CN114427867A - Performance verification method and device of combined navigation model - Google Patents
Performance verification method and device of combined navigation model Download PDFInfo
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- CN114427867A CN114427867A CN202210357487.3A CN202210357487A CN114427867A CN 114427867 A CN114427867 A CN 114427867A CN 202210357487 A CN202210357487 A CN 202210357487A CN 114427867 A CN114427867 A CN 114427867A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
- G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
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Abstract
The application provides a performance verification method and device of a combined navigation model, and belongs to the technical field of electric digital data processing. The method comprises the following steps: storing the executable code of the combined navigation model uploaded by the verification page when the executable code is received; when receiving a verification request sent by a verification page, acquiring verification data and reference data; the verification data and the reference data are collected real vehicle data; executing the executable code based on the verification data to obtain an execution result; determining whether the combined navigation model passes the performance verification according to the execution result and the reference data; and outputting the performance verification result through the verification page. The method can simply realize the performance verification of the combined navigation model under the condition of low cost.
Description
Technical Field
The embodiment of the disclosure relates to a performance verification method and device for a combined navigation model.
Background
The integrated navigation technology is necessary for application scenes such as automatic driving, maps, electronic fence control of two-wheeled vehicles and the like.
Before the combined navigation model is put into use, how to realize the performance verification of the combined navigation model at low cost is particularly important.
Disclosure of Invention
In view of this, the present application provides a performance verification method and apparatus for a combined navigation model, which can simply implement performance verification of the combined navigation model under a low cost condition.
In order to solve the technical problem, the technical scheme of the application is realized as follows:
in one embodiment, a performance verification method for a combined navigation model is provided, the method comprising:
storing the executable code of the combined navigation model uploaded by the verification page when the executable code is received;
when receiving a verification request sent by the verification page, acquiring verification data and reference data; the verification data and the reference data are collected real vehicle data;
executing the executable code based on the verification data to obtain an execution result;
determining whether the integrated navigation model passes performance verification according to the execution result and the reference data;
and outputting the performance verification result through the verification page.
In another embodiment, there is provided a performance verification apparatus combining navigation models, the apparatus including: the device comprises a receiving unit, a storage unit, an acquisition unit, an execution unit, a determination unit and an output unit;
the receiving unit is used for receiving executable codes of the combined navigation model uploaded by the verification page; receiving a verification request sent by the verification page;
the storage unit is used for storing the executable code received by the receiving unit;
the acquiring unit is used for acquiring verification data and reference data when the receiving unit receives the verification request; the verification data and the reference data are collected real vehicle data;
the execution unit is used for executing the executable code stored in the storage unit based on the verification data acquired by the acquisition unit to acquire an execution result when the receiving unit receives the verification request transmitted by the verification page;
the determining unit is used for determining whether the integrated navigation model passes the performance verification according to the execution result acquired by the executing unit and the reference data acquired by the acquiring unit;
and the output unit is used for outputting the performance verification result determined by the determination unit through the verification page.
In another embodiment, an electronic device is provided, comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the performance verification method of the combined navigation model when executing the program.
In another embodiment, a computer-readable storage medium is provided, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method for performance verification of a combined navigation model.
In another embodiment, a computer program product is provided, comprising a computer program which, when being executed by a processor, carries out the steps of the performance verification method of the combined navigation model.
According to the technical scheme, the executable code of the combined navigation model uploaded by the verification page is obtained in the embodiment, when the verification request initiated by the verification page is received, the verification code is executed based on the verification data to obtain the execution result, and whether the combined navigation model passes the performance verification is determined according to the execution result and the reference data; and outputting a verification result through the verification page. The scheme can simply realize the performance verification of the combined navigation model under the condition of low cost.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic diagram of a performance verification process of an integrated navigation model in an embodiment of the present application;
FIG. 2 is a schematic flow chart illustrating the process of determining whether the performance verification is passed in the embodiment of the present application;
FIG. 3 is a schematic diagram illustrating a process of determining whether to pass precision verification according to an embodiment of the present application;
FIG. 4 is a schematic diagram of another process for determining whether to pass precision verification in the embodiment of the present application;
FIG. 5 is a schematic structural diagram of a performance verification apparatus for an integrated navigation model according to an embodiment of the present application;
fig. 6 is a schematic physical structure diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The terms "first," "second," "third," "fourth," and the like in the description and in the claims, as well as in the drawings, if any, 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, for example, capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprising" and "having," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements explicitly listed, but may include other steps or elements not explicitly listed or inherent to such process, method, article, or apparatus.
The technical solution of the present invention will be described in detail with specific examples. Several of the following embodiments may be combined with each other and some details of the same or similar concepts or processes may not be repeated in some embodiments.
The embodiment of the application provides a performance verification method of a combined navigation model, which is applied to a verification platform, the performance of the combined navigation model is verified, the verification comprises precision verification and stability verification, and when the precision verification and the stability verification pass, the combined navigation model is determined to pass the performance verification; otherwise, determining that the combined navigation model fails the performance verification.
And providing a verification operation process through a verification page during specific verification. The method specifically comprises the following steps: the executable code of the integrated navigation model can be uploaded through the verification page, a verification request is input through the verification page, and a verification result is viewed from the verification page.
In the whole verification process, a verification person only needs to operate on a page, verification (simulation) operation is not needed, the requirement on the verification person is low, and further performance verification of the combined navigation model can be simply realized on the premise of low cost; the simulation result is not required to be analyzed, errors are avoided, the verification result can be accurately determined, and the verification result is output to the verification page.
The combined navigation model is a combined navigation algorithm for positioning, such as an IMU and GNSS combined navigation algorithm, specific algorithms for realizing the combined navigation model are not limited in the embodiment of the application, and the combined navigation model passing performance verification can be applied to scenes needing positioning, such as automatic driving, two-wheel vehicle electronic fence control and the like.
Before the combined navigation model is put into use, performance verification needs to be performed on the combined navigation model, and the specific verification mode in the embodiment of the application is as follows:
referring to fig. 1, fig. 1 is a schematic diagram of a performance verification process of the integrated navigation model in the embodiment of the present application. The method comprises the following specific steps:
and step 101, storing the executable code of the combined navigation model uploaded by the verification page when the executable code is received.
In particular implementation, the verification platform provides a verification interface, and can upload executable codes of the combined navigation model to be verified and start verification.
When the integrated navigation model needs to be verified, the executable code of the integrated navigation model to be verified is uploaded on a verification page; of course, the executable code of the integrated navigation model to be verified may be sent to the verification platform in other ways.
The verification platform stores the received executable code for use in performance verification.
The executable code of the combined navigation model is compiled and can be directly executed.
During specific implementation, the verification data and the reference data are acquired real vehicle data, which may be currently acquired real vehicle data, real vehicle data stored by the verification platform, or a combination of the two.
The verification data is raw data collected by a sensor, and comprises the following steps: IMU, GNSS, wheel speed, etc.; the reference data is real data which is acquired and provided by high-precision reference equipment and comprises position information and pose information, and the reference data and the verification data are related and are related data acquired at the same time and position.
And 103, executing the executable code based on the verification data to obtain an execution result.
The verification can be performed by using the full amount of data for the verification accuracy and comprehensiveness, namely, multiple sets of real vehicle data can be obtained.
If the full data verification is used, the execution of the executable code based on the full data, i.e. the single-process running, is slow, and in order to solve this problem, the code can be executed in a multi-process manner in a specific implementation.
And step 104, determining whether the combined navigation model passes the performance verification according to the execution result and the reference data.
The execution of the step 103 and the step 104 can be packaged into a verification function module, and is realized in a background of a verification platform without human intervention and manual operation.
The specific implementation of determining whether the integrated navigation model passes the performance verification according to the execution result and the reference data in the step may be:
referring to fig. 2, fig. 2 is a schematic flow chart illustrating the process of determining whether the performance verification passes in the embodiment of the present application. The method comprises the following specific steps:
According to the difference of the preset performance verification conditions, the following is given in the embodiment of the present application, but not limited to the following two implementation manners:
the first method comprises the following steps: the preset performance verification conditions include: a preset position error threshold and a preset attitude error threshold.
The preset position error threshold value and the preset attitude error threshold value can be set according to actual needs, and the method is not limited in the embodiment of the application.
Referring to fig. 3, fig. 3 is a schematic diagram of a process for determining whether to pass the precision verification in the embodiment of the present application. The method comprises the following specific steps:
The execution result comprises position information and attitude information calculated by the combined navigation model;
the reference data includes position information and attitude information acquired by a high-precision reference device;
and performing difference calculation on the position information in the execution result and the corresponding position information in the reference data to obtain a position error, and performing difference calculation on the attitude information in the execution result and the corresponding attitude information in the reference data to obtain an attitude error.
In the embodiment of the application, the position error compared with the preset position error threshold is the mean value of all position errors obtained by performing performance verification at this time, and the pose error compared with the preset pose error threshold is the mean value of all pose errors obtained by performing performance verification at this time.
A second, preset performance verification condition includes a specified version.
The specified version is used for specifying the combined navigation model which is compared with the current version.
Referring to fig. 4, fig. 4 is a schematic diagram of another flow for determining whether to pass the precision verification in the embodiment of the present application. The method comprises the following specific steps:
The calculated position error is the mean value of the position errors obtained by current verification, and the obtained position errors are the mean value of the position errors obtained when the specified combined navigation model is verified; the calculated pose error is the mean value of pose errors obtained by current performance verification, and the obtained pose error is the mean value of pose errors obtained when the specified integrated navigation model is verified.
In the embodiment of the present application, the position error is obtained in the verification process, and the specific process of the position error is as follows:
if N groups of real vehicle data are used for performance verification, for each group of data, after the code execution is finished, the position error and the attitude error of each moment are calculated; when error statistics is carried out, the error at each moment is counted;
the determination of the position error and the pose error of the performance verification can be realized in the following modes:
calculating the CEP68/CEP95 of position errors and the CEP68/CEP95 of pose errors respectively aiming at each group of real vehicle data as the position errors and the pose errors of the group of data, wherein the CEP is a circle probability error; then, the average values of the N sets of CEPs are calculated respectively as the position error and the pose error of the performance verification.
And step 202, determining whether the combined navigation model passes the stability verification according to the execution result.
In the embodiment of the application, the execution result further includes an execution log, and if the execution log in the execution result records error information, the error information is an error code; determining that the combined navigation model fails the stability verification; otherwise, determining that the combined navigation model passes the stability verification.
And 105, outputting the performance verification result through a verification page.
And the performance verification result is whether the performance verification is passed or not.
In the embodiment of the present application, any one or any combination of the following information may be output:
a position error curve, an attitude error curve and an error statistical result;
the error statistical result is all position errors and all attitude errors generated in the verification process, a plurality of statistical position errors are output in a position error curve mode, a plurality of statistical attitude errors are output in an attitude error curve mode, and the error statistical result can also be output in a data mode.
The position error curve and the attitude error curve can be output in a picture mode; during specific implementation, a speed error can be calculated in the verification process, and a speed error curve is output in a picture mode; when the error statistic result is output in a data mode, the error statistic result can be output in a table mode.
The position error curve, the attitude error curve, and the velocity error curve output on the verification page may be enlarged, reduced, moved, rotated, and the like.
Whether the performance verification is passed or not can be displayed through characters, and if the performance verification is not passed, whether the precision verification is passed or not and whether the stability verification is passed or not can also be displayed.
And if the performance verification result is that the performance verification is not passed, outputting error information recorded in the execution log.
When the error information recorded in the execution log is output, it can be output in the form of characters.
In the embodiment of the application, a verifier can initiate a verification request, check a verification result and related data information generated in the verification process by uploading executable codes of the combined navigation model to be verified on a verification page. Therefore, in the embodiment of the application, the verification personnel can simply and quickly perform the performance verification of the combined navigation model and check the related data generated in the verification process and the verification result.
The whole execution process does not need a verifier to execute verification operation, and the code does not need to be understood, so that the cost of performance verification can be reduced.
Based on the same inventive concept, the embodiment of the application also provides a performance verification device for the combined navigation model. Referring to fig. 5, fig. 5 is a schematic structural diagram of a performance verification apparatus for an integrated navigation model in an embodiment of the present application. The performance verification device for the combined navigation model comprises: a receiving unit 501, a storage unit 502, an acquisition unit 503, an execution unit 504, a determination unit 505, and an output unit 506;
a receiving unit 501, configured to receive an executable code of the combined navigation model uploaded through the verification page; receiving a verification request sent by the verification page;
a storage unit 502 for storing the executable code received by the receiving unit 501;
an obtaining unit 503, configured to obtain the verification data and the reference data when the receiving unit 501 receives the verification request; the verification data and the reference data are collected real vehicle data;
an execution unit 504, configured to execute the executable code stored in the storage unit 501 based on the verification data acquired by the acquisition unit 503 to acquire an execution result when the reception unit 501 receives the verification request sent by the verification page;
a determining unit 505, configured to determine whether the integrated navigation model passes performance verification according to the execution result obtained by the executing unit 504 and the reference data obtained by the obtaining unit 503;
an output unit 506, configured to output the performance verification result determined by the determining unit 505 through a verification page.
In another embodiment of the present invention, the substrate is,
the determining unit 505, specifically configured to determine whether the integrated navigation model passes the performance verification according to the execution result and the reference data, includes: determining whether the integrated navigation model passes precision verification according to the execution result, the reference data and a preset performance verification condition; determining whether the integrated navigation model passes stability verification according to the execution result; if the combined navigation model is determined to pass precision verification and stability verification, determining that the combined navigation model passes performance verification; otherwise, determining that the combined navigation model fails performance verification.
In another embodiment of the present invention, the substrate is,
the determining unit 505 is specifically configured to, if the preset performance verification condition includes a preset position error threshold and a preset attitude error threshold, determine whether the integrated navigation model passes precision verification according to the execution result, the reference data, and the preset performance verification condition, and includes: calculating a position error and an attitude error according to the execution result and the reference data; if the calculated position error is smaller than the preset position error threshold value and the calculated attitude error is smaller than the preset attitude error threshold value, determining that the combined navigation model passes precision verification; otherwise, determining that the combined navigation model fails precision verification.
In another embodiment of the present invention, the substrate is,
the determining unit 505 is specifically configured to, if the preset performance verification condition includes a specified version, determine whether the integrated navigation model passes precision verification according to the execution result, the reference data, and the preset performance verification condition, and includes: calculating a position error and an attitude error according to the execution result and the reference data; acquiring a position error and an attitude error which are acquired when the integrated navigation model of the specified version is verified; comparing the obtained position error with the calculated position error, and obtaining an attitude error with the calculated attitude error; if the calculated position error is smaller than the obtained position error and the calculated attitude error is smaller than the obtained attitude error, determining that the combined navigation model passes precision verification; otherwise, determining that the combined navigation model fails precision verification.
In another embodiment of the present invention, the substrate is,
the determining unit 505 is specifically configured to determine whether the integrated navigation model passes the stability verification according to the execution result, and includes: if the execution log in the execution result records error information, determining that the integrated navigation model fails stability verification; otherwise, determining that the combined navigation model passes the stability verification.
In a further embodiment of the method according to the invention,
the output unit 506 is further configured to output any one or any combination of the following information through the verification page:
a position error curve, an attitude error curve and an error statistical result;
and if the performance verification result is that the performance verification is not passed, outputting error information recorded in the execution log.
The units of the above embodiments may be integrated into one body, or may be separately deployed; may be combined into one unit or further divided into a plurality of sub-units.
In another embodiment, an electronic device is also provided, which includes a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor implements the steps of the performance verification method of the integrated navigation model when executing the program.
In another embodiment, a computer-readable storage medium is also provided having stored thereon computer instructions that, when executed by a processor, may implement the steps in the performance verification method for a combined navigation model.
Fig. 6 is a schematic physical structure diagram of an electronic device according to an embodiment of the present invention. As shown in fig. 6, the electronic device may include: a Processor (Processor) 610, a communication Interface (Communications Interface) 620, a Memory (Memory) 630 and a communication bus 640, wherein the Processor 610, the communication Interface 620 and the Memory 630 communicate with each other via the communication bus 640. The processor 610 may call logic instructions in the memory 630 to perform the following method:
storing the executable code of the combined navigation model uploaded by the verification page when the executable code is received;
when receiving a verification request sent by the verification page, acquiring verification data and reference data; the verification data and the reference data are collected real vehicle data;
executing the executable code based on the verification data to obtain an execution result;
determining whether the integrated navigation model passes performance verification according to the execution result and the reference data;
and outputting the performance verification result through the verification page.
In addition, the logic instructions in the memory 630 may be implemented in software functional units and stored in a computer readable storage medium when the logic instructions are sold or used as independent products. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment may be implemented by software plus a necessary general hardware platform, and may also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
In another embodiment, a computer program product is provided, comprising a computer program that, when being executed by a processor, carries out the steps of the mosquito control method.
The flowchart and block diagrams in the figures of the present application illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments disclosed herein. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
It will be appreciated by a person skilled in the art that various combinations and/or combinations of features recited in the various embodiments and/or claims disclosed herein are possible, even if such combinations or combinations are not explicitly recited in the present application. In particular, the features recited in the various embodiments and/or claims of the present application may be combined and/or coupled in various ways, all of which fall within the scope of the present disclosure, without departing from the spirit and teachings of the present application.
The principles and embodiments of the present invention are explained herein using specific examples, which are provided only to help understanding the method and the core idea of the present invention, and are not intended to limit the present application. It will be appreciated by those skilled in the art that changes may be made in this embodiment and its broader aspects and without departing from the principles, spirit and scope of the invention, and that all such modifications, equivalents, improvements and equivalents as may be included within the scope of the invention are intended to be protected by the claims.
Claims (10)
1. A performance verification method for a combined navigation model is characterized by comprising the following steps:
storing the executable code of the combined navigation model uploaded by the verification page when the executable code is received;
when receiving a verification request sent by the verification page, acquiring verification data and reference data; the verification data and the reference data are collected real vehicle data;
executing the executable code based on the verification data to obtain an execution result;
determining whether the integrated navigation model passes performance verification according to the execution result and the reference data;
and outputting the performance verification result through the verification page.
2. The method of claim 1, wherein determining whether the integrated navigation model passes performance verification based on the execution result and the reference data comprises:
determining whether the integrated navigation model passes precision verification according to the execution result, the reference data and a preset performance verification condition;
determining whether the integrated navigation model passes stability verification according to the execution result;
if the combined navigation model is determined to pass precision verification and stability verification, determining that the combined navigation model passes performance verification; otherwise, determining that the combined navigation model fails performance verification.
3. The method according to claim 2, wherein if the predetermined performance verification condition includes a predetermined position error threshold and a predetermined attitude error threshold, the determining whether the integrated navigation model passes the precision verification according to the execution result, the reference data, and the predetermined performance verification condition comprises:
calculating a position error and an attitude error according to the execution result and the reference data;
if the calculated position error is smaller than the preset position error threshold value and the calculated attitude error is smaller than the preset attitude error threshold value, determining that the combined navigation model passes precision verification; otherwise, determining that the combined navigation model fails precision verification.
4. The method of claim 2, wherein if the predetermined performance verification condition comprises a specified version, the determining whether the integrated navigation model passes precision verification according to the execution result, the reference data, and the predetermined performance verification condition comprises:
calculating a position error and an attitude error according to the execution result and the reference data;
acquiring a position error and an attitude error which are acquired when the integrated navigation model of the specified version is verified;
comparing the obtained position error with the calculated position error, and the obtained attitude error with the calculated attitude error;
if the calculated position error is smaller than the obtained position error and the calculated attitude error is smaller than the obtained attitude error, determining that the combined navigation model passes precision verification; otherwise, determining that the combined navigation model fails precision verification.
5. The method of claim 2, wherein determining whether the combined navigation model passes stability verification according to the execution result comprises:
if the execution log in the execution result records error information, determining that the integrated navigation model fails stability verification; otherwise, determining that the combined navigation model passes the stability verification.
6. The method according to any one of claims 1-5, further comprising:
outputting any one or any combination of the following information through the verification page:
a position error curve, an attitude error curve and an error statistical result;
and if the performance verification result is that the performance verification is not passed, outputting error information recorded in the execution log.
7. An apparatus for validating performance of a combined navigation model, the apparatus comprising: the device comprises a receiving unit, a storage unit, an acquisition unit, an execution unit, a determination unit and an output unit;
the receiving unit is used for receiving executable codes of the combined navigation model uploaded by the verification page; receiving a verification request sent by the verification page;
the storage unit is used for storing the executable code received by the receiving unit;
the acquiring unit is used for acquiring verification data and reference data when the receiving unit receives the verification request; the verification data and the reference data are collected real vehicle data;
the execution unit is used for executing the executable code stored in the storage unit to acquire an execution result based on the verification data acquired by the acquisition unit when the receiving unit receives the verification request sent by the verification page;
the determining unit is used for determining whether the integrated navigation model passes the performance verification according to the execution result acquired by the executing unit and the reference data acquired by the acquiring unit;
and the output unit is used for outputting the performance verification result determined by the determination unit through the verification page.
8. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the method according to any of claims 1-6 when executing the program.
9. A computer-readable storage medium, on which a computer program is stored, which program, when being executed by a processor, is adapted to carry out the method of any one of claims 1 to 6.
10. A computer program product comprising a computer program, characterized in that the computer program realizes the method of any of claims 1-6 when executed by a processor.
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| CN202210357487.3A CN114427867A (en) | 2022-04-07 | 2022-04-07 | Performance verification method and device of combined navigation model |
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