CN115598672A - Satellite signal simulation method, system and storage medium based on three-dimensional dynamic model - Google Patents
Satellite signal simulation method, system and storage medium based on three-dimensional dynamic model Download PDFInfo
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Abstract
The invention discloses a satellite signal simulation method, a satellite signal simulation system and a readable storage medium based on a three-dimensional dynamic model, wherein the method comprises the following steps: acquiring user setting parameters, and generating scene characteristic parameters of a plurality of sheltered scenes corresponding to the user setting parameters one by one on the basis of a preset algorithm; and dynamically loading a three-dimensional shielding model formed by each scene characteristic parameter, and dynamically acquiring a first altitude angle and a first direction angle of each satellite corresponding to each shielding scene respectively to correct the signal parameter of each satellite so as to obtain satellite signal characteristic data of each satellite in a plurality of shielding scenes. According to the invention, coverage of different shielding scenes is realized through dynamic flexible configuration, and respective signal parameters of each scene are corrected through the actual first altitude angle and first direction angle of each satellite in each shielding scene, so that accurate satellite signals of each satellite in each scene are obtained through simulation, and accurate test of positioning accuracy performance of a receiver is facilitated.
Description
Technical Field
The invention relates to the technical field of satellite navigation, in particular to a satellite signal simulation method and system based on a three-dimensional dynamic model and a storage medium.
Background
GNSS (Global Navigation Satellite System) is a comprehensive System that uses Satellite technology to realize positioning, navigation and time service in the Global area. The GNSS mainly comprises three parts, namely a space satellite constellation, a ground control station and a receiver. A certain number of satellites in the space satellite constellation are arranged according to a certain rule, and navigation and positioning services can be provided for the whole earth. The ground control station is mainly used for monitoring the aerial satellite in real time so as to ensure the stable and reliable operation of the whole system. The receiver receives, processes and calculates satellite signals, so that the functions of positioning, navigation and time service are realized.
Currently, for the positioning performance test of the receiver, a completely idealized GNSS satellite signal coverage mode is usually adopted to perform a simulation test, that is, all satellite signals are set to be at the same power level, or signal coverage is simultaneously increased or coverage is simultaneously reduced, that is, the receiver is considered to perform positioning service bearing in a completely planar and non-blocking scene. However, in practice, the receiver is operated in a real geographic environment, such as buildings, mountains, trees, and the like, which inevitably affects the reception of satellite signals by the receiver. Therefore, in performing receiver positioning accuracy performance, especially dynamic positioning accuracy performance, the influence of geographical environment factors on satellite signals must be considered.
Therefore, the occlusion effects such as loss, multipath and the like of the current satellite signal can be simulated and calculated according to the altitude angle and direction angle data of the satellite by combining a real 3D map building. However, the method has high dependence on a real 3D map, and needs to spend a high cost to develop or purchase a professional 3D map, even if the method is limited to the current 3D map scene, the scene cannot cover a changed scene, and the satellite signals obtained through simulation are also not accurate enough, so that the positioning accuracy performance test of the receiver is not accurate. Therefore, how to obtain accurate satellite signals through simulation so as to realize accurate testing of positioning accuracy performance of the receiver is a technical problem to be solved urgently at present.
Disclosure of Invention
The invention mainly aims to provide a satellite signal simulation method, a satellite signal simulation system and a storage medium based on a three-dimensional dynamic model, and aims to solve the technical problems that in the prior art, simulation of satellite signals is highly dependent on a real 3D map, and the positioning accuracy performance test of a receiver is inaccurate due to high cost and low accuracy.
In order to achieve the above object, the present invention provides a satellite signal simulation method based on a three-dimensional dynamic model, which includes:
acquiring user setting parameters, and generating scene characteristic parameters of a plurality of sheltered scenes corresponding to the user setting parameters one by one based on a preset algorithm;
dynamically loading a three-dimensional occlusion model formed by each scene characteristic parameter, and dynamically acquiring a first altitude angle and a first direction angle of each satellite, which respectively correspond to each occlusion scene;
and based on the first altitude angle and the first direction angle of each satellite corresponding to each occlusion scene, correcting the signal parameters of each satellite in each three-dimensional occlusion model to obtain satellite signal characteristic data of each satellite in a plurality of occlusion scenes, and completing the simulation of satellite signals.
Optionally, the user setting parameter includes a scene number, and the step of generating the scene characteristic parameters of the multiple occluded scenes corresponding to the user setting parameter one by one based on a preset algorithm includes:
generating scene characteristic parameters of the sheltered scenes corresponding to the user setting parameters based on a preset algorithm, and updating the number of the scenes;
judging whether the updated scene quantity reaches a preset threshold value;
and if the number of the scenes does not reach the preset threshold value, continuously executing the steps of generating scene characteristic parameters of the sheltered scenes corresponding to the user setting parameters based on a preset algorithm, and updating the number of the scenes until the updated number of the scenes reaches the preset threshold value.
Optionally, the step of dynamically loading the three-dimensional occlusion model formed by each scene characteristic parameter and dynamically acquiring a first altitude angle and a first direction angle of a satellite signal corresponding to each occlusion scene from each satellite further includes:
determining the total loading duration according to the scene quantity and the scene period;
loading three-dimensional shielding models formed by the scene characteristic parameters one by one according to the total loading time, wherein the loading time of each three-dimensional shielding model is equal to the scene period;
and acquiring a first altitude angle and a first direction angle of a satellite signal of each satellite corresponding to the currently loaded three-dimensional shielding model one by one according to the scene period.
Optionally, the scene characteristic parameters include a second altitude angle and a second direction angle, and the step of modifying the signal parameter of each satellite in each three-dimensional occlusion model based on the first altitude angle and the first direction angle of each satellite corresponding to each occlusion scene respectively to obtain satellite signal characteristic data of each satellite in a plurality of occlusion scenes includes:
calculating an occlusion effect parameter according to a proportional relationship between the first altitude angle and the second altitude angle of each satellite in each occlusion scene and a proportional relationship between the first direction angle and the second direction angle of each satellite in each occlusion scene;
and correcting the signal parameters of each satellite in each three-dimensional occlusion model according to the occlusion effect parameters to obtain satellite signal characteristic data of each satellite in a plurality of occlusion scenes.
Optionally, the signal parameters include a loss value and a multipath fading value in the scene characteristic parameter, and the step of correcting the signal parameters of each satellite in each three-dimensional occlusion model according to the occlusion effect parameter to obtain satellite signal characteristic data of each satellite in a plurality of the occlusion scenes includes:
according to the occlusion effect parameters, correcting the loss value and the multipath fading value of each satellite in the current three-dimensional occlusion model to obtain satellite signal characteristic data of each satellite in the current occlusion scene;
and when the signal parameters of each satellite in all the three-dimensional occlusion models are corrected based on the corresponding occlusion effect parameters, acquiring satellite signal characteristic data of each satellite in a plurality of occlusion scenes.
Optionally, the user setting parameters further include an altitude mode, an altitude range, a direction angle mode, a direction angle range, a loss mode, a loss range, a multipath mode, and a multipath fading range;
the step of generating scene characteristic parameters of a plurality of occluded scenes one by one corresponding to the user setting parameters based on a preset algorithm includes:
respectively generating a second altitude angle, a second direction angle, a loss value and a multipath fading value of each occlusion scene in the altitude angle mode, the direction angle mode, the loss mode and the multipath mode based on a preset algorithm;
the second altitude, the second direction angle, the loss value and the multipath fading value jointly form the scene characteristic parameter, and are respectively located in the altitude angle range, the direction angle range, the loss range and the multipath fading range.
Optionally, before the step of obtaining the user setting parameters and generating the scene characteristic parameters of the multiple occluded scenes corresponding to the user setting parameters one by one based on a preset algorithm, the method further includes:
acquiring an initial altitude angle of a satellite, judging whether the initial altitude angle is larger than a preset threshold value or not, and if so, executing the step of acquiring user setting parameters;
and if the initial altitude angle is smaller than or equal to a preset threshold value, selecting a new satellite and executing the step of obtaining the initial altitude angle of the satellite.
Optionally, after the step of obtaining satellite signal characteristic data of each satellite in a plurality of the occlusion scenes and completing simulation of a satellite signal, the method further includes:
and testing the positioning performance of the receiver corresponding to the satellite signals according to the satellite signal characteristic data of each satellite in a plurality of shielding scenes.
Further, in order to achieve the above object, the present invention also provides a satellite signal simulation system based on a three-dimensional dynamic model, which includes a memory, a processor and a control program stored on the memory for implementing a satellite signal simulation method based on a three-dimensional dynamic model, wherein the processor is used for executing the control program for implementing the satellite signal simulation method based on a three-dimensional dynamic model, so as to implement the steps of the satellite signal simulation method based on a three-dimensional dynamic model as described above.
Further, to achieve the above object, the present invention may also provide a readable storage medium, on which a control program is stored, the control program, when executed by a processor, implementing the steps of the satellite signal simulation method based on the three-dimensional dynamic model as described above.
The invention provides a satellite signal simulation method, a satellite signal simulation system and a storage medium based on a three-dimensional dynamic model, wherein after user setting parameters are obtained, scene characteristic parameters of a plurality of occlusion scenes corresponding to the user setting parameters are generated one by one through a preset algorithm; then, dynamically loading a three-dimensional occlusion model formed by each scene characteristic parameter, and dynamically acquiring a first altitude angle and a first direction angle of a satellite signal corresponding to each occlusion scene by each satellite; and then correcting the signal parameters of each satellite in each three-dimensional occlusion model through a first altitude angle and a first direction angle of each satellite corresponding to each occlusion scene respectively, so as to obtain the satellite signal characteristic parameters of each satellite in a plurality of occlusion scenes. And the generated multiple occlusion scenes are available for testing and meet the user set parameters. And by dynamic flexible configuration, coverage of different sheltered scenes is realized. The method can not only comprise typical occlusion scenes such as buildings, mountains, trees and the like, but also comprise occlusion scenes with small probability. And the signal parameters under each scene are corrected through the actual first altitude angle and the actual first direction angle of each satellite under each sheltered scene to obtain the accurate satellite signals of each satellite under each scene, so that the problems of high cost and inaccuracy due to the fact that the satellite signals are calculated by means of simulation of a real 3D map in a highly-dependent mode and cannot cover a changed scene are avoided, and the accurate test of the positioning accuracy performance of the receiver is realized.
Drawings
FIG. 1 is a schematic flow chart of a satellite signal simulation method based on a three-dimensional dynamic model according to a first embodiment of the present invention;
FIG. 2 is a schematic flowchart illustrating a satellite signal simulation method based on a three-dimensional dynamic model according to a second embodiment of the present invention;
FIG. 3 is a schematic flowchart of a satellite signal simulation method based on a three-dimensional dynamic model according to a third embodiment of the present invention;
fig. 4 is a schematic structural diagram of a hardware operating environment according to an embodiment of the satellite signal simulation system based on a three-dimensional dynamic model according to the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the invention.
Referring to fig. 1, fig. 1 is a schematic flow chart of a first embodiment of a satellite signal simulation method based on a three-dimensional dynamic model according to the present invention.
While a logical order is shown in the flow chart, in some cases, the steps shown or described may be performed in a different order than that shown. Specifically, the satellite signal simulation method based on the three-dimensional dynamic model in this embodiment includes:
step S10, acquiring user setting parameters, and generating scene characteristic parameters of a plurality of sheltered scenes corresponding to the user setting parameters one by one based on a preset algorithm;
the satellite signal simulation method based on the three-dimensional dynamic model is applied to a control center of a receiver in a GNSS system, the control center dynamically generates the three-dimensional shielding model, simulates various shielding objects in an actual geographic environment, and accurately determines characteristic data of satellite signals by referring to the current actual state of each satellite in the GNSS system, so as to test the positioning accuracy performance of the receiver.
Specifically, the receiver is provided with an information input device, such as a display screen, for the simulation tester to input the test parameters. The control center obtains the test parameters and sets the test parameters as user setting parameters. The control center is also preset with preset algorithm, such as random number generation algorithm or generation algorithm with a certain rule. After the user setting parameters are obtained, the preset algorithm is called, and the scene characteristic parameters of a plurality of sheltered scenes are generated according to the user setting parameters. The occlusion scene is a scene in which the receiver occludes signals in the process of receiving signals transmitted by the satellite, such as buildings, mountains, trees, and the like, and the scene characteristic parameters at least include parameters for representing the influence on the satellite signals due to the existence of the occlusion scene, such as altitude, direction angle, loss, multipath fading, and the like.
The height angle is an included angle of a connecting line of one point on the sheltering object in the sheltering scene and the origin of the geological coordinate system relative to a local horizontal plane in the geological coordinate system. And the direction angle shields an included angle between a connecting line of a vertical projection point of one point on the shielding object in the ground coordinate system horizontal plane and the origin of the geographic coordinate system and the y axis. The x-axis of the geographical coordinate system points east (E) along the local latitudes, the y-axis points north (N) along the local meridian, and the z-axis points up along the local geographical vertical. The loss value mainly takes into account the loss due to occlusion of the occluded scene. Multipath fading is caused by multipath effect, and in the process of signal propagation, due to the influence of reflection and refraction of an obstruction in an obstruction scene, a plurality of signals reach a receiver through different paths, namely the multipath effect. The phases of signals arriving by different paths are inconsistent and have time-varying property, so that the received signals are in a fading state; the time delays of the arrival of these signals are different, which in turn leads to intersymbol interference. The fading caused by this multipath effect is the multipath fading.
It should be noted that the receiver receives signals from satellites in the GNSS system, depending on the altitude of the satellites. The altitude angle of the satellite is the included angle between the connecting line of the point where the satellite is located and the origin of the geographic coordinate system and the local horizontal plane. If the altitude angle of the satellite is lower than a certain value, the signal transmitted by the satellite is considered to be completely lost due to occlusion, the satellite is a completely invisible satellite, and the receiver cannot receive the signal transmitted by the satellite. Therefore, in order to avoid a situation where the receiver cannot receive the signal transmitted from the satellite, it is necessary to determine whether the altitude angle of the satellite is lower than a certain value when a plurality of occlusion scenes are generated. Specifically, before the step of obtaining the user setting parameters and generating the scene characteristic parameters of the multiple occlusion scenes corresponding to the user setting parameters one by one based on a preset algorithm, the method further includes:
step a1, acquiring an initial altitude angle of a satellite, judging whether the initial altitude angle is greater than a preset threshold value, and if so, executing a step of acquiring user setting parameters;
and a2, if the initial altitude angle is less than or equal to a preset threshold value, selecting a new satellite, and executing the step of obtaining the initial altitude angle of the satellite.
Furthermore, a certain value for judgment is preset as a preset threshold, and the preset threshold is set to be different according to different navigation situations, for example, for ground navigation, the preset threshold is generally set to 10 degrees because the preset threshold is usually influenced by shielding of buildings and terrains; for sea navigation, the influence of buildings and terrain shielding is small, and the angle can be set to 0 degrees.
Furthermore, the altitude angle of the satellite is obtained, the obtained altitude angle is used as the initial altitude angle of the satellite, the initial altitude angle is compared with a preset threshold value, and whether the initial altitude angle is larger than the preset threshold value or not is judged. If the signal is larger than the preset threshold, the signal of the satellite is possibly shielded but still can be effectively transmitted to the receiver, so that the user set parameters are acquired and used for testing scene characteristic parameters of a plurality of shielded scenes in a simulation mode. On the contrary, if the initial altitude is judged to be less than or equal to the preset threshold, it is indicated that the initial altitude of the satellite is too small, and the transmitted signal is blocked by too many obstacles and cannot be effectively transmitted to the receiver, so that the satellite cannot be used for positioning, and a new satellite is selected. And for the newly selected satellite, the initial altitude angle of the newly selected satellite is also obtained and compared with a preset threshold value for judgment, so that the signals transmitted by all the satellites can be effectively transmitted to a receiver.
Further, the user setting parameters embody the characteristics of the generated occlusion scene, and at least include an altitude mode, an altitude range, a direction mode, a direction range, a loss mode, a loss range, a multipath mode, and a multipath fading range. For the parameters, the step of generating scene characteristic parameters of a plurality of occlusion scenes corresponding to the user setting parameters one by one based on a preset algorithm comprises the following steps:
b, respectively generating a second altitude angle, a second direction angle, a loss value and a multipath fading value of each occlusion scene according to the altitude angle mode, the direction angle mode, the loss mode and the multipath mode based on a preset algorithm;
the second altitude, the second direction angle, the loss value and the multipath fading value jointly form the scene characteristic parameter, and are respectively located in the altitude angle range, the direction angle range, the loss range and the multipath fading range.
Further, the altitude mode, the direction angle mode, the loss mode, and the multipath mode each include a random mode and a fixed mode, and the second altitude in the altitude range, the second direction angle in the direction angle range, the loss value in the loss range, and the multipath attenuation value in the multipath fading range may be generated in a random manner or may be generated in a fixed manner. A corresponding pre-set algorithm random number generation algorithm or a generation algorithm specified with a certain rule. And no matter the parameters are generated in a fixed mode or an easily random mode, the generated second height angle, second direction angle, loss value and multipath fading value jointly form a scene characteristic parameter so as to reflect the characteristics of the generated occlusion scene and meet the requirements of testers on the occlusion scene.
It should be noted that the user setting parameters further include the number of scenes, which represents the number of occlusion scenes that the tester needs to construct. And when the quantity of the shielding scenes which are constructed one by one reaches the scene quantity in the user setting parameters, the construction of all required shielding scenes is completed.
Step S20, dynamically loading a three-dimensional occlusion model formed by each scene characteristic parameter, and dynamically acquiring a first altitude angle and a first direction angle of each satellite corresponding to each occlusion scene;
further, after generating the scene characteristic parameters of the plurality of occlusion scenes, the scene characteristic parameters of each occlusion scene constitute a data model for embodying the particularity of the occlusion scene, and the data model is used as a three-dimensional occlusion model, and each occlusion scene has a respective three-dimensional occlusion model.
Understandably, the scene characteristic parameters of each occlusion scene generated by the preset algorithm are not completely based on the actual geographic environment, so that the scene characteristic parameters have difference from the parameters in the actual geographic environment. In order to make each occlusion scene more fit to each actual geographic environment, a mechanism for correcting each scene characteristic parameter according to the parameters of the actual geographic environment is provided. The parameters of the actual geographical environment are the actual altitude angle and the heading angle of each satellite. And because the satellites are in a motion state, the shielding scenes corresponding to different moments are different, and the altitude angle and the direction angle of each satellite corresponding to each shielding scene are dynamically acquired as the first altitude angle and the first direction angle according to the moments. Meanwhile, for the sheltered scenes at different moments, the three-dimensional sheltered model formed by the characteristic parameters of each scene is dynamically loaded, so that the first altitude angle and the first direction angle of each satellite acquired at each moment are dynamically corrected.
And S30, correcting signal parameters of each satellite in each three-dimensional occlusion model based on the first altitude angle and the first direction angle of each satellite corresponding to each occlusion scene respectively, so as to obtain satellite signal characteristic data of each satellite in a plurality of occlusion scenes, and completing satellite signal simulation.
Furthermore, the three-dimensional occlusion model is composed of scene characteristic parameters, and the scene characteristic parameters include the number of scenes, a second altitude angle, a second direction angle, a loss value, a multipath fading value and the like. The loss value and the multipath fading value directly reflect the transmission condition of the satellite signal, so the two values are used as signal parameters. And correcting signal parameters in the currently loaded three-dimensional occlusion model through a first altitude angle and a first direction angle of each satellite in the currently acquired occlusion scene to obtain real satellite signal characteristic data of each satellite in the currently occluded scene. And when the three-dimensional shielding model of each satellite in each shielding scene is loaded and corrected by the corresponding first elevation angle and the corresponding first direction angle, the real satellite signal characteristic data of each satellite in each shielding scene is obtained.
Furthermore, the positioning accuracy performance of the receiver can be tested by the characteristic parameters of the real satellite signals of each satellite in each sheltered scene. The shielding effect of the satellite signals in various shielding environments is fully reflected by various characteristic parameters, so that the positioning accuracy performance test of the receiver is more accurate.
In the embodiment, after the user setting parameters are obtained, the scene characteristic parameters of a plurality of occlusion scenes corresponding to the user setting parameters are generated one by one through a preset algorithm; then, dynamically loading a three-dimensional occlusion model formed by each scene characteristic parameter, and dynamically acquiring a first altitude angle and a first direction angle of a satellite signal of each satellite corresponding to each occlusion scene; and then correcting the signal parameters of each satellite in each three-dimensional occlusion model through a first altitude angle and a first direction angle of each satellite corresponding to each occlusion scene respectively, so as to obtain the satellite signal characteristic parameters of each satellite in a plurality of occlusion scenes. And the generated multiple occlusion scenes are available for testing and meet the user set parameters. And by dynamic flexible configuration, coverage of different sheltered scenes is realized. The method can not only comprise typical occlusion scenes such as buildings, mountains, trees and the like, but also comprise occlusion scenes with small probability. And signal parameters under each scene are corrected through the actual first altitude angle and the actual first direction angle of each satellite under each shielding scene, so that accurate satellite signals of each satellite under each scene are obtained, the problems that the satellite signals are high in cost and inaccurate due to the fact that the satellite signals are highly dependent on the simulation calculation of a real 3D map and cannot cover a changing scene are solved, and the accurate test of the positioning accuracy performance of the receiver is realized.
Further, referring to fig. 2, a second embodiment of the satellite signal simulation method based on the three-dimensional dynamic model is provided based on the first embodiment of the satellite signal simulation method based on the three-dimensional dynamic model.
The second embodiment of the satellite signal simulation method based on the three-dimensional dynamic model is different from the first embodiment of the satellite signal simulation method based on the three-dimensional dynamic model in that the user setting parameters include the number of scenes, and the step of generating the scene characteristic parameters of a plurality of occluded scenes corresponding to the user setting parameters one by one based on a preset algorithm includes:
s11, generating scene characteristic parameters of the sheltered scenes corresponding to the user setting parameters based on a preset algorithm, and updating the number of the scenes;
step S12, judging whether the updated scene quantity reaches a preset threshold value;
and S13, if the preset threshold value is not reached, continuously executing the steps of generating scene characteristic parameters of the sheltered scene corresponding to the user setting parameters based on a preset algorithm, and updating the number of the scenes until the updated number of the scenes reaches the preset threshold value.
Furthermore, for the user setting parameters, the parameters include the number of scenes for reflecting the number of the occluded scenes to be generated, and each occluded scene is generated one by one according to the number of the scenes. Specifically, after generating the scene characteristic parameters of the occluded scenes meeting the parameter conditions set by the user according to the preset algorithm, the number of the scenes is updated, that is, the number of the scenes is reduced by 1, which means that the number of the generated occluded scenes is increased by one and the number of the occluded scenes to be generated is reduced by one.
Further, a preset threshold value representing that all the shielding scenes are generated is preset, and the number of the scenes is updated in a one-minus mode, so that the value of the preset threshold value is zero. And comparing the updated scene quantity with the preset threshold value, and judging whether the scene quantity reaches the preset threshold value. If the number of the generated occlusion scenes reaches the preset threshold value, the number of the generated occlusion scenes reaches the scene number, and the generation of the scene characteristic parameters of the occlusion scenes is stopped. Otherwise, if the updated scene quantity is determined to be smaller than the preset threshold value through comparison, namely, the updated scene quantity is larger than the preset threshold value, the scene characteristic parameters of the sheltered scene meeting the parameter conditions set by the user are generated by the preset algorithm, and the updated scene quantity is compared with the preset threshold value again until the updated scene quantity reaches the preset threshold value.
It should be noted that a count value may also be set in the user setting parameters, where the initial count value is zero, and each time a scene characteristic parameter of an occlusion scene is generated, one is added to the count value, and the count value after the one is added is compared with the scene number, to determine whether the count value reaches the scene number, if so, the generation of the scene characteristic parameter of the occlusion scene is stopped, and if not, the generation of the scene characteristic parameter for representing the occlusion scene is continued until the count value reaches the scene number.
In the embodiment, the number of scenes is set in the user setting parameters, so that the number of generated shielding scenes is in a proper range, and the influence on the data processing efficiency caused by too much generated shielding scenes or the influence on the accuracy of the simulation test caused by too little generated shielding scenes is avoided. Meanwhile, by combining other parameters in the user setting parameters, the dynamic configuration is flexible, different types of sheltering scenes can be covered, particularly satellite signal coverage with various limit small probabilities is realized, and accurate simulation of satellite signals in various sheltering scenes is facilitated.
Further, referring to fig. 3, a third embodiment of the satellite signal simulation method based on the three-dimensional dynamic model is provided based on the first or second embodiment of the satellite signal simulation method based on the three-dimensional dynamic model of the present invention.
The third embodiment of the satellite signal simulation method based on the three-dimensional dynamic model is different from the first or second embodiment of the satellite signal simulation method based on the three-dimensional dynamic model in that the user setting parameters further include a scene period, and the step of dynamically loading the three-dimensional occlusion model formed by each scene characteristic parameter and dynamically acquiring the first altitude angle and the first direction angle of the satellite signal corresponding to each occlusion scene of each satellite respectively comprises the steps of:
s21, determining the total loading duration according to the scene quantity and the scene period;
step S22, loading the three-dimensional occlusion models formed by each scene characteristic parameter one by one according to the total loading duration, wherein the loading duration of each three-dimensional occlusion model is equal to the scene period;
and S23, acquiring a first altitude angle and a first direction angle of a satellite signal, corresponding to the currently loaded three-dimensional shielding model, of each satellite one by one according to the scene period.
Understandably, each satellite in the GNSS system is in a motion state, the corresponding sheltered scenes at different times are different, and the time of the satellite corresponding to each sheltered scene is set as a scene period in the user setting parameters. After the scene characteristic parameters of all the sheltered scenes are generated, each sheltered scene can be loaded according to the scene period, and then satellite signal characteristic data can be obtained through correction. Specifically, the product operation is performed on the scene period and the number of scenes, and the obtained operation result is the duration spent on loading all the occlusion scenes, so that the duration is used as the total loading duration. And loading the three-dimensional occlusion models formed by the scene characteristic parameters of each occlusion scene one by one according to the total loading duration.
Meanwhile, according to the position of each satellite in each scene period, the altitude angle and the direction angle of each satellite are respectively obtained, each altitude angle and each direction angle of each satellite correspond to one scene period, and for the currently loaded three-dimensional shielding model, the obtained altitude angle and the obtained direction angle of each satellite can be used as a first altitude angle and a first direction angle which correspond to each other to correct the signal parameters in the currently loaded three-dimensional shielding model.
Specifically, the scene characteristic parameters include a second altitude angle and a second direction angle, and the step of correcting the signal parameters of each satellite in each three-dimensional occlusion model based on the first altitude angle and the first direction angle, which correspond to each occlusion scene, of each satellite to obtain satellite signal characteristic data of each satellite in a plurality of occlusion scenes includes:
step S31, calculating an occlusion effect parameter according to a proportional relationship between the first altitude angle and the second altitude angle of each satellite in each occlusion scene and a proportional relationship between the first direction angle and the second direction angle of each satellite in each occlusion scene;
and S32, according to the occlusion effect parameters, correcting signal parameters of each satellite in each three-dimensional occlusion model to obtain satellite signal characteristic data of each satellite in a plurality of occlusion scenes.
Further, the scene characteristic parameters of the constructed occlusion scene include a second altitude angle and a second direction angle, a proportional relationship between the real first altitude angle and the second altitude angle of each satellite, and a proportional relationship between the real first direction angle and the second direction angle of each satellite, which reflect a proportional relationship between the real signal of each satellite and the signal parameter in the scene characteristic parameters of the constructed occlusion scene. Therefore, the parameters of the occlusion effect caused by the occlusion of the occlusion scene can be calculated through the proportional relationship between the first altitude angle and the second altitude angle of each satellite and the proportional relationship between the first direction angle and the second direction angle of each satellite. The occlusion effect parameter may be obtained by calculating a ratio, for example, calculating a first ratio between the first altitude angle and the second altitude angle of each satellite, and a second ratio between the first direction angle and the second direction angle of each satellite, and selecting a larger value or a smaller value between the first ratio and the second ratio as the occlusion effect parameter, or calculating an average value between the first ratio and the second ratio as the occlusion effect parameter of the satellite in the current occlusion scene.
It should be noted that, in addition to calculating the occlusion effect parameter by using the above proportional relationship, the present embodiment may also generate the occlusion effect parameter by a random processing method, for example, the occlusion effect parameter is randomly generated only according to the first elevation angle, or according to the first elevation angle and the second elevation angle at the same time; and randomly generating an occlusion effect parameter and the like according to the first direction angle only or the first direction angle and the second direction angle simultaneously. Therefore, more shielding scenes can be embodied by the randomly generated shielding effect parameters, and the accuracy of the positioning precision performance test of the receiver is further improved by the abundant shielding scenes.
Furthermore, after obtaining the occlusion effect parameter of each satellite in the occlusion scene, the signal parameter in the three-dimensional occlusion model constructed in the corresponding occlusion scene may be modified according to the occlusion effect parameter, so as to obtain the satellite signal characteristic data of each satellite in the corresponding occlusion scene. The signal parameters in the three-dimensional occlusion model comprise loss values and multipath fading values in occlusion scene parameters, and the two parameters in each occlusion scene are corrected one by one. Specifically, the step of correcting a signal parameter of each satellite in each three-dimensional occlusion model according to the occlusion effect parameter to obtain satellite signal characteristic data of each satellite in a plurality of occlusion scenes includes:
step S321, according to the occlusion effect parameters, correcting a loss value and a multipath fading value of each satellite in the current three-dimensional occlusion model to obtain satellite signal characteristic data of each satellite in the current occlusion scene;
step S322, after the signal parameters of each satellite in all the three-dimensional occlusion models are corrected based on the corresponding occlusion effect parameters, obtaining satellite signal characteristic data of each satellite in a plurality of occlusion scenes.
Further, the signal parameters of each satellite are processed one by one in each occlusion scene. Taking a three-dimensional occlusion model constructed by an occlusion scene currently being processed as a current three-dimensional occlusion model, taking a ratio of a loss value in a signal parameter of the three-dimensional occlusion model to an occlusion effect parameter of each satellite in the current occlusion scene to obtain a result, namely a corrected loss value of each satellite, taking a ratio of a multipath fading value in the signal parameter of the three-dimensional occlusion model to an occlusion effect parameter of each satellite in the current occlusion scene to obtain a result, namely a corrected multipath fading value of each satellite, wherein the corrected loss value and the multipath fading value are satellite signal characteristic data of each satellite in the current occlusion scene.
It should be noted that, corresponding to the generation of the occlusion effect parameter by the random processing method, the loss value and the multipath fading value in the signal parameter may also be generated by the random processing method. The loss value and the multipath fading value which are randomly generated represent more shielding scenes, and the accuracy of the positioning precision performance test of the receiver is further improved by the abundant shielding scenes.
Furthermore, the signal parameters of each satellite in the three-dimensional occlusion model corresponding to each occlusion scene are corrected in the above manner. In addition, in order to distinguish whether or not the correction is performed, a correction flag may be assigned to the signal parameter for which the correction is completed. Judging whether the signal parameters in all the three-dimensional shielding models carry correction marks or not, and if so, indicating that the signal parameters of each satellite in all the three-dimensional shielding models are corrected based on the shielding effect parameters corresponding to the satellite; if the signal parameters in the partial three-dimensional occlusion model do not carry the correction identification, the signal parameters in the three-dimensional occlusion model are continuously corrected by the occlusion effect parameters until the signal parameters of all the three-dimensional occlusion models of each satellite are corrected. The corrected signal parameters of all the three-dimensional shielding models form real satellite signal characteristic data of each satellite in each shielding scene, and the satellite signal characteristic data are used for testing the positioning accuracy performance of the receiver, so that the test is more accurate.
In the embodiment, the satellite signal characteristic data of each satellite in each sheltered scene is obtained by correcting the respective real first altitude angle and first direction angle, so that the accuracy of the satellite signal characteristic data of each satellite in each sheltered scene is ensured, and the positioning accuracy of the receiver can be more accurately tested through a plurality of satellite signal characteristic data.
In addition, the embodiment of the invention also provides a satellite signal simulation system based on the three-dimensional dynamic model. Referring to fig. 4, fig. 4 is a schematic structural diagram of a hardware operating environment of a device according to an embodiment of the satellite signal simulation system based on a three-dimensional dynamic model according to the present invention.
As shown in fig. 4, the satellite signal simulation system based on the three-dimensional dynamic model may include: a processor 1001, e.g. a CPU, a communication bus 1002, a user interface 1003, a network interface 1004, a memory 1005. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface). The memory 1005 may be a high-speed RAM memory or a non-volatile memory (e.g., a magnetic disk memory). The memory 1005 may alternatively be a memory device separate from the processor 1001 described above.
Those skilled in the art will appreciate that the hardware architecture of the three-dimensional dynamic model based satellite signal simulation system shown in fig. 4 does not constitute a limitation of the three-dimensional dynamic model based satellite signal simulation system, and may include more or fewer components than those shown, or some components in combination, or a different arrangement of components.
As shown in fig. 4, a memory 1005, which is a storage medium, may include therein an operating system, a network communication module, a user interface module, and a control program for implementing a satellite signal simulation method based on a three-dimensional dynamic model. The operating system is a program for managing and controlling a satellite signal simulation system and software resources based on a three-dimensional dynamic model, and supports the operation of a network communication module, a user interface module, a control program for realizing a satellite signal simulation method based on the three-dimensional dynamic model and other programs or software; the network communication module is used to manage and control the network interface 1004; the user interface module is used to manage and control the user interface 1003.
In the hardware structure of the satellite signal simulation system based on the three-dimensional dynamic model shown in fig. 4, the network interface 1004 is mainly used for connecting a background server and performing data communication with the background server; the user interface 1003 is mainly used for connecting a client (user side) and performing data communication with the client; the processor 1001 may call a control program stored in the memory 1005 for implementing a satellite signal simulation method based on a three-dimensional dynamic model, and perform the following operations:
acquiring user setting parameters, and generating scene characteristic parameters of a plurality of sheltered scenes corresponding to the user setting parameters one by one based on a preset algorithm;
dynamically loading a three-dimensional occlusion model formed by each scene characteristic parameter, and dynamically acquiring a first altitude angle and a first direction angle of each satellite corresponding to each occlusion scene;
and correcting the signal parameters of each satellite in each three-dimensional occlusion model based on the first altitude angle and the first direction angle of each satellite corresponding to each occlusion scene respectively, so as to obtain the satellite signal characteristic data of each satellite in a plurality of occlusion scenes, and completing the simulation of satellite signals.
Further, the user setting parameters include the number of scenes, and the step of generating the scene characteristic parameters of the plurality of occluded scenes corresponding to the user setting parameters one by one based on a preset algorithm includes:
generating scene characteristic parameters of the sheltered scene corresponding to the user setting parameters based on a preset algorithm, and updating the number of the scenes;
judging whether the updated scene quantity reaches a preset threshold value;
and if the number of the scenes does not reach the preset threshold value, continuously executing the steps of generating scene characteristic parameters of the sheltered scenes corresponding to the user setting parameters based on a preset algorithm, and updating the number of the scenes until the updated number of the scenes reaches the preset threshold value.
Further, the step of dynamically loading the three-dimensional occlusion model formed by each scene characteristic parameter and dynamically acquiring a first altitude angle and a first direction angle of a satellite signal of each satellite corresponding to each occlusion scene includes:
determining the total loading duration according to the scene quantity and the scene period;
loading three-dimensional shielding models formed by the scene characteristic parameters one by one according to the total loading time, wherein the loading time of each three-dimensional shielding model is equal to the scene period;
and acquiring a first altitude angle and a first direction angle of a satellite signal of each satellite corresponding to the currently loaded three-dimensional shielding model one by one according to the scene period.
Further, the scene characteristic parameters include a second altitude angle and a second direction angle, and the step of correcting the signal parameter of each satellite in each three-dimensional occlusion model based on the first altitude angle and the first direction angle of each satellite corresponding to each occlusion scene respectively to obtain satellite signal characteristic data of each satellite in a plurality of occlusion scenes includes:
calculating an occlusion effect parameter according to a proportional relationship between the first altitude angle and the second altitude angle of each satellite in each occlusion scene and a proportional relationship between the first direction angle and the second direction angle of each satellite in each occlusion scene;
and correcting the signal parameters of each satellite in each three-dimensional occlusion model according to the occlusion effect parameters to obtain satellite signal characteristic data of each satellite in a plurality of occlusion scenes.
Further, the signal parameters include a loss value and a multipath fading value in the scene characteristic parameter, and the step of correcting the signal parameter of each satellite in each three-dimensional occlusion model according to the occlusion effect parameter to obtain satellite signal characteristic data of each satellite in a plurality of occlusion scenes includes:
according to the occlusion effect parameters, correcting the loss value and the multipath fading value of each satellite in the current three-dimensional occlusion model to obtain satellite signal characteristic data of each satellite in the current occlusion scene;
and when the signal parameters of each satellite in all the three-dimensional occlusion models are corrected based on the corresponding occlusion effect parameters, acquiring satellite signal characteristic data of each satellite in a plurality of occlusion scenes.
Further, the user setting parameters further include altitude mode, altitude range, direction mode, direction range, loss mode, loss range, multipath mode and multipath fading range;
the step of generating scene characteristic parameters of a plurality of occluded scenes corresponding to the user setting parameters one by one based on a preset algorithm includes:
respectively generating a second altitude angle, a second direction angle, a loss value and a multipath fading value of each occlusion scene in the altitude angle mode, the direction angle mode, the loss mode and the multipath mode based on a preset algorithm;
the second altitude, the second direction angle, the loss value and the multipath fading value jointly form the scene characteristic parameter, and are respectively located in the altitude angle range, the direction angle range, the loss range and the multipath fading range.
Further, before the step of obtaining the user setting parameters and generating the scene characteristic parameters of the multiple occluded scenes corresponding to the user setting parameters one by one based on the preset algorithm, the processor 1001 may invoke a control program stored in the memory 1005 for implementing the satellite signal simulation method based on the three-dimensional dynamic model, and perform the following operations:
acquiring an initial altitude angle of a satellite, judging whether the initial altitude angle is greater than a preset threshold value, and if so, executing a step of acquiring user setting parameters;
and if the initial altitude angle is smaller than or equal to a preset threshold value, selecting a new satellite and executing the step of obtaining the initial altitude angle of the satellite.
Further, after the step of obtaining satellite signal characteristic data of each satellite in a plurality of the occlusion scenes and completing the simulation of the satellite signal, the processor 1001 may call a control program stored in the memory 1005 for implementing a satellite signal simulation method based on a three-dimensional dynamic model, and perform the following operations:
and testing the positioning performance of a receiver corresponding to the satellite signals according to the satellite signal characteristic data of each satellite in the shielding scenes.
The specific implementation of the satellite signal simulation system based on the three-dimensional dynamic model is basically the same as that of the above-mentioned embodiments of the satellite signal simulation method based on the three-dimensional dynamic model, and is not described herein again.
In addition, the embodiment of the invention also provides a readable storage medium.
The readable storage medium has stored thereon a control program which, when executed by the processor, implements the steps of the satellite signal simulation method based on the three-dimensional dynamic model as described above.
The readable storage medium of the present invention may be a computer readable storage medium, and the specific implementation manner of the readable storage medium of the present invention is substantially the same as that of each embodiment of the satellite signal simulation method based on the three-dimensional dynamic model, and is not described herein again.
The present invention is described in connection with the accompanying drawings, but the present invention is not limited to the above embodiments, which are only illustrative and not restrictive, and those skilled in the art can make various changes without departing from the spirit and scope of the invention as defined by the appended claims, and all changes that come within the meaning and range of equivalency of the specification and drawings that are obvious from the description and the attached claims are intended to be embraced therein.
Claims (10)
1. A satellite signal simulation method based on a three-dimensional dynamic model is characterized by comprising the following steps:
acquiring user setting parameters, and generating scene characteristic parameters of a plurality of sheltered scenes corresponding to the user setting parameters one by one based on a preset algorithm;
dynamically loading a three-dimensional occlusion model formed by each scene characteristic parameter, and dynamically acquiring a first altitude angle and a first direction angle of each satellite, which respectively correspond to each occlusion scene;
and correcting the signal parameters of each satellite in each three-dimensional occlusion model based on the first altitude angle and the first direction angle of each satellite corresponding to each occlusion scene respectively, so as to obtain the satellite signal characteristic data of each satellite in a plurality of occlusion scenes, and completing the simulation of satellite signals.
2. The satellite signal simulation method according to claim 1, wherein the user setting parameter includes a number of scenes, and the step of generating scene characteristic parameters of a plurality of occluded scenes corresponding to the user setting parameter one by one based on a preset algorithm includes:
generating scene characteristic parameters of the sheltered scene corresponding to the user setting parameters based on a preset algorithm, and updating the number of the scenes;
judging whether the updated scene quantity reaches a preset threshold value;
and if the number of the scenes does not reach the preset threshold value, continuously executing the steps of generating scene characteristic parameters of the sheltered scenes corresponding to the user setting parameters based on a preset algorithm, and updating the number of the scenes until the updated number of the scenes reaches the preset threshold value.
3. The satellite signal simulation method according to claim 2, wherein the user setting parameters further include a scene period, and the step of dynamically loading the three-dimensional occlusion model formed by each of the scene characteristic parameters and dynamically acquiring the first altitude angle and the first direction angle of the satellite signal corresponding to each occlusion scene from each satellite comprises:
determining the total loading duration according to the scene quantity and the scene period;
loading three-dimensional shielding models formed by the scene characteristic parameters one by one according to the total loading time, wherein the loading time of each three-dimensional shielding model is equal to the scene period;
and acquiring a first altitude angle and a first direction angle of a satellite signal of each satellite corresponding to the currently loaded three-dimensional shielding model one by one according to the scene period.
4. The satellite signal simulation method according to claim 1, wherein the scene characteristic parameters include a second altitude angle and a second direction angle, and the step of modifying the signal parameters of each satellite in each three-dimensional occlusion model based on the first altitude angle and the first direction angle of each satellite corresponding to each occlusion scene respectively to obtain the satellite signal characteristic data of each satellite in a plurality of occlusion scenes comprises:
calculating an occlusion effect parameter according to a proportional relationship between the first altitude angle and the second altitude angle of each satellite in each occlusion scene and a proportional relationship between the first direction angle and the second direction angle of each satellite in each occlusion scene;
and according to the occlusion effect parameters, correcting signal parameters of each satellite in each three-dimensional occlusion model to obtain satellite signal characteristic data of each satellite in a plurality of occlusion scenes.
5. The satellite signal simulation method according to claim 4, wherein the signal parameters include loss values and multipath fading values in the scene characteristic parameters, and the step of modifying the signal parameters of each satellite in each of the three-dimensional occlusion models according to the occlusion effect parameters to obtain the satellite signal characteristic data of each satellite in a plurality of the occlusion scenes comprises:
according to the occlusion effect parameters, correcting the loss value and the multipath fading value of each satellite in the current three-dimensional occlusion model to obtain satellite signal characteristic data of each satellite in the current occlusion scene;
and when the signal parameters of each satellite in all the three-dimensional occlusion models are corrected based on the corresponding occlusion effect parameters, acquiring satellite signal characteristic data of each satellite in a plurality of occlusion scenes.
6. The satellite signal simulation method according to any one of claims 1 to 5, wherein the user setting parameters further include an altitude angle pattern, an altitude angle range, a direction angle pattern, a direction angle range, a loss pattern, a loss range, a multipath pattern, and a multipath fading range;
the step of generating scene characteristic parameters of a plurality of occluded scenes corresponding to the user setting parameters one by one based on a preset algorithm includes:
respectively generating a second altitude angle, a second direction angle, a loss value and a multi-path fading value of each occlusion scene in the altitude mode, the direction angle mode, the loss mode and the multi-path mode based on a preset algorithm;
the second altitude, the second direction angle, the loss value and the multipath fading value jointly form the scene characteristic parameter, and are respectively located in the altitude angle range, the direction angle range, the loss range and the multipath fading range.
7. The satellite signal simulation method according to any one of claims 1 to 5, wherein before the step of obtaining the user setting parameters and generating the scene characteristic parameters of the plurality of occluded scenes one by one corresponding to the user setting parameters based on a preset algorithm, the method further comprises:
acquiring an initial altitude angle of a satellite, judging whether the initial altitude angle is larger than a preset threshold value or not, and if so, executing the step of acquiring user setting parameters;
and if the initial altitude angle is smaller than or equal to a preset threshold value, selecting a new satellite and executing the step of obtaining the initial altitude angle of the satellite.
8. The satellite signal simulation method according to any one of claims 1 to 5, wherein the step of obtaining satellite signal characteristic data of each satellite in a plurality of the occluded scenes, after the step of completing the simulation of the satellite signal, further comprises:
and testing the positioning performance of the receiver corresponding to the satellite signals according to the satellite signal characteristic data of each satellite in a plurality of shielding scenes.
9. A satellite signal simulation system based on a three-dimensional dynamic model, characterized in that the satellite signal simulation system comprises a memory, a processor and a control program stored on the memory for implementing a satellite signal simulation method based on a three-dimensional dynamic model, the processor is used for executing the control program for implementing the satellite signal simulation method based on a three-dimensional dynamic model to implement the steps of the satellite signal simulation method based on a three-dimensional dynamic model according to any one of claims 1 to 8.
10. A readable storage medium, characterized in that the readable storage medium has stored thereon a control program which, when being executed by a processor, implements the steps of the three-dimensional dynamic model-based satellite signal simulation method according to any one of claims 1 to 8.
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