic equipment and a positioning sensor simulation medium, so as to achieve the effects of avoiding inaccurate shielding positioning, high positioning precision and good stability.
In order to achieve the purpose, the invention adopts the following technical scheme:
in a first aspect, the present invention provides a positioning sensor simulation method, including:
determining an initial position coordinate of a receiving end according to the position of a satellite capable of receiving signals and the distance between the receiving end and the satellite; the initial position coordinate is a coordinate under a geocentric geostationary coordinate system;
determining the deviation of the initial position coordinates according to an error model and an occlusion model;
determining the position coordinate of the receiving end according to the initial position coordinate and the deviation;
wherein the error model is used for representing an error of at least one of transmission delay, multipath effect or noise on the initial position; the shielding model is established based on the obstacle signal on the transmission link between the receiving end and the satellite and is used for representing the error brought to the initial position after the satellite is shielded by the obstacle.
In a second aspect, the present invention provides a positioning sensor simulation apparatus, including:
the initial position coordinate determination module is used for determining the initial position coordinate of the receiving end according to the position of the satellite capable of receiving the signal and the distance between the receiving end and the satellite; the initial position coordinate is a coordinate under a geocentric geostationary coordinate system;
the deviation determining module is used for determining the deviation of the initial position coordinate according to an error model and an occlusion model;
the position coordinate determination module is used for determining the position coordinate of the receiving end according to the initial position coordinate and the deviation;
wherein the error model is used for representing an error of at least one of transmission delay, multipath effect or noise on the initial position; the shielding model is established based on the obstacle signal on the transmission link between the receiving end and the satellite and is used for representing the error brought to the initial position after the satellite is shielded by the obstacle.
In a third aspect, the present invention provides an electronic device, comprising:
at least one processor, and a memory communicatively coupled to at least one of the processors;
wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method described above.
In a fourth aspect, the present invention provides a computer-readable storage medium having stored thereon computer instructions for causing the computer to perform the above-described method.
Compared with the prior art, the invention has the beneficial effects that:
the positioning sensor simulation method provided by the invention further determines the deviation of the initial position coordinate after determining the initial position coordinate of the receiving end, finally obtains the position coordinate of the receiving end, and obtains the deviation of the initial position coordinate based on an error model and a specific shielding model, wherein the shielding model is established based on the barrier signal on a transmission link between the receiving end and the satellite and is used for representing the error brought to the initial position after the barrier shields the satellite, so that the error caused by shielding factors can be calculated in the deviation, the situation of inaccurate positioning is avoided, the positioning precision and stability are improved, and the simulation fidelity and the reduction degree are higher.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a flowchart of a positioning sensor simulation method provided in embodiment 1;
FIG. 2 is a schematic diagram of a positioning sensor satellite orbit simulation;
FIG. 3 is a schematic diagram of a satellite discrimination for a received signal;
FIG. 4 is a schematic structural diagram of a positioning sensor simulation apparatus according to embodiment 2;
fig. 5 is a schematic structural diagram of an electronic device provided in embodiment 3.
Detailed Description
The following description of the exemplary embodiments of the present application, taken in conjunction with the accompanying drawings, includes various details of the embodiments of the application for the understanding of the same, which are to be considered exemplary only. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present application. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
Example 1
Fig. 1 is a flowchart of a positioning sensor simulation method provided in this embodiment, and this embodiment is suitable for simulating sensor positioning in automatic driving. The method may be performed by a positioning sensor emulation device, which may be constituted by software and/or hardware, and is typically integrated in an electronic device.
Referring to fig. 1, the simulation method of the positioning sensor includes the following steps:
s110, determining an initial position coordinate of a receiving end according to the position of a satellite capable of receiving signals and the distance between the receiving end and the satellite; the initial position coordinates are coordinates in a geocentric geostationary coordinate system.
Referring to satellite orbits and constellations of a Beidou satellite navigation system, satellites in a positioning sensor simulation model are based on 24 medium circular earth orbit (MEO) satellites which are evenly distributed in 3 orbit planes with the earth center as the center of circle, the orbit planes are evenly distributed, the satellites in the orbit planes are evenly distributed, as shown in figure 2, the orbit is approximately in a perfect circle shape, the orbit inclination angle is 55 degrees, the orbit height is 21528 kilometers, the orbit radius is the distance from the earth center of mass to the satellites, namely 2.79 multiplied by 104Kilometers in length.
In reality, the distance between the receiving end and the satellite is calculated by recording the duration of satellite signal transmission to the receiving end and multiplying the duration by the light speed, in a simulation environment, the distance between the receiving end and the satellite can be directly read in a rendering engine, the result is the inaccurate distance (including an error delta s) between the satellite and the receiving end, then an equation set can be constructed by utilizing the inaccurate distance and the position of the satellite, and the initial position coordinate of the receiving end can be obtained by solving the equation set. For example, when the number of the satellites capable of receiving the signal is more than 4, 4 satellites are selected to construct an equation set, and the coordinates (x, y, z) of the initial position of the receiving end can be obtained by solving the equation set:
wherein the content of the first and second substances,x 1、x 2、x 3、x 4the coordinates of the 4 satellites on the X axis respectively;y 1、y 2、y 3、y 4coordinates of 4 satellites on the Y axis respectively;z 1、z 2、z 3、z 4the coordinates of the 4 satellites on the Z axis respectively;s 1+Δs、s 2+Δs、s 3+Δs、s 4+ Δ s is the distance between 4 satellites and the receiving end, respectively.
And S120, determining the deviation of the initial position coordinate according to the error model and the shielding model.
Wherein the error model is used for representing an error of at least one of transmission delay, multipath effect or noise on the initial position; the shielding model is established based on the obstacle signal on the transmission link between the receiving end and the satellite and is used for representing the error brought to the initial position after the satellite is shielded by the obstacle.
The error in the error model includes at least one of transmission delay error, multipath error or noise error, the noise error can be simulated by artificially adding noise (such as receiver noise), and most positioning sensors have such errors, and such errors can be reduced and cannot be eliminated. The shielding model simulates the sensing defects caused by shielding the positioning sensor by buildings, bridges, tunnels, mountainous areas, canyons or jungles, and such errors can only occur when the receiving end is shielded, the satellite signal is weak or the satellite signal cannot be received. By determining the deviation of the initial position coordinates, the non-ideal factors of the actual positioning sensor in each link can be simulated, so that the output of the signal level simulation model is closer to the output of a real sensor.
The error of the error model output is recorded as Δ d1According to the above analysis, the cumulative calculation formula is as follows:
Δd1 = dt + dm + dn
wherein d istFor transmission of delay errors, dmFor multipath error, dnIs a noise error. dt、dm、dnWithin their set range, take on random values, e.g. dtHas a value range of (-1.5, 1.5), dmHas a value range of (-0.8, 0.8), dnThe value range of (1) is (-0.2, 0.2).
Preferably, the occlusion model comprises:
determining an occlusion model satellite according to an obstacle signal, an obstacle material, a signal receivable threshold value of the receiving end and the satellite capable of receiving the signal on the transmission link between the receiving end and the satellite;
and determining the error brought to the initial position by the obstacle after the satellite is shielded by the obstacle according to the number of the shielded model satellites.
The "occlusion model satellite" refers to a satellite that can receive a signal by the receiving end when there is an obstacle signal on a transmission link between the receiving end and the satellite. The preferred embodiment determines the occlusion model satellites through specific factors, determines the required error based on the number of the occlusion model satellites, and has high reliability.
Preferably, the determining an occlusion model satellite according to an obstacle signal, an obstacle material, a threshold value of a signal receivable by the receiving end, and the satellite capable of receiving the signal on the transmission link between the receiving end and the satellite includes:
judging whether barrier signals exist on a transmission link between the receiving end and the satellite;
if not, determining an occlusion model satellite according to the satellite capable of receiving the signal;
and if so, determining the shielding model satellite according to the material of the barrier and the threshold value of the signal which can be received by the receiving end.
Exemplarily, in a simulation environment, a receiving end of a positioning sensor is installed on a vehicle roof, and first, whether an obstacle shelters a signal exists on a signal transmission link between the receiving end and a satellite is judged, if so, the material of the obstacle (atmospheric influences such as clouds and haze are directly ignored) is judged, when the obstacle is a metal entity or a heavy nonmetal (such as a building and concrete), a transmission signal is sheltered, and at this time, the satellite needs to be rejected, when the obstacle is a light and thin nonmetal (such as plastics, glass, a tree crown and the like), the transmission signal is attenuated, the signal strength is reduced, and if the attenuated signal cannot reach a threshold value at which the receiving end can receive the signal, the satellite is rejected. And screening all satellites from the satellites capable of receiving the signals according to the information to form an occlusion model satellite.
Preferably, the determining an error brought to the initial position by the obstacle after the satellite is shielded by the obstacle according to the number of shielded model satellites includes:
if the number of the shielded model satellites is less than or equal to 2, determining that the error brought to the initial position after the satellites are shielded by the obstacle is infinite;
if the number of the shielding model satellites is 3, determining that the error brought to the initial position after the satellites are shielded by the obstacle is clock deviation delta d2；
If the number of the shielded model satellites is larger than or equal to 4, determining that an error brought to the initial position after the satellites are shielded by the obstacle is an ephemeris error delta d3。
Preferably, Δ d3Less than clock deviation Δ d2. Ephemeris error Δ d3For satellite orbit position and distribution errors, the errors arise for two reasons: one is the inability to monitor the position of the signal-receivable satellites in their orbits with complete accuracy, and the other is the ability to receive the signalsThe further the satellites of the number are apart, the better the geometric distribution, and the higher the positioning accuracy.
When the error is infinite, the accuracy of the coordinate is extremely low, and the result is not output, but the receiving end can calculate the position coordinate of the next frame by adopting other auxiliary modes; if the number of the shielding model satellites is 3, a calculation result containing clock deviation is output, and the deviation of the initial position coordinate of the receiving end is delta d1+Δd2，Δd2Randomly taking a value within the value range (for example, the value range is (-6, 6)), and when the next frame of positioning data is calculated, if the number of the shielded model satellites is still 3, the deviation of the initial position coordinates of the receiving end is still delta d1+Δd2But Δ d2Is the same as the previous frame, namely when the number of the shielding model satellites is 3 in continuous multiframes, delta d2Until the number of the shielding model satellites is not equal to 3, if the number of the shielding model satellites is more than or equal to 4, the deviation of the initial position coordinate of the receiving end is delta d1+Δd3，Δd3And randomly taking a value within the value range (for example, the value range is (-1.2, 1.2)).
S130, determining the position coordinate of the receiving end according to the initial position coordinate and the deviation.
And adding the initial position coordinate and the deviation to obtain the position coordinate of the receiving end.
According to the positioning sensor simulation method, after the initial position coordinate of the receiving end is determined, the deviation of the initial position coordinate is further determined, the position coordinate of the receiving end is finally obtained, and the deviation of the initial position coordinate is determined based on an error model and a specific shielding model, wherein the shielding model is established based on the barrier signals on the transmission link between the receiving end and the satellite and is used for representing the error brought to the initial position after the barrier shields the satellite, so that the error caused by shielding factors can be calculated in the deviation, the situation of inaccurate positioning is avoided, the positioning precision and stability are improved, and the simulation fidelity and the reduction degree are higher.
Further, before determining the initial position coordinates of the receiving end according to the position of the satellite capable of receiving the signal and the distance between the receiving end and the satellite, the method further includes:
and determining the satellite capable of receiving the signal according to a tangential angle phi when the satellite on the satellite constellation is tangential to the earth surface and an included angle theta formed by the satellite on the satellite constellation, the earth center and the receiving end.
When the included angle theta is smaller than the tangent angle phi, the receiving end can receive the signal of the satellite; when the included angle theta is larger than or equal to the tangential angle phi, the receiving end cannot receive the signal of the satellite. Fig. 3 is a schematic diagram of the included angle theta and the cut angle phi.
Further, after determining the position coordinates of the receiving end, the method further includes:
and transforming the position coordinates of the receiving end into position coordinates in a geocentric geodetic coordinate system.
Since the initial position coordinates are coordinates in the geocentric-geostationary coordinate system, and the coordinates of the positioning sensor are generally coordinates in the geocentric-geostationary coordinate system, it is necessary to perform coordinate transformation for this.
Setting the position coordinates under the geocentric geodetic coordinate system as (B, L, H), wherein B is latitude, L is longitude, H is elevation, and the transformation formula is as follows:
wherein e is the first eccentricity of the ellipsoid, and the relation between the first eccentricity and the major semi-axis a and the minor semi-axis b of the ellipsoid is as follows:
wherein a =6378137.0m and b =6356752.3 m.
N is the curvature radius of the ellipsoid at B, and the relation is calculated as follows:
further, in the independently developed simulation software, the output result of the method is repeatedly compared with the position coordinates of the receiving end obtained by the rendering engine for many times, and the effectiveness of the method can be tested and verified through statistical characteristic analysis.
The perception error of the method can be estimated by comparing input data with output data, and then the method can be compared with the performance of actual combined positioning equipment or the method, so that the reduction degree of the method can be reasonably evaluated.
Example 2
As shown in fig. 4, the present embodiment provides a positioning sensor simulation apparatus, including:
an initial position coordinate determination module 101, configured to determine an initial position coordinate of a receiving end according to a position of a satellite that can receive a signal and a distance between the receiving end and the satellite; the initial position coordinate is a coordinate under a geocentric geostationary coordinate system;
a deviation determining module 102, configured to determine a deviation of the initial position coordinate according to an error model and an occlusion model;
a position coordinate determining module 103, configured to determine a position coordinate of the receiving end according to the initial position coordinate and the deviation;
wherein the error model is used for representing an error of at least one of transmission delay, multipath effect or noise on the initial position; the shielding model is established based on the obstacle signal on the transmission link between the receiving end and the satellite and is used for representing the error brought to the initial position after the satellite is shielded by the obstacle.
The device is used for executing the method, and at least has functional modules and beneficial effects corresponding to the method.
Example 3
As shown in fig. 5, the present embodiment provides an electronic apparatus including:
at least one processor; and
a memory communicatively coupled to at least one of the processors; wherein the content of the first and second substances,
the memory stores instructions executable by at least one of the processors to enable the at least one of the processors to perform the method described above. The at least one processor in the electronic device is capable of performing the above method and thus has at least the same advantages as the above method.
Optionally, the electronic device further includes an interface for connecting the components, including a high-speed interface and a low-speed interface. The various components are interconnected using different buses and may be mounted on a common motherboard or in other manners as desired. The processor may process instructions for execution within the electronic device, including instructions stored in or on the memory to display Graphical information for a GUI (Graphical User Interface) on an external input/output device, such as a display device coupled to the Interface. In other embodiments, multiple processors may be used with multiple memories, and/or multiple buses may be used with multiple memories, if desired. Also, multiple electronic devices may be connected (e.g., as an array of servers, a group of blade servers, or a multi-processor system), with each device providing some of the necessary operations. In fig. 5, one processor 201 is taken as an example.
The memory 202, as a computer-readable storage medium, may be used for storing software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to the positioning sensor simulation method in the embodiment of the present invention (for example, the initial position coordinate determination module 101, the deviation determination module 102, and the position coordinate determination module 103 in the positioning sensor simulation apparatus). The processor 201 executes various functional applications of the device and data processing by running software programs, instructions and modules stored in the memory 202, that is, the positioning sensor simulation method described above is realized.
The memory 202 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the terminal, and the like. Further, the memory 202 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, the memory 202 may further include memory located remotely from the processor 201, which may be connected to the device over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The electronic device may further include: an input device 203 and an output device 204. The processor 201, the memory 202, the input device 203 and the output device 204 may be connected by a bus or other means, and fig. 5 illustrates the connection by a bus as an example.
The input device 203 may receive input numeric or character information, and the output device 204 may include a display device, an auxiliary lighting device (e.g., an LED), a tactile feedback device (e.g., a vibration motor), and the like. The display device may include, but is not limited to, a Liquid Crystal Display (LCD), a Light Emitting Diode (LED) display, and a plasma display. In some implementations, the display device can be a touch screen.
Example 4
The present embodiments provide a computer-readable storage medium having stored thereon computer instructions for causing the computer to perform the above-described method. The computer instructions on the computer-readable storage medium are for causing a computer to perform the above-described method and thus have at least the same advantages as the above-described method.
The medium of the present invention may take any combination of one or more computer-readable media. The medium may be a computer readable signal medium or a computer readable storage medium. The medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the medium include: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF (Radio Frequency), etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + +, or the like, as well as conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
It should be understood that various forms of the flows shown above, reordering, adding or deleting steps, may be used. For example, the steps described in the present application may be executed in parallel, sequentially, or in different orders, as long as the desired results of the technical solutions disclosed in the present application can be achieved, and the present invention is not limited herein.
The above-described embodiments should not be construed as limiting the scope of the present application. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (8)
1. A method for simulating a position sensor, comprising:
determining an initial position coordinate of a receiving end according to the position of a satellite capable of receiving signals and the distance between the receiving end and the satellite; the initial position coordinate is a coordinate under a geocentric geostationary coordinate system;
determining the deviation of the initial position coordinates according to an error model and an occlusion model;
determining the position coordinate of the receiving end according to the initial position coordinate and the deviation;
wherein, the error model is used for representing the error of at least one of transmission delay, multipath effect or noise to the initial position; the shielding model is established based on an obstacle signal on a transmission link between the receiving end and the satellite and is used for representing an error brought to the initial position after the satellite is shielded by an obstacle;
the occlusion model includes:
determining an occlusion model satellite according to an obstacle signal, an obstacle material, a signal receivable threshold value of the receiving end and the satellite capable of receiving the signal on the transmission link between the receiving end and the satellite;
determining the error brought to the initial position by the obstacle after the satellite is shielded by the obstacle according to the number of the shielded model satellites;
the determining the error brought to the initial position by the obstacle after the satellite is shielded by the obstacle according to the number of the shielded model satellites comprises:
if the number of the shielded model satellites is less than or equal to 2, determining that the error brought to the initial position after the satellites are shielded by the obstacle is infinite;
if the number of the shielding model satellites is 3, determining that the error brought to the initial position after the satellites are shielded by the obstacle is clock deviation delta d2；
If the number of the shielded model satellites is larger than or equal to 4, determining that an error brought to the initial position after the satellites are shielded by the obstacle is an ephemeris error delta d3。
2. The method for simulating a positioning sensor according to claim 1, wherein the determining an occlusion model satellite according to the obstacle signal, the obstacle material, the threshold value of the signal receivable by the receiving end and the satellite of the signal receivable on the transmission link between the receiving end and the satellite comprises:
judging whether barrier signals exist on a transmission link between the receiving end and the satellite;
if not, determining an occlusion model satellite according to the satellite capable of receiving the signal;
and if so, determining the shielding model satellite according to the material of the barrier and the threshold value of the signal which can be received by the receiving end.
3. The method of claim 1, wherein Δ d is the value of3Less than clock deviation Δ d2。
4. The method of claim 1, wherein before determining the initial position coordinates of the receiving end according to the position of the signal-receivable satellite and the distance between the receiving end and the satellite, the method further comprises:
according to the tangent angle of the satellite on the satellite constellation when tangent to the earth surface
And determining the satellite capable of receiving the signal according to an included angle theta formed by the satellite, the geocenter and the receiving end on the satellite constellation.
5. The method of any of claims 1-4, further comprising, after determining the location coordinates of the receiving end:
and transforming the position coordinates of the receiving end into position coordinates in a geocentric geodetic coordinate system.
6. A positioning sensor simulation apparatus, comprising:
the initial position coordinate determination module is used for determining the initial position coordinate of the receiving end according to the position of a satellite capable of receiving signals and the distance between the receiving end and the satellite; the initial position coordinate is a coordinate under a geocentric geostationary coordinate system;
the deviation determining module is used for determining the deviation of the initial position coordinate according to an error model and an occlusion model;
the position coordinate determination module is used for determining the position coordinate of the receiving end according to the initial position coordinate and the deviation;
wherein the error model is used for representing an error of at least one of transmission delay, multipath effect or noise on the initial position; the shielding model is established based on an obstacle signal on a transmission link between the receiving end and the satellite and is used for representing an error brought to the initial position after the satellite is shielded by an obstacle;
the occlusion model includes:
determining an occlusion model satellite according to an obstacle signal, an obstacle material, a signal receivable threshold value of the receiving end and the satellite capable of receiving the signal on the transmission link between the receiving end and the satellite;
determining the error brought to the initial position by the obstacle after the satellite is shielded by the obstacle according to the number of the shielded model satellites;
the determining the error brought to the initial position by the obstacle after the satellite is shielded by the obstacle according to the number of the shielded model satellites comprises:
if the number of the shielded model satellites is less than or equal to 2, determining that the error brought to the initial position after the satellites are shielded by the obstacle is infinite;
if the number of the shielding model satellites is 3, determining that the error brought to the initial position after the satellites are shielded by the obstacle is clock deviation delta d2；
If the number of the shielded model satellites is larger than or equal to 4, determining that an error brought to the initial position after the satellites are shielded by the obstacle is an ephemeris error delta d3。
7. An electronic device, comprising:
at least one processor, and a memory communicatively coupled to at least one of the processors;
wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-5.
8. A computer-readable storage medium having stored thereon computer instructions for causing the computer to perform the method of any one of claims 1-5.
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