CN115575982B - Method, apparatus and storage medium for determining robustness of vehicle-mounted satellite positioning system - Google Patents
Method, apparatus and storage medium for determining robustness of vehicle-mounted satellite positioning system Download PDFInfo
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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
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- 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
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- G01S19/23—Testing, monitoring, correcting or calibrating of receiver elements
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Abstract
The invention relates to the field of satellite positioning, and discloses a method, equipment and a storage medium for determining the robustness of a vehicle-mounted satellite positioning system, wherein the method comprises the following steps: determining test parameters corresponding to test scenes, wherein the test scenes comprise one or more of a GPS system week count return-to-zero test scene, a GPS system selection availability SA event test scene, a Beidou system second count return-to-zero test scene, a health word indication signal abnormity test scene, a leap second event test scene and an autonomous integrity monitoring test scene; simulating a test scene according to the test parameters to obtain an output signal of the satellite navigation positioning system in the test scene; and transmitting the output signal to a target vehicle-mounted satellite positioning system to obtain a positioning position and a universal time of the world determined by the target vehicle-mounted satellite positioning system based on the output signal. According to the embodiment, when the satellite navigation positioning system fails or a satellite event occurs, the coping capability of the vehicle-mounted satellite positioning system is examined.
Description
Technical Field
The present invention relates to the field of satellite positioning, and in particular, to a method, an apparatus, and a storage medium for determining robustness of a vehicle-mounted satellite positioning system.
Background
Currently, the world mainly includes four major satellite navigation Positioning systems, namely a GPS (Global Positioning System), a beidou BDS System, a GLONASS System and a Galileo satellite navigation System, galileo. Each satellite navigation positioning system is launched and maintained by different countries, and the characteristics, the performance and even the state of each satellite navigation positioning system are different, so that the uncertainty of the satellite navigation positioning system at a signal source is caused.
If the vehicle-mounted satellite positioning system cannot correctly process various system faults and satellite events, positioning, speed measurement and time service results are greatly influenced, normal work of other rear-end equipment cannot be guaranteed, and serious people can directly cause the safety problem of vehicle running.
In view of the above, the present invention is particularly proposed.
Disclosure of Invention
In order to solve the technical problems, the invention provides a method, equipment and a storage medium for determining the robustness of a vehicle-mounted satellite positioning system, which realize the examination of the response capability of the vehicle-mounted satellite positioning system when the satellite navigation positioning system fails or a satellite event occurs, and provide a reference basis for improving and ensuring the stability of the vehicle-mounted satellite positioning system.
The embodiment of the invention provides a method for determining the robustness of a vehicle-mounted satellite positioning system, which comprises the following steps: determining test parameters corresponding to a test scene, wherein the test scene comprises one or more of a GPS system week count return-to-zero test scene, a GPS system selection availability SA event test scene, a Beidou system second count return-to-zero test scene, a health word indication signal abnormal test scene, a leap second event test scene and an autonomous integrity monitoring test scene;
simulating a test scene according to the test parameters to obtain an output signal of the satellite navigation positioning system in the test scene;
transmitting the output signal to a target vehicle-mounted satellite positioning system to obtain a positioning position and/or world uniform time determined by the target vehicle-mounted satellite positioning system based on the output signal;
and determining a quantitative index for representing the robustness of the target vehicle-mounted satellite positioning system according to the positioning position and the simulated standard position and/or according to the universal time and the simulated standard time.
An embodiment of the present invention provides an electronic device, including:
a processor and a memory;
the processor is used for executing the steps of the vehicle-mounted satellite positioning system robustness determination method according to any embodiment by calling the program or the instructions stored in the memory.
Embodiments of the present invention provide a computer-readable storage medium, which stores a program or instructions for causing a computer to execute the steps of the method for determining the robustness of an on-board satellite positioning system according to any embodiment.
The embodiment of the invention has the following technical effects:
simulating a test scene according to the matched test parameters to obtain an output signal of the satellite navigation positioning system in the test scene; transmitting the output signal to a target vehicle-mounted satellite positioning system to obtain a positioning position and/or world uniform time determined by the target vehicle-mounted satellite positioning system based on the output signal; and determining a quantitative index for representing the robustness of the target vehicle-mounted satellite positioning system according to the positioning position and the simulated standard position and/or according to the universal time and the simulated standard time, so that the checking of the response capability of the vehicle-mounted satellite positioning system is realized, and a reference basis is provided for improving and ensuring the stability of the vehicle-mounted satellite positioning system.
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 description of the embodiments or the prior art 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 flow chart of a method for determining robustness of an on-board satellite positioning system provided by an embodiment of the present invention;
fig. 2 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. 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 invention.
The method for determining the robustness of the vehicle-mounted satellite positioning system provided by the embodiment of the invention can be executed by electronic equipment. Fig. 1 is a flowchart of a method for determining robustness of an on-board satellite positioning system according to an embodiment of the present invention. Referring to fig. 1, the method for determining the robustness of the vehicle-mounted satellite positioning system specifically includes the following steps:
s110, determining test parameters corresponding to test scenes, wherein the test scenes comprise one or more of a GPS system week count return-to-zero test scene, a GPS system selective availability SA event test scene, a Beidou system second count return-to-zero test scene, a health word indication signal abnormal test scene, a leap second event test scene and an autonomous integrity monitoring test scene.
The test scene of the weekly count zeroing of the GPS system specifically refers to a scene of the occurrence of the weekly count zeroing of the GPS system, and the capability of whether the target vehicle-mounted satellite positioning system can accurately output the universal time of the world is examined under the scene, so that the accuracy and the precision of the time are not influenced by the weekly count zeroing of the GPS system.
The GPS system selection availability SA event test scene specifically refers to a scene of changing satellite signals broadcast by the GPS system, and the capability of whether the target vehicle-mounted satellite positioning system can accurately output the positioning position is examined under the scene.
The Beidou system second counting zeroing test scene is a scene in which the Beidou system second counting zeroing condition occurs, and the capability of whether the target vehicle-mounted satellite positioning system can accurately output the world uniform time is examined under the scene, so that the accuracy and the precision of the time are not influenced by the Beidou system second counting zeroing.
The abnormal test scene of the health word indicating signal specifically refers to a scene that the health word of the satellite navigation positioning system is abnormal, and the capability of whether the target vehicle-mounted satellite positioning system can accurately output the positioning position is examined under the scene.
The leap second event test scene is specifically a scene that the satellite navigation positioning system generates a leap second event, and the ability of whether the target vehicle-mounted satellite positioning system can accurately output the universal time of the world is examined under the scene, so that the accuracy and the correctness of the time are not influenced by the leap second event.
The autonomous integrity monitoring test scene specifically refers to a scene for actively monitoring and verifying each function of a satellite navigation positioning system, and randomly assesses whether the function of the target vehicle-mounted satellite positioning system is normal in some aspect, for example, after one-time normal positioning, a pseudo range of 2 meters per second is additionally added to any one of running GPS, BDS, GLONASS and Galileo, and then assesses whether the target vehicle-mounted satellite positioning system can continue to accurately output a positioning position.
In summary, reference is made to the following correspondence between the test scenarios and the status results meeting the assessment targets as shown in table 1:
table 1: corresponding relation table between test scene and state result meeting assessment target
| Test scenario | Status results meeting assessment goals |
| GPS system cycle count zeroing | Outputting correct year, month, day and time information |
| GPS system SA events | Normal positioning with error not more than 10 m |
| Beidou system second counting zeroing | Outputting correct information of year, month, day and time |
| Health word indicating signal anomaly | Satellite participation positioning method for normal positioning and GSA (global system for mobile communications) without using health word to indicate signal abnormality |
| Leap second event | Correct leap second and correct universal time output |
| Autonomous integrity monitoring | The maximum error of positioning does not exceed 100 meters |
In order to realize various test scenes, test parameters are set in a targeted manner.
For example, reference is made to a test parameter table corresponding to each test scenario as shown below.
Table 2: test parameter table corresponding to cycle count return-to-zero test scene of GPS system
| Parameter(s) | Configuration of |
| Position of | Land location |
| Constellation and signal | At least GPS L1, BDS B1I/B1C, B2a, galileo E1, GLONASS G1 should be covered |
| Simulation satellite number | The GPS is more than or equal to 6, the BDS is more than or equal to 6, the Galileo is more than or equal to 6, and the GLONASS is more than or equal to 6 |
| PDOP | Open sky: PDOP is less than or equal to 2.5 |
| Simulated duration | Greater than 0.5 hour |
| Satellite trajectory | Static state |
| Signal output power | -130dBm |
| Whether the output power of each satellite signal is the same | Is that |
| Special arrangements | Simulation start time is set to world universal time 2038, 11, month, 20, day 23 |
Table 3: test parameter table corresponding to GPS system selection availability SA event test scene
| Parameter(s) | Configuration of |
| Position of | Land location |
| Constellation and signal | At least GPS L1, BDS B1I/B1C, B2a, galileo E1, GLONASS G1 should be covered |
| Simulation satellite number | The GPS is more than or equal to 6, the BDS is more than or equal to 6, the Galileo is more than or equal to 6, and the GLONASS is more than or equal to 6 |
| PDOP | Open sky: PDOP is less than or equal to 2.5 |
| Simulated duration | 1 hour |
| Satellite trajectory | Static state |
| Signal output power | -130dBm |
| Whether the output power of each satellite signal is the same | Is that |
| Special arrangements | Adjusting satellite clock error in navigation message within +/-100 ns |
Table 4: test parameter table corresponding to Beidou system second counting zero-resetting test scene
| Parameter(s) | Configuration of |
| Position of | Land location |
| Constellation and signal | At least GPS L1, BDS B1I/B1C, B2a, galileo E1, GLONASS G1 should be covered |
| Simulation satellite number | The GPS is more than or equal to 6, the BDS is more than or equal to 6, the Galileo is more than or equal to 6, and the GLONASS is more than or equal to 6 |
| PDOP | Open sky: PDOP is less than or equal to 2.5 |
| Simulated duration | Greater than 0.5 hour |
| Satellite trajectory | Static state |
| Signal output power | -130dBm |
| Whether the output power of each satellite signal is the same | Is that |
| Special arrangements | Simulation start time was set to 23 for any Saturday |
Table 5: test parameter table corresponding to abnormal test scene of health word indication signal
| Parameter(s) | Configuration of |
| Position of | Land location |
| Constellation and signal | At least GPS L1, BDS B1I/B1C, B2a, galileo E1, GLONASS G1 should be covered |
| Simulation satellite number | GPS is more than or equal to 6, BDS is more than or equal to 6, galileo is more than or equal to 6, GLONASS is more than or equal to 6 |
| PDOP | Open sky: PDOP is less than or equal to 2.5 |
| Simulated duration | 0.5 hour |
| Satellite trajectory | Static state |
| Signal output power | -130dBm |
| Whether the output power of each satellite signal is the same | Is that |
| Special arrangements | Setting the health word indicating signal of the navigation message signal of any one constellation of GPS, BDS, GLONASS and Galileo as abnormal |
Table 6: leap second event test scene corresponding test parameter table
| Parameter(s) | Configuration of |
| Position of | Land location |
| Constellation and signal | At least GPS L1, BDS B1I/B1C, B2a, galileo E1, GLONASS G1 should be covered |
| Simulation satellite number | The GPS is more than or equal to 6, the BDS is more than or equal to 6, the Galileo is more than or equal to 6, and the GLONASS is more than or equal to 6 |
| PDOP | Open sky: PDOP is less than or equal to 2.5 |
| Simulated duration | 1 hour (h) |
| Orbit of satellite | Static state |
| Signal output power | -130dBm |
| Whether the output power of each satellite signal is the same | Is that |
| Special arrangements | Set simulation start time to 30 minutes before leap second takes effect |
Table 7: test parameter table corresponding to autonomous integrity monitoring test scene
| Parameter(s) | Configuration of |
| Position of | Land location |
| Constellation and signal | At least GPS L1, BDS B1I/B1C, B2a, galileo E1, GLONASS G1 should be covered |
| Simulation satellite number | The GPS is more than or equal to 6, the BDS is more than or equal to 6, the Galileo is more than or equal to 6, and the GLONASS is more than or equal to 6 |
| PDOP | Open sky: PDOP is less than or equal to 2.5 |
| Simulated duration | 1 hour |
| Satellite trajectory | Static state |
| Signal output power | -130dBm |
| Whether the output power of each satellite signal is the same | Is that |
| Special arrangements | After the target vehicle-mounted satellite positioning system is normally positioned, additionally increasing pseudo range of 2 meters per second for any satellite of running GPS, BDS, GLONASS and Galileo |
In summary, the test parameters corresponding to the test scenario include;
the constellation and the signal at least cover GPS L1, BDS B1I/B1C, B2a, galileo E1 and GLONASS G1; wherein L1 refers to a band of a carrier of a GPS navigation satellite signal, BDS refers to a beidou satellite system, B1I, B1C, B a refers to a band of a beidou satellite signal carrier, galileo refers to a Galileo satellite navigation system, E1 refers to a band of a Galileo satellite signal carrier, GLONASS refers to a global satellite navigation system, also referred to as a russian satellite navigation system, and G1 refers to a band of a satellite signal carrier of GLONASS. For example, L1 corresponds to a carrier frequency of 1575.42MHz, B1I corresponds to a frequency of 1561.098MHz, and the wavelength is 19.20cm; the frequency corresponding to B1C is 1575.420MHz, the wavelength is 19.03cm and the like. The number of the simulated satellites is as follows: more than or equal to 6 satellites in a GPS satellite navigation system, more than or equal to 6 satellites in a Beidou satellite navigation system, more than or equal to 6 satellites in a Galileo satellite navigation system and more than or equal to 6 satellites in a GLONASS satellite navigation system;
the position precision factor PDOP is less than or equal to 2.5;
the simulation time is longer than 0.5 hour;
the state of each satellite is stationary;
the output power of each satellite signal was-130 dBm.
When the test scene is a GPS system cycle count zero test scene, the test parameters corresponding to the test scene further include: system simulation time including the time when the cycle count returns to zero;
when the test scenario selects an availability SA event test scenario for the GPS system, the test parameters corresponding to the test scenario further include: the satellite clock error in the navigation message of the output signal is within the range of +/-100 ns;
when the test scene is the big dipper system second count return to zero test scene, the test parameter that corresponds with the test scene still includes: the system simulation time comprises the second counting zero-returning moment;
when the test scene is a test scene with abnormal health word indication signals, the test parameters corresponding to the test scene further include: a health word abnormality parameter for setting a health word in any one of the navigation message signals of GPS, BDS, GLONASS, and Galileo as an abnormality;
when the experimental scene is the leap second event experimental scene, the experimental parameters corresponding to the experimental scene further include: the system simulation time including the leap second effective time;
when the test scene is an autonomous integrity monitoring test scene, the test parameters corresponding to the test scene further include: a pseudo range of 2 meters per second for increasing any one of the running GPS, BDS, GLONASS and Galileo by a pseudo range of 2 meters per second after the target on-board satellite positioning system determines the position location based on the output signal.
And S120, simulating a test scene according to the test parameters to obtain an output signal of the satellite navigation positioning system in the test scene.
Optionally, the simulation of the test scene can be performed by the satellite signal simulator according to the test parameters. Specifically, parameter configuration is performed on the satellite signal simulator according to table 2, and a cycle count return-to-zero test scene of the GPS system is simulated and operated according to table 2. And comparing the time data output by the target vehicle-mounted satellite positioning system with the standard time by taking the time simulated by the satellite signal simulator as the standard time to obtain one of quantitative indexes for representing the robustness of the target vehicle-mounted satellite positioning system.
And (4) configuring parameters of the satellite signal simulator according to the table 3, and operating a GPS system SA event test scene according to the table 3. And taking the position simulated by the satellite signal simulator as a standard position, and comparing positioning position data output by the target vehicle-mounted satellite positioning system with the standard position to obtain one of quantitative indexes for representing the robustness of the target vehicle-mounted satellite positioning system.
And (4) carrying out parameter configuration on the satellite signal simulator according to the table 4, and simulating and operating a Beidou system second counting zeroing test scene according to the table 4. And taking the time simulated by the satellite signal simulator as standard time, and comparing the time data output by the target vehicle-mounted satellite positioning system with the standard time to obtain one of quantitative indexes for representing the robustness of the target vehicle-mounted satellite positioning system.
And (3) carrying out parameter configuration on the satellite signal simulator according to the table 5, and simulating and operating a health word indication signal abnormal test scene according to the table 5. And taking the position simulated by the satellite signal simulator as a standard position, and comparing positioning position data output by the target vehicle-mounted satellite positioning system with the standard position to obtain one of quantitative indexes for representing the robustness of the target vehicle-mounted satellite positioning system.
And (4) configuring parameters of the satellite signal simulator according to the table 6, and simulating and running a leap second event test scene according to the table 6. And comparing the time data output by the target vehicle-mounted satellite positioning system with the standard time by taking the time simulated by the satellite signal simulator as the standard time to obtain one of quantitative indexes for representing the robustness of the target vehicle-mounted satellite positioning system.
And (4) configuring parameters of the satellite signal simulator according to the table 7, and simulating and operating an autonomous integrity monitoring test scene according to the table 7. And taking the position simulated by the satellite signal simulator as a standard position, and comparing positioning position data output by the target vehicle-mounted satellite positioning system with the standard position to obtain one of quantitative indexes for representing the robustness of the target vehicle-mounted satellite positioning system.
And S130, transmitting the output signal to a target vehicle-mounted satellite positioning system, and obtaining a positioning position and/or world uniform time determined by the target vehicle-mounted satellite positioning system based on the output signal.
S140, determining a quantitative index for representing the robustness of the target vehicle-mounted satellite positioning system according to the positioning position and the simulated standard position and/or according to the universal time and the simulated standard time.
Specifically, when the test scene is a GPS system cycle count return-to-zero test scene, a beidou system second count return-to-zero test scene, or a leap second event test scene, the transmitting the output signal to a target vehicle-mounted satellite positioning system to obtain a positioning position and/or a universal time determined by the target vehicle-mounted satellite positioning system based on the output signal includes:
transmitting the output signal to a target vehicle-mounted satellite positioning system to obtain the universal time determined by the target vehicle-mounted satellite positioning system based on the output signal;
correspondingly, the determining a quantitative index for characterizing the robustness of the target vehicle-mounted satellite positioning system according to the universal time and the simulated standard time comprises the following steps:
and determining the difference between the universal time of the world and the simulated standard time as the quantitative index.
When the test scene is an availability SA event test scene, a health word indication signal abnormal test scene or an autonomous integrity monitoring test scene selected by the GPS system, the output signal is transmitted to a target vehicle-mounted satellite positioning system, and the positioning position and/or the universal time determined by the target vehicle-mounted satellite positioning system based on the output signal are/is obtained, which comprises the following steps:
transmitting the output signal to a target vehicle-mounted satellite positioning system to obtain a positioning position determined by the target vehicle-mounted satellite positioning system based on the output signal;
correspondingly, the determining a quantitative index for characterizing the robustness of the target vehicle-mounted satellite positioning system according to the positioning position and the simulated standard position includes:
and determining the distance between the positioning position and the simulated standard position as the quantitative index.
The technical scheme of the embodiment of the invention is as follows: simulating a test scene according to the matched test parameters to obtain an output signal of the satellite navigation positioning system in the test scene; transmitting the output signal to a target vehicle-mounted satellite positioning system to obtain a positioning position and/or world uniform time determined by the target vehicle-mounted satellite positioning system based on the output signal; and determining a quantitative index for representing the robustness of the target vehicle-mounted satellite positioning system according to the positioning position and the simulated standard position and/or according to the universal time and the simulated standard time, so that the checking of the response capability of the vehicle-mounted satellite positioning system is realized, and a reference basis is provided for improving and ensuring the stability of the vehicle-mounted satellite positioning system.
Fig. 2 is a schematic structural diagram of an electronic device according to an embodiment of the present invention. As shown in fig. 2, the electronic device 400 includes one or more processors 401 and memory 402.
The processor 401 may be a Central Processing Unit (CPU) or other form of processing unit having data processing capabilities and/or instruction execution capabilities, and may control other components in the electronic device 400 to perform desired functions.
In one example, the electronic device 400 may further include: an input device 403 and an output device 404, which are interconnected by a bus system and/or other form of connection mechanism (not shown). The input device 403 may include, for example, a keyboard, a mouse, and the like. The output device 404 can output various information to the outside, including warning prompt information, braking force, etc. The output devices 404 may include, for example, a display, speakers, a printer, and a communication network and its connected remote output devices, among others.
Of course, for simplicity, only some of the components of the electronic device 400 relevant to the present invention are shown in fig. 2, and components such as buses, input/output interfaces, and the like are omitted. In addition, electronic device 400 may include any other suitable components depending on the particular application.
In addition to the above-described methods and apparatus, embodiments of the present invention may also be a computer program product comprising computer program instructions which, when executed by a processor, cause the processor to perform the steps of the in-vehicle satellite positioning system robustness determination method provided by any of the embodiments of the present invention.
The computer program product may write program code for carrying out operations for embodiments of the present invention in any combination of one or more programming languages, including an object oriented programming language such as Java, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server.
Furthermore, embodiments of the present invention may also be a computer readable storage medium having stored thereon computer program instructions, which, when executed by a processor, cause the processor to perform the steps of the in-vehicle satellite positioning system robustness determination method provided by any of the embodiments of the present invention.
The computer-readable storage medium may take any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may include, for example, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable 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.
It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only, and is not intended to limit the scope of the present application. As used in this specification, the terms "a", "an" and/or "the" are not intended to be inclusive of the singular, but rather are intended to be inclusive of the plural, unless the context clearly dictates otherwise. The terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, or apparatus. Without further limitation, an element defined by the phrase "comprising a … …" does not exclude the presence of additional like elements in a process, method, or apparatus that comprises the element.
It is further noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," "outer," and the like are used in the orientation or positional relationship indicated in the drawings for convenience in describing the invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the invention. Unless expressly stated or limited otherwise, the terms "mounted," "connected," "coupled," and the like are to be construed broadly and encompass, for example, both fixed and removable coupling or integral coupling; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in a specific case to those of ordinary skill in the art.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions deviate from the technical solutions of the embodiments of the present invention.
Claims (5)
1. A method for determining the robustness of an on-board satellite positioning system, the method comprising:
determining test parameters corresponding to test scenes, wherein the test scenes comprise a GPS system week count return-to-zero test scene, a GPS system selection availability SA event test scene, a Beidou system second count return-to-zero test scene, a health word indication signal abnormal test scene, a leap second event test scene and an autonomous integrity monitoring test scene;
simulating a test scene according to the test parameters to obtain an output signal of the satellite navigation positioning system in the test scene;
transmitting the output signal to a target vehicle-mounted satellite positioning system to obtain a positioning position and/or world uniform time determined by the target vehicle-mounted satellite positioning system based on the output signal;
determining a quantitative index for representing the robustness of the target vehicle-mounted satellite positioning system according to the positioning position and the simulated standard position and/or according to the universal time and the simulated standard time;
when the test scene is a GPS system cycle count return-to-zero test scene, a Beidou system second count return-to-zero test scene or a leap second event test scene, the output signal is transmitted to a target vehicle-mounted satellite positioning system to obtain a positioning position and/or world uniform time determined by the target vehicle-mounted satellite positioning system based on the output signal, and the method comprises the following steps:
transmitting the output signal to a target vehicle-mounted satellite positioning system to obtain the universal time determined by the target vehicle-mounted satellite positioning system based on the output signal;
correspondingly, the determining a quantitative index for characterizing the robustness of the target vehicle-mounted satellite positioning system according to the universal time and the simulated standard time comprises the following steps:
determining the difference between the universal time and the simulated standard time as the quantitative index;
when the test scene is an availability SA event test scene, a health word indication signal abnormal test scene or an autonomous integrity monitoring test scene selected by the GPS system, the output signal is transmitted to a target vehicle-mounted satellite positioning system to obtain a positioning position and/or world uniform time determined by the target vehicle-mounted satellite positioning system based on the output signal, and the method comprises the following steps:
transmitting the output signal to a target vehicle-mounted satellite positioning system to obtain a positioning position determined by the target vehicle-mounted satellite positioning system based on the output signal;
correspondingly, the determining a quantitative index for characterizing the robustness of the target vehicle-mounted satellite positioning system according to the positioning position and the simulated standard position includes:
and determining the distance between the positioning position and the simulated standard position as the quantization index.
2. The method of claim 1, wherein the trial parameters corresponding to a trial scenario include;
the constellation and the signal at least cover GPS L1, BDS B1I/B1C, B2a, galileo E1 and GLONASS G1;
the number of the simulated satellites is as follows: more than or equal to 6 satellites in a GPS satellite navigation system, more than or equal to 6 satellites in a Beidou satellite navigation system, more than or equal to 6 satellites in a Galileo satellite navigation system and more than or equal to 6 satellites in a GLONASS satellite navigation system;
the position precision factor PDOP is less than or equal to 2.5;
the simulation time is longer than 0.5 hour;
the state of each satellite is stationary;
the output power of each satellite signal is-130 dBm.
3. The method of claim 2, wherein when the test scenario is a GPS system cycle count zero test scenario, the test parameters corresponding to the test scenario further comprise: system simulation time including the time when the week count returns to zero;
when the test scenario selects an availability SA event test scenario for the GPS system, the test parameters corresponding to the test scenario further include: the satellite clock error in the navigation message of the output signal is within the range of +/-100 ns;
when the test scene is the big dipper system second count return to zero test scene, the test parameter that corresponds with the test scene still includes: the system simulation time comprises the time of second counting return-to-zero;
when the test scene is a test scene with abnormal health word indication signals, the test parameters corresponding to the test scene further include: a health word abnormality parameter for setting a health word in any one of the navigation message signals of GPS, BDS, GLONASS, and Galileo as an abnormality;
when the experimental scene is the leap second event experimental scene, the experimental parameters corresponding to the experimental scene further include: the system simulation time comprises the leap second effective time;
when the test scene is an autonomous integrity monitoring test scene, the test parameters corresponding to the test scene further include: a pseudo range of 2 meters per second for increasing any one of the running GPS, BDS, GLONASS and Galileo by a pseudo range of 2 meters per second after the target on-board satellite positioning system determines the position location based on the output signal.
4. An electronic device, characterized in that the electronic device comprises:
a processor and a memory;
the processor is adapted to perform the steps of the in-vehicle satellite positioning system robustness determination method of any of claims 1 to 3 by invoking programs or instructions stored by the memory.
5. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a program or instructions for causing a computer to perform the steps of the in-vehicle satellite positioning system robustness determination method according to any one of claims 1 to 3.
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