CN117129017A - Positioning error testing method and device - Google Patents

Abstract

The embodiment of the invention provides a positioning error testing method and a device, which relate to the technical field of positioning, and the method comprises the following steps: the method comprises the steps of controlling a positioning terminal to move at a uniform speed on a preset path, wherein N acquisition devices are arranged on the preset path; acquiring N first time parameters and N first position parameters of N acquisition devices, and W second time parameters and W second position parameters of a positioning terminal, wherein the first time parameters are time parameters corresponding to the acquisition devices when the acquisition devices sense the positioning terminal, the first position parameters are position parameters corresponding to the acquisition devices, the first time parameters are in one-to-one correspondence with the first position parameters, and the second time parameters are in one-to-one correspondence with the second position parameters; and calculating a positioning error according to the N first time parameters, the N first position parameters, the W second time parameters and the W second position parameters. The measurement error is reduced, and the accuracy of the positioning error test result is improved.

Description

Positioning error testing method and device

Technical Field

The invention relates to the technical field of positioning, in particular to a positioning error testing method and device.

Background

With the development of positioning technology, higher precision requirements are put forward on a positioning system. In the prior art, one positioning system is generally used for measuring the positioning error of the other positioning system, the positioning system for measuring has measurement error, and the data measured by one positioning system with error is used for testing the other positioning system, so that the accuracy of a test result is poor.

Therefore, the existing positioning error testing method has the problem of poor accuracy of the testing result.

Disclosure of Invention

The embodiment of the invention provides a positioning error testing method and device, which are used for solving the problem of poor accuracy of a testing result of the existing positioning error testing method.

The embodiment of the invention provides a positioning error testing method, which comprises the following steps:

controlling the positioning terminal to move at a uniform speed on a preset path, wherein the preset path is provided with N acquisition devices, and N is an integer greater than or equal to 1;

acquiring N first time parameters and N first position parameters of the N acquisition devices, and W second time parameters and W second position parameters of the positioning terminal, wherein the first time parameters are time parameters corresponding to the acquisition devices when the acquisition devices sense the positioning terminal, the first position parameters are position parameters corresponding to the acquisition devices, the first time parameters are in one-to-one correspondence with the first position parameters, the second time parameters are in one-to-one correspondence with the second position parameters, and W is an integer greater than or equal to N;

and calculating positioning errors according to the N first time parameters, the N first position parameters, the W second time parameters and the W second position parameters.

Optionally, the calculating a positioning error according to the N first time parameters and the N first position parameters, and the W second time parameters and the W second position parameters includes:

according to the W second time parameters, calculating a third position parameter corresponding to each second time parameter of the positioning terminal to obtain W third position parameters of the positioning terminal, wherein a W third position parameter of the W third position parameters is obtained by calculating according to a W second time parameter of the W second time parameters, an N first time parameter of the N first time parameters and an N first position parameter of the N first position parameters, the difference between the N first time parameter and the W second time parameter is a first difference value, the first difference value is the minimum value of the absolute value of the difference between the N first time parameter and each second time parameter of the W second time parameters, and the W second time parameter is larger than or equal to the N first time parameter, N is smaller than or equal to N, and W is smaller than or equal to W;

and calculating the difference values between the W third position parameters and the W second position parameters to obtain the positioning error.

Optionally, in the case that the preset path is a straight line, at least two acquisition devices are set on the preset path at intervals, and a W third position parameter of the W third position parameters is calculated according to the following formula:

X _（ t _w） =X _（n） +v×(t _w -t _n )；

wherein N is a positive integer less than or equal to N, t _n Represents the nth first time parameter, t, of the N first time parameters _w Representing the W second time parameter of the W second time parameters, v representing the moving speed of the positioning terminal, and X _（n） Represents the nth first position parameter, X, of the N first position parameters _（ t _w） Representing the W third position parameter of the W third position parameters.

Optionally, in the case that the preset path is a circle, at least one collecting device is disposed on an axis of the circle formed by the preset path, and a W third position parameter of the W third position parameters is calculated according to the following formula:

；

；

wherein N is a positive integer less than or equal to N, (x) ₀ ，y ₀ ) T is the center coordinates of the circle _n Represents the nth first time parameter, t, of the N first time parameters _w Representing the W second time parameter of the W second time parameters, v representing the moving speed of the positioning terminal, r representing the radius of the circle, (x) _（ t _w） ，y _（ t _w） ) Representing the W third position parameter of the W third position parameters.

Optionally, in the case that the preset path is polygonal, each corner position of the preset path is provided with one collecting device, and a W third position parameter of the W third position parameters is calculated according to the following formula:

；

；

wherein N is a positive integer less than or equal to N, t _n Represents the nth first time parameter, t, of the N first time parameters _w Representing the W second time parameter of the W second time parameters, v representing the moving speed of the positioning terminal, (x) _(n-1) ，y _(n-1) ) Represents the N-1 th first position parameter of the N first position parameters, (x) _(n) ，y _(n) ) Represents the nth first position parameter of the N first position parameters, (x) _（ t _w） ，y _（ t _w） ) Representing the W third position parameter of the W third position parameters.

Optionally, the calculating the differences between the W third position parameters and the W second position parameters to obtain the positioning error includes:

calculating the difference values between the W third position parameters and the W second position parameters to obtain W error values;

sequencing the W error values from small to large to obtain an error value sequence;

And determining an error value of a preset percentage position in the error value sequence as the positioning error.

Optionally, the calculating a positioning error according to the N first time parameters and the N first position parameters, and the W second time parameters and the W second position parameters includes:

according to the W second position parameters, calculating a third time parameter corresponding to each second position parameter of the positioning terminal to obtain W third time parameters of the positioning terminal, wherein a W third time parameter of the W third time parameters is calculated according to a W second position parameter of the W second position parameters, an N first position parameter of the N first position parameters and an N first time parameter of the N first time parameters, the difference between the N first position parameters and the W second position parameters is a second difference, the second difference is the smallest value of the absolute value of the difference between the N first position parameters and each second position parameter of the W second position parameters, and the W second position parameter is larger than or equal to the N first position parameter, and N is smaller than or equal to N, W is smaller than or equal to W;

And calculating the difference values between the W third time parameters and the W second time parameters to obtain the positioning error.

Optionally, the W second time parameters of the positioning terminal are time parameters obtained after time delay correction of W original time parameter values of the positioning terminal.

Optionally, the N first time parameters of the N collecting devices are time parameters obtained after time delay correction of N original time parameter values of the N collecting devices.

The embodiment of the invention also provides a positioning error testing device, which comprises:

the control module is used for controlling the positioning terminal to move at a uniform speed on a preset path, N acquisition devices are arranged on the preset path, and N is an integer greater than or equal to 1;

the acquisition module is used for acquiring N first time parameters and N first position parameters of the N acquisition devices, and W second time parameters and W second position parameters of the positioning terminal, wherein the first time parameters are time parameters corresponding to the acquisition devices when the acquisition devices sense the positioning terminal, the first position parameters are position parameters corresponding to the acquisition devices, the first time parameters are in one-to-one correspondence with the first position parameters, the second time parameters are in one-to-one correspondence with the second position parameters, and W is an integer greater than or equal to N;

And the calculating module is used for calculating positioning errors according to the N first time parameters, the N first position parameters, the W second time parameters and the W second position parameters.

In the embodiment of the invention, the positioning terminal is controlled to move at a uniform speed on the preset path provided with the acquisition equipment, the time parameter of the acquisition equipment sensing the positioning terminal and the position parameter of the acquisition equipment are recorded, the real time parameter or the position parameter is calculated according to the relation among the movement speed, the movement time and the movement distance, and then the time parameter is aligned with the error of the calculated position parameter or the error of the calculated position parameter, so that the positioning error can be determined, a new positioning system for testing the positioning error of the positioning system is not required to be additionally built, the deployment flow is simplified, the positioning error testing cost is reduced, and the problem that the accuracy of a test result is poor when the positioning error test is carried out on the measured positioning system due to the error existing in the newly built positioning system is avoided. The measurement error is reduced, and the accuracy of the positioning error test result is improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a flow chart of a positioning error testing method according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of a positioning error testing system according to an embodiment of the present invention;

FIG. 3 is a schematic diagram of a scenario of a positioning error testing method according to an embodiment of the present invention;

FIG. 4 is a second schematic diagram of a positioning error testing method according to an embodiment of the present invention;

FIG. 5 is a third schematic diagram of a positioning error testing method according to an embodiment of the present invention;

FIG. 6 is a schematic diagram of a scenario of a positioning error testing method according to an embodiment of the present invention;

FIG. 7 is a schematic diagram of a scenario of a positioning error testing method according to an embodiment of the present invention;

FIG. 8 is a graph of cumulative probability of positioning error provided by an embodiment of the present invention;

fig. 9 is a schematic structural diagram of a positioning error testing device according to an embodiment of the present invention.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

The terms first, second and the like in the description and in the claims, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the structures so used are interchangeable under appropriate circumstances such that embodiments of the invention are capable of operation in sequences other than those illustrated or otherwise described herein, and that the objects identified by "first," "second," etc. are generally of a type and do not limit the number of objects, for example, the first object can be one or more. Furthermore, in the description and claims, "and/or" means at least one of the connected objects, and the character "/", generally means that the associated object is an "or" relationship.

Referring to fig. 1, fig. 1 is a flowchart illustrating a positioning error testing method according to an embodiment of the invention. As shown in fig. 1, the positioning error testing method provided by the embodiment of the invention is applied to a positioning error testing system, and the structural schematic diagram of the positioning error testing system is shown in fig. 2, and the positioning error testing system comprises acquisition equipment, a positioning system, a clock synchronization module and a calculation module. The positioning error testing method comprises the following steps:

Step 101, controlling a positioning terminal to move at a uniform speed on a preset path, wherein the preset path is provided with N acquisition devices, and N is an integer greater than or equal to 1;

the shape of the preset path may be a straight line, a circle, a polygon, or other shape that can calculate the position through speed and time. The track of the preset path can be a tangible track or an intangible track, and when the preset track is the intangible track, the target carrier carrying and positioning terminal can be controlled to move along the lane line; when the preset track is a tangible track, the target carrier carrying the positioning terminal can be controlled to move along the track. Preferably, the preset path is set as a tangible track path to improve the test accuracy. N acquisition devices are arranged on the preset path, so that the position parameter (i.e. the first position parameter) of each acquisition device on the preset path is known. The detector in the acquisition device can store the acquired time parameters into the corresponding data storage module, and the detector can be a laser or infrared detector and emits rays to a preset path through the detector.

The target carrier can be a vehicle, the positioning terminal is fixed on the vehicle, the positioning terminal is in communication connection with the positioning platform, the vehicle is positioned in real time through signal interaction between the positioning terminal and the positioning platform, and the positioning system is formed by communication between the positioning terminal and the positioning platform. In the active positioning, positioning data (i.e., the second time parameter and the second position parameter) of the positioning terminal may be output by the positioning terminal when the target carrier moves on the preset path; in passive positioning, the positioning data (i.e., the second time parameter and the second position parameter) of the positioning terminal may be output by the positioning platform when the target carrier moves on the preset path. The positioning error testing method provided by the invention is used for calculating the positioning error of the positioning system.

102, acquiring N first time parameters and N first position parameters of the N acquisition devices, and W second time parameters and W second position parameters of the positioning terminal, wherein the first time parameters are time parameters corresponding to the acquisition devices when the acquisition devices sense the positioning terminal, the first position parameters are position parameters corresponding to the acquisition devices, the first time parameters are in one-to-one correspondence with the first position parameters, the second time parameters are in one-to-one correspondence with the second position parameters, and W is an integer greater than or equal to N;

based on a clock synchronization module in the positioning error testing system, the time of the data storage module in the positioning system and the time of the data storage module in the acquisition equipment are unified, so that calculation errors caused by time conversion are needed under the condition of non-uniform time. Specifically, absolute time (international standard time) on a network time protocol (Network Time Protocol, NTP) server may be employed. In the active positioning, the time of a positioning terminal in a positioning system can be absolutely aligned with the time of a data storage module in acquisition equipment, or a time service device can be used for simultaneously carrying out time service on the equipment, so that the time of the positioning terminal and the time of the data storage module in the acquisition equipment are relatively aligned. In passive positioning, the time of a positioning platform in a positioning system can be absolutely aligned with the time of a data storage module in acquisition equipment, or a time service device can be used for simultaneously carrying out time service on the equipment, so that the time of the positioning platform and the time of the data storage module in the acquisition equipment are relatively aligned.

Among these, NTP is a protocol that can synchronize computer time. The NTP server employs an NTP protocol to synchronize its server or clock source with a computer or other device (i.e., positioning system and acquisition device) connected to the NTP server, providing high accuracy time correction. World coordination time (Universal Time Coordinated, UTC) reported by an atomic clock can be adopted as international standard time, and the atomic clock, satellite, astronomical station or network (Internet) can be used as a time source for obtaining UTC by NTP. The NTP service architecture may include multiple layers, where a first layer NTP server may obtain standard time from a global positioning system (Global Positioning System, GPS) satellite receiving antenna, forward the standard time to a second layer NTP server via a network, and so on, until the client, where the NTP server architecture may reach up to 15 layers.

In this way, the acquired first time parameter of the acquisition device and the acquired second time parameter of the positioning terminal adopt the same time reference, so that calculation errors caused by time conversion are avoided. Then, the acquired N first time parameters and N first position parameters of the N acquisition devices, and the W second time parameters and W second position parameters of the positioning terminal are transmitted to a calculation module of the error positioning test system, the calculation module calculates the positioning error based on the subsequent step 103, a new positioning system for testing the positioning error of the positioning system is not required to be additionally built, the deployment flow is simplified, the positioning error test cost is reduced, and the problem that the accuracy of a test result is poor when the positioning error test is carried out on the measured positioning system due to the error of the newly built positioning system is avoided.

In an optional example, the N first time parameters of the N collecting devices are time parameters obtained after time delay correction of N original time parameter values of the N collecting devices.

After the target carrier touches the rays emitted by the detector of the acquisition equipment, the detector sends the original time parameter values when the rays are touched to the data storage module, N first time parameters are obtained by carrying out time delay correction on N original time parameter values of N acquisition equipment in the data storage module, and the N first time parameters are stored in the data storage module, so that N first time parameters of N acquisition equipment can be read from the data storage module when the positioning error is calculated later. And the N original time parameter values are subjected to time delay correction, so that errors caused by time delay of data transmission of the acquisition equipment are reduced, the accuracy of the time parameters is improved, and the accuracy of an error test result is improved.

Specifically, the first time parameter may be calculated by the following formula:

T _i ’＝T _i -∆T；

T _i ' is a first time parameter when the target carrier moves to the ith acquisition equipment, wherein i is less than or equal to N; t (T) _i The method comprises the steps that an original time parameter value sensed by a detector when a target carrier moves to an ith acquisition device is obtained; t is the time required by the detector to transmit the time parameter of the acquired target carrier through the rays back to the data storage module, namely T is the time delay of the acquisition equipment for transmitting data, and the time delay of the acquisition equipment for transmitting data can be obtained by experimental measurement in advance.

In an optional example, the W second time parameters of the positioning terminal are time parameters obtained after time delay correction of W original time parameter values of the positioning terminal.

When a target carrier (for example, a vehicle) moves in a preset path, the positioning platform continuously positions the target carrier through the positioning terminal, and outputs a time parameter and a position parameter corresponding to the positioning terminal, and because a positioning error possibly exists in a positioning system, when the vehicle moves to a position where a certain acquisition device is located (the position parameter of the acquisition device on the preset path is known), the position parameter output by the positioning terminal is not necessarily the position where the acquisition device is located. Therefore, it is necessary to calculate the positioning error. However, in order to improve the accuracy of the time parameter, in this example, in the active positioning, the active positioning may also be referred to as downlink positioning, and since the positioning terminal has an arithmetic capability, the position of the positioning terminal may be calculated, so only the influence of the first delay of the positioning terminal for transmitting the information required for positioning to the positioning platform needs to be considered. In the passive status, the passive positioning may also be called uplink positioning, where the positioning platform collects positioning terminal information (e.g. the positioning terminal is a bluetooth tag, or is bluetooth information periodically broadcasted by the positioning terminal), and the positioning platform calculates the position of the positioning terminal, where the positioning terminal itself does not know the position of the positioning terminal itself, so that the influence of the first delay of the positioning terminal for transmitting the information required for positioning to the positioning platform needs to be considered, and the positioning platform obtains the influence of the second delay of the positioning terminal position by calculating the information. In the process of time delay correction of the original time parameter value of the positioning terminal, both the first time delay and the second time delay can be obtained by experimental measurement in advance. The process of obtaining the second time parameter of the positioning terminal by performing time delay correction on the original time parameter value of the positioning terminal is similar to the process of obtaining the first time parameter of the acquisition device, and will not be described again here. In this way, the obtained W original time parameter values of the positioning terminal are corrected to obtain W second time parameters, and the accuracy of the time parameters is improved, so that the accuracy of an error test result is improved.

Step 103, calculating a positioning error according to the N first time parameters and the N first position parameters, and the W second time parameters and the W second position parameters.

The target carrier carries the positioning terminal to perform uniform motion on a preset path, the motion time can be recorded through timing equipment such as a stopwatch, and the period for recording the motion time can be the same as the period for outputting positioning data by the positioning system, so that each time the positioning system outputs a second time parameter, the corresponding position parameter can be calculated according to the second time parameter. The distance of the movement on the preset path can be measured by a distance meter and other devices, and the period for recording the movement distance can be the same as the period for outputting positioning data by the positioning system, so that the corresponding time parameter can be calculated according to the second position parameter every time the positioning system outputs the second position parameter. Wherein, the time parameter can be represented by a form of time, and the position parameter can be represented by a form of coordinates.

Thus, the movement distance can be calculated according to the movement speed and the movement time, and the calculated movement distance is corrected according to the actual position (namely the first position parameter) of the acquisition equipment, so that the actual position parameter is obtained. The real position parameter under a certain time parameter is compared with the position parameter output by the positioning system under the certain time parameter, so that the positioning error of the positioning system is determined, in other words, the time parameter can be aligned, and the error of the position parameter is calculated.

Or, the motion time can be calculated according to the motion speed and the motion distance, and the calculated motion time is corrected according to the actual time (namely, the first time parameter) acquired by the acquisition equipment, so as to obtain the actual time parameter. The real time parameter under a certain position parameter is compared with the time parameter output by the positioning system under the position parameter, so that the positioning error of the positioning system is determined, in other words, the position parameter can be aligned, and the error of the time parameter is calculated.

In this embodiment, the positioning terminal is controlled to move at a uniform speed on a preset path provided with the acquisition device, the time parameter of the acquisition device sensing the positioning terminal and the position parameter of the acquisition device are recorded, the real time parameter or the position parameter is calculated according to the relation among the movement speed, the movement time and the movement distance, and then the time parameter is aligned with the error of the calculated position parameter, or the position parameter is aligned with the error of the calculated time parameter, so that the positioning error can be determined, a new positioning system for testing the positioning error of the positioning system is not required to be additionally built, the deployment flow is simplified, the positioning error testing cost is reduced, and the problem that the accuracy of a test result is poor when the positioning error test is performed on the measured positioning system due to the error existing in the newly built positioning system is avoided. The measurement error is reduced, and the accuracy of the positioning error test result is improved.

In some alternative embodiments, the step 103: calculating a positioning error according to the N first time parameters and the N first position parameters, and the W second time parameters and the W second position parameters, including:

according to the W second time parameters, calculating a third position parameter corresponding to each second time parameter of the positioning terminal to obtain W third position parameters of the positioning terminal, wherein a W third position parameter of the W third position parameters is obtained by calculating according to a W second time parameter of the W second time parameters, an N first time parameter of the N first time parameters and an N first position parameter of the N first position parameters, the difference between the N first time parameter and the W second time parameter is a first difference value, the first difference value is the minimum value of the absolute value of the difference between the N first time parameter and each second time parameter of the W second time parameters, and the W second time parameter is larger than or equal to the N first time parameter, N is smaller than or equal to N, and W is smaller than or equal to W;

And calculating the difference values between the W third position parameters and the W second position parameters to obtain the positioning error.

In the embodiment, the positioning terminal is controlled to move at a uniform speed on a preset path provided with the acquisition equipment, and a first time parameter and a first position parameter of the acquisition equipment when the acquisition equipment senses the positioning terminal are recorded; and simultaneously, acquiring a second time parameter and a second position parameter of the positioning terminal output by the positioning system. Then, according to the relation among the movement speed, the movement time and the movement distance, the corresponding position parameter (the position parameter is a calculated value and is different from the second position parameter output by the positioning system) of the positioning terminal under each second time parameter can be calculated. And then, correcting the calculated position parameter according to the first position parameter of the acquisition equipment to obtain a real third position parameter. Therefore, the calculated position parameters are rectified through the real positions (namely N first position parameters of the acquisition equipment) of the acquisition equipment on the preset path, so that the situation that the positioning terminal is difficult to keep moving at a constant speed all the time in actual conditions, and the accumulated error of the calculated position parameters is larger and larger along with time is avoided.

When the W third position parameters of the W third position parameters of the positioning terminal are calculated, correction is performed through the N first position parameters of the N first position parameters of the acquisition equipment, so that accuracy of calculation results of the W third position parameters is improved. See in particular the following expressions:

in some examples, when the preset path is a straight line, at least two acquisition devices are set on the preset path at intervals, and a W third position parameter of the W third position parameters is calculated according to the following formula:

X _（ t _w） =X _（n） +v×(t _w -t _n )；

wherein N is a positive integer less than or equal to N, t _n Represents the nth first time parameter, t, of the N first time parameters _w Representing the W second time parameter of the W second time parameters, v representing the moving speed of the positioning terminal, and X _（n） Represents the nth first position parameter, X, of the N first position parameters _（ t _w） Representing the W third position parameter of the W third position parameters.

In this example, as shown in fig. 3, taking a preset path as an example, two acquisition devices are disposed on the preset path, and a vehicle with a positioning terminal is on the preset path at a speed v (taking v as an example 1 m/s), from a starting point X ₀ And uniformly moving along the X axis. First acquisition deviceThe detector of the second acquisition device faces the point a on the preset path, and the detector of the second acquisition device faces the point B on the preset path, it should be understood that other numbers of acquisition devices may be disposed on the preset path, which will not be described herein. The positions of the point a and the point B on the predetermined path are known, e.g. the point a is 5 meters from the start point and the point B is 10 meters from the start point, i.e. the first position parameter of the first acquisition device is X ₁ I.e. X ₁ ＝X _A =5, the first position parameter of the second acquisition device is X ₂ I.e. X ₂ ＝X _B ＝10。

From the start X on a preset path at speed v of the vehicle ₀ Acquiring a first time parameter and a first position parameter of the acquisition equipment when the acquisition equipment senses the positioning terminal in the process of uniform motion along the X axis, as shown in the following table 1; meanwhile, the positioning platform continuously positions the vehicle through the positioning terminal, and W second time parameters and W second position parameters of the positioning terminal output by the positioning system are obtained. For example, the vehicle may be positioned once every 1 second from the start point X ₀ After moving through point B at a uniform speed along the X-axis, the positioning system outputs 14 second time parameters and 14 second position parameters, as shown in table 2 below. W may also be other amounts, not limited herein.

TABLE 1

First time parameter of acquisition device	First position parameter of acquisition device
		5.3	5
10.1	10

TABLE 2

Second time parameter of positioning terminal	Locating a second position parameter of the terminal
		1	0.9
2	2.1
		3	3.2
4	3.7
		5	5.3
6	6.8
		7	7.2
8	7.8
		9	8.9
10	10.5
		11	11.4
12	11.7
		13	13.1
14	13.8

From the relationship among the movement speed, movement time and movement distance, the position parameters (calculated values, different from the second position parameters outputted by the positioning system) corresponding to the positioning terminal at the 1 st to 14 th seconds can be calculated, as shown in the following table 3.

TABLE 3 Table 3

Second time parameter of positioning terminal used in calculation	Calculating the position parameters of the obtained positioning terminal
		1	1
2	2
		3	3
4	4
		5	5
6	6
		7	7
8	8
		9	9
10	10
		11	11
12	12
		13	13
14	14

Then, after the vehicle reaches point A, according to the first position parameter (i.e. X _A ＝X ₁ =5) correcting the 14 calculated position parameters, in particular, obtaining a first time parameter output by the first acquisition device, denoted as t ₁ ，t ₁ Acquiring a first position of a first acquisition device for 5.3 secondsParameters, noted as X ₁ ，X ₁ Is 5 meters. Then, t is calculated in turn ₁ Determining the minimum value of the absolute values of the difference values of the first time parameter and each of the 14 second time parameters, and the minimum value of the absolute values of the difference values of the second time parameter and each of the 14 second time parameters at the time of 5 seconds and t ₁ The absolute value of the difference is at least 0.3. However, 5 seconds is less than 5.3 seconds, at which point the vehicle does not reach point a, and therefore takes a value of 6 seconds. In other words, the position parameter corresponding to the 6 th second of the calculated position parameters of the positioning terminal needs to be corrected, and the following formula may be adopted:

X _（ t _6） =5+1×(t ₆ - 5.3) = 5.7；

Wherein X is _（ t _6） Represents the 6 th second (i.e., t ₆ ) And a corresponding third position parameter.

Similarly, after the vehicle reaches the point a and before the vehicle reaches the point B, other third position parameters may be calculated according to the above formula, which will not be described herein.

Further, after the vehicle reaches point B, the first position parameter (i.e., X _B ＝X ₂ 10) correcting the 14 calculated position parameters, in particular, obtaining a first time parameter output by the second acquisition device, denoted as t ₂ ，t ₂ The first position parameter of the second acquisition device is acquired for 10.1 seconds and is marked as X ₂ ，X ₂ Is 10 meters. Then, t is calculated in turn ₂ Determining the minimum value of the absolute values of the difference values of the first time parameter and each of the 14 second time parameters, and the minimum value of the absolute values of the difference values of the first time parameter and each of the 14 second time parameters, wherein the minimum value is 10 seconds and t ₂ The absolute value of the difference is at least 0.1. However, 10 seconds is less than 10.1 seconds, at which point the vehicle does not reach point B, and therefore takes a value of 11 seconds. In other words, the position parameter corresponding to the 11 th second of the calculated position parameters of the positioning terminal needs to be corrected, and the following formula may be adopted:

X _（ t _11） = 10+1×(t ₁₁ -10.1) = 10.9；

wherein X is _（ t _11） Represents the 11 th second (i.e., t ₁₁ ) Corresponding third A location parameter.

Similarly, after the vehicle reaches the point B, other third position parameters may be calculated according to the above formula, which will not be described herein.

Therefore, correction is carried out once every a distance through the nth first position parameter in the N first position parameters of the acquisition equipment, the accumulated error is ensured to be kept in a smaller range, and the accuracy of the third position parameter calculation result is improved. And W third position parameters of the positioning terminal obtained after deviation correction are shown in the following table 4.

TABLE 4 Table 4

Second time parameter of positioning terminal	Third position parameter of positioning terminal
		1	1
2	2
		3	3
4	4
		5	5
6	5.7
		7	6.7
8	7.7
		9	8.7
10	9.7
		11	10.9
12	11.9
		13	12.9
14	13.9

Comparing the second position parameter in table 2 with the third position parameter in table 4, table 5 is obtained:

TABLE 5

Second time parameter of positioning terminal	Locating a second position parameter of the terminal	Third position parameter of positioning terminal	Error value
				1	0.9	1	0.1
2	2.1	2	0.1
				3	3.2	3	0.2
4	3.7	4	0.3
				5	5.3	5	0.3
6	6.8	5.7	1.1
				7	7.2	6.7	0.5
8	7.8	7.7	0.1
				9	8.9	8.7	0.2
10	10.5	9.7	0.8
				11	11.4	10.9	0.5
12	11.7	11.9	0.2
				13	13.1	12.9	0.2
14	13.8	13.9	0.1

And finally, determining a final positioning error according to each error value. In some examples, an average value may be taken. In other examples, the error values of the plurality of locations may be ranked to form a positioning error cumulative probability graph, and the final positioning error may be determined in the positioning error cumulative probability graph. See, for details, the following:

Optionally, the calculating the differences between the W third position parameters and the W second position parameters to obtain the positioning error includes:

calculating the difference values between the W third position parameters and the W second position parameters to obtain W error values;

sequencing the W error values from small to large to obtain an error value sequence;

and determining an error value of a preset percentage position in the error value sequence as the positioning error.

In this example, after each error value is calculated, the plurality of error values are sorted from small to large to obtain an error value sequence, a positioning error cumulative probability graph is drawn, and the error value of a preset percentage (for example, 90%) of positions in the error value sequence is determined as a positioning error. For example, as shown in fig. 8, if the positioning error corresponding to the 90% position in the positioning error cumulative probability graph is 6.8 meters, the positioning error of the positioning system may be determined to be 6.8 meters.

In other examples, in the case that the preset path is a circle, at least one acquisition device is disposed on an axis of the circle formed by the preset path, and a W third position parameter of the W third position parameters is calculated according to the following formula:

；

；

Wherein N is a positive integer less than or equal to N, (x) ₀ ，y ₀ ) T is the center coordinates of the circle _n Represents the nth first time parameter, t, of the N first time parameters _w Representing the W second time parameter of the W second time parameters, v representing the moving speed of the positioning terminal, r representing the radius of the circle, (x) _（ t _w） ，y _（ t _w） ) Representing the W third position parameter of the W third position parameters.

In this example, as shown in fig. 4, taking a preset path as an example of a circle, the center O (x ₀ ，y ₀ ) For the intersection of the x-axis and the y-axis, a rectangular coordinate system is constructed, the acquisition device is arranged on the axis (for example, the x-axis) of a circle formed by a preset path, and the vehicle carrying the positioning terminal is positioned on the preset path at the speed v from the starting point A around the circle center O (x ₀ ，y ₀ ) The circular motion is anticlockwise at uniform speed along a circular track with radius r, and the initial moment is recorded as t ₀ The acquisition device is arranged at point B, points a and B being symmetrical about the y-axis.

In the process that the vehicle moves at a constant speed and a circular motion on a preset path at a speed v, the vehicle is continuously positioned by the positioning platform through the positioning terminal, and W second time parameters and W second position parameters corresponding to the positioning terminal are output. For example, the vehicle may be positioned once every 1 second, and after moving around the center of the circle from the starting point a, the positioning system outputs 1000 second time parameters and 1000 second position parameters, and W may be other numbers, which is not limited herein.

The position of the positioning terminal at any time t can be obtained by the following formula:

；

；

the position of the positioning terminal at any time t after passing through the point A can be obtained by the following formula:

；

；

the position of the positioning terminal at any time t after passing through the point B can be obtained by the following formula:

；

；

wherein t is _A Representing a first time parameter, t, sensed by the acquisition device at the point A position _B Representing a first time parameter sensed by the acquisition device at the point B location. In this way, the corresponding position parameter (the position parameter is a calculated value and is different from the second position parameter output by the positioning system) of the positioning terminal under each second time parameter can be calculated. And then, correcting the calculated position parameter according to the first position parameter of the acquisition equipment to obtain a real third position parameter. The calculated position parameters are rectified through the real positions (namely N first position parameters of the acquisition equipment) of the acquisition equipment on the preset path, so that the situation that the positioning terminal is difficult to keep moving at a constant speed all the time in the actual situation, and the accumulated error of the calculated position parameters is larger and larger along with the time is avoided. When the W third position parameters of the W third position parameters of the positioning terminal are calculated, correction is performed through the N first position parameters of the N first position parameters of the acquisition equipment, so that accuracy of calculation results of the W third position parameters is improved. The specific reference may be made to the example where the preset path is a straight line, which is not described herein.

In still other examples, in the case that the preset path is polygonal, one of the acquisition devices is disposed at each corner position of the preset path, and a W third position parameter of the W third position parameters is calculated according to the following formula:

；

；

wherein N is a positive integer less than or equal to N, t _n Represents the nth first time parameter, t, of the N first time parameters _w Representing the W second time parameter of the W second time parameters, v representing the moving speed of the positioning terminal, (x) _(n-1) ，y _(n-1) ) Represents the N-1 th first position parameter of the N first position parameters, (x) _(n) ，y _(n) ) Represents the nth first position parameter of the N first position parameters, (x) _（ t _w） ，y _（ t _w） ) Representing the W third position parameter of the W third position parameters.

In an embodiment, as shown in fig. 5, taking the preset path as a rectangle as an example, four collection devices are disposed on the preset path, and the collection devices are disposed at corner positions (for example, point a, point B, point C and point D) of the preset path, and the vehicle carrying the positioning terminal moves anticlockwise on the preset path at a speed v. The positions of points a, B, C and D on the predetermined path are known, i.e. the first position parameter of the first acquisition device of the position of point a (i.e. the detector of the first acquisition device) is (x) ₁ ，y ₁ ) Namely (x) _A ，y _A ) The first position parameter of the second acquisition device of the point B position is (x ₂ ，y ₂ ) Namely (x) _B ，y _B ) The first position parameter of the third acquisition device of the point C position is (x ₃ ，y ₃ ) Namely (x) _C ，y _C ) The first position parameter of the fourth acquisition device of the point D position is (x ₄ ，y ₄ ) Namely (x) _D ，y _D ）。

In the process that the vehicle moves at a constant speed on a preset path at a speed v, the vehicle is continuously positioned by the positioning platform through the positioning terminal, and W second time parameters and W second position parameters corresponding to the positioning terminal are output. For example, the vehicle may be positioned once every 1 second, and after a circle of uniform motion from the starting point, the positioning system outputs 1000 second time parameters and 1000 second position parameters, and W may be other numbers, which is not limited herein.

After the vehicle passes through the point A, the point B is reached, and according to the relation among the movement speed, the movement distance and the movement time, the calculation can be carried out:

_X（ t _2） =x ₁ ；

y _（ t _2） = y ₁ -v×(t ₂ -t ₁ )；

wherein t is ₁ A first time parameter, t, representing the output of the acquisition device of the acquired position of point A ₂ The first time parameter output by the acquisition equipment for representing the acquired position of the point B is expressed in the following way _X（ t _2） ，y _（ t _2） ) Representing t ₂ The corresponding third position parameter, v, represents the vehicle movement speed.

After the vehicle passes through the point B, the point C is reached, and according to the relation among the movement speed, the movement distance and the movement time, the calculation can be carried out:

_X（ t _3） =x ₂ + v×(t ₃ -t ₂ )；

y _（ t _3） = y ₂ ；

Wherein t is ₃ The first time parameter output by the acquisition equipment for representing the acquired position of the point C is expressed in the following way _X（ t _3） ，y _（ t _3） ) Representing t ₃ And a corresponding third position parameter.

After the vehicle passes through the point C, the point D is reached, and according to the relation among the movement speed, the movement distance and the movement time, the calculation can be carried out:

_X（ t _4） =x ₃ ；

y _（ t _4） = y ₃ +v×(t ₄ -t ₃ )；

wherein t is ₄ The first time parameter output by the acquisition equipment for representing the acquired position of the point D _X（ t _4） ，y _（ t _4） ) Representing t ₄ And a corresponding third position parameter.

In this way, the corresponding position parameter (the position parameter is a calculated value and is different from the second position parameter output by the positioning system) of the positioning terminal under each second time parameter can be calculated. And then, correcting the calculated position parameter according to the first position parameter of the acquisition equipment to obtain a real third position parameter. The calculated position parameters are rectified through the real positions (namely N first position parameters of the acquisition equipment) of the acquisition equipment on the preset path, so that the situation that the positioning terminal is difficult to keep moving at a constant speed all the time in the actual situation, and the accumulated error of the calculated position parameters is larger and larger along with the time is avoided. When the W third position parameters of the W third position parameters of the positioning terminal are calculated, correction is performed through the N first position parameters of the N first position parameters of the acquisition equipment, so that accuracy of calculation results of the W third position parameters is improved. The specific reference may be made to the example where the preset path is a straight line, which is not described herein.

In another embodiment, as shown in fig. 6 and 7, taking a preset path as an example of a triangle, three collection devices are disposed on the preset path, and the collection devices are disposed at corner positions (for example, point a, point B and point C) of the preset path, and the vehicle carrying the positioning terminal moves counterclockwise on the preset path at a speed v. The positions of points a, B and C on the preset path are known, i.e. the first position parameter of the first acquisition device of the position of point a, i.e. the detector of the first acquisition device, is (x) ₁ ，y ₁ ) Namely (x) _A ，y _A ) The first position parameter of the second acquisition device of the point B position is (x ₂ ，y ₂ ) Namely (x) _B ，y _B ) The first position parameter of the third acquisition device of the point C position is (x ₃ ，y ₃ ) Namely (x) _C ，y _C ）。

In the process that the vehicle moves at a constant speed on a preset path at a speed v, the vehicle is continuously positioned by the positioning platform through the positioning terminal, and W second time parameters and W second position parameters corresponding to the positioning terminal are output. For example, the vehicle may be positioned once every 1 second, and after a circle of uniform motion from the starting point, the positioning system outputs 1000 second time parameters and 1000 second position parameters, and W may be other numbers, which is not limited herein.

After the positioning terminal passes the point A, the position parameter (x _t ，y _t ) The derivation process is as follows:

BD x axis, AD+.T BD, EF+.T AD, then:

L _AE /L _AB =L _AF /L _AD =L _EF /L _BD ；

L _AE =v×(t-t _A )；

；

L _AF =y _A -y _E ；

L _AD= y _A -y _B ；

L _EF =x _A -x _E ；

L _BD =x _A -y _B ；

the above formula can be obtained:

；

that is to say,

；/>

；

similarly, the position of the positioning terminal after passing the point B can be deduced:

；

；

position of the positioning terminal after passing through the C point:

；

；

wherein t is _A A first time parameter (i.e. t) representing the acquired acquisition device output of the position of point a ₁ ），t _B A first time parameter (i.e. t) indicative of the acquisition device output of the acquired point B position ₂ ），t _C A first time parameter (i.e. t) indicative of the acquisition device output of the acquired point C position ₃ ）。

In this way, the corresponding position parameter (the position parameter is a calculated value and is different from the second position parameter output by the positioning system) of the positioning terminal under each second time parameter can be calculated. And then, correcting the calculated position parameter according to the first position parameter of the acquisition equipment to obtain a real third position parameter. The calculated position parameters are rectified through the real positions (namely N first position parameters of the acquisition equipment) of the acquisition equipment on the preset path, so that the situation that the positioning terminal is difficult to keep moving at a constant speed all the time in the actual situation, and the accumulated error of the calculated position parameters is larger and larger along with the time is avoided. When the W third position parameters of the W third position parameters of the positioning terminal are calculated, correction is performed through the N first position parameters of the N first position parameters of the acquisition equipment, so that accuracy of calculation results of the W third position parameters is improved. The specific reference may be made to the example where the preset path is a straight line, which is not described herein.

In other alternative embodiments, step 103: calculating a positioning error according to the N first time parameters and the N first position parameters, and the W second time parameters and the W second position parameters, including:

according to the W second position parameters, calculating a third time parameter corresponding to each second position parameter of the positioning terminal to obtain W third time parameters of the positioning terminal, wherein a W third time parameter of the W third time parameters is calculated according to a W second position parameter of the W second position parameters, an N first position parameter of the N first position parameters and an N first time parameter of the N first time parameters, the difference between the N first position parameters and the W second position parameters is a second difference, the second difference is the smallest value of the absolute value of the difference between the N first position parameters and each second position parameter of the W second position parameters, and the W second position parameter is larger than or equal to the N first position parameter, and N is smaller than or equal to N, W is smaller than or equal to W;

And calculating the difference values between the W third time parameters and the W second time parameters to obtain the positioning error.

In the embodiment, the positioning terminal is controlled to move at a uniform speed on a preset path provided with the acquisition equipment, and a first time parameter and a first position parameter of the acquisition equipment when the acquisition equipment senses the positioning terminal are recorded; and simultaneously, acquiring a second time parameter and a second position parameter of the positioning terminal output by the positioning system. Then, according to the relation among the movement speed, movement time and movement distance, the corresponding time parameter (the time parameter is a calculated value and is different from the second time parameter output by the positioning system) of the positioning terminal under each second position parameter can be calculated. And then, correcting the calculated time parameter according to the first time parameter of the acquisition equipment to obtain a real third time parameter. Therefore, the real time of the positioning terminal (namely N first time parameters of the acquisition equipment) is perceived by the acquisition equipment on the preset path, and the calculated time parameters are corrected, so that the situation that the positioning terminal is difficult to keep constant motion all the time in actual conditions, and the accumulated error of the calculated time parameters along with the motion distance is larger and larger is avoided.

When the W third time parameters of the W third time parameters of the positioning terminal are calculated, correction is performed through the nth first time parameter of the N first time parameters of the acquisition equipment, so that accuracy of calculation results of the W third time parameters is improved. The specific process is similar to the process of the above embodiment of aligning the time parameter and calculating the error of the position parameter, and will not be repeated here.

Referring to fig. 9, fig. 9 is a schematic structural diagram of a positioning error testing device according to an embodiment of the invention. As shown in fig. 9, the positioning error testing apparatus 900 includes:

the control module 901 is used for controlling the positioning terminal to move at a uniform speed on a preset path, wherein the preset path is provided with N acquisition devices, and N is an integer greater than or equal to 1;

the acquiring module 902 is configured to acquire N first time parameters and N first position parameters of the N acquisition devices, and W second time parameters and W second position parameters of the positioning terminal, where the first time parameters are time parameters corresponding to when the acquisition devices sense the positioning terminal, the first position parameters are position parameters corresponding to the acquisition devices, the first time parameters are in one-to-one correspondence with the first position parameters, the second time parameters are in one-to-one correspondence with the second position parameters, and W is an integer greater than or equal to N;

A calculating module 903, configured to calculate a positioning error according to the N first time parameters and the N first position parameters, and the W second time parameters and the W second position parameters.

Optionally, the computing module 903 includes:

the first calculation submodule is used for calculating corresponding third position parameters of the positioning terminal when each second time parameter is calculated according to the W second time parameters to obtain W third position parameters of the positioning terminal, wherein the W third position parameters are calculated according to the W second time parameters of the W third position parameters, the N first time parameters of the N first time parameters and the N first position parameters of the N first position parameters, the difference value between the N first time parameters and the W second time parameters is a first difference value, the first difference value is the minimum value of the absolute values of the difference values of the N first time parameters and each second time parameter of the W second time parameters, and the W second time parameters are larger than or equal to the N first time parameters, N is smaller than or equal to N, and W is smaller than or equal to W;

And the second calculating sub-module is used for calculating the difference values between the W third position parameters and the W second position parameters to obtain the positioning error.

Optionally, in the case that the preset path is a straight line, at least two acquisition devices are set on the preset path at intervals, and a W third position parameter of the W third position parameters is calculated according to the following formula:

X _（ t _w） =X _（n） +v×(t _w -t _n )；

wherein N is a positive integer less than or equal to N, t _n Represents the nth first time parameter, t, of the N first time parameters _w Representing the W second time parameter of the W second time parameters, v representing the moving speed of the positioning terminal, and X _（n） Represents the nth first position parameter, X, of the N first position parameters _（ t _w） Representing the W third position parameter of the W third position parameters.

Optionally, in the case that the preset path is a circle, at least one collecting device is disposed on an axis of the circle formed by the preset path, and a W third position parameter of the W third position parameters is calculated according to the following formula:

；

；

wherein N is a positive integer less than or equal to N, (x) ₀ ，y ₀ ) T is the center coordinates of the circle _n Represents the nth first time parameter, t, of the N first time parameters _w Representing the W numbersA w second time parameter of the second time parameters, v represents a moving speed of the positioning terminal, r represents a radius of the circle, (x) _（ t _w） ，y _（ t _w） ) Representing the W third position parameter of the W third position parameters.

Optionally, in the case that the preset path is polygonal, each corner position of the preset path is provided with one collecting device, and a W third position parameter of the W third position parameters is calculated according to the following formula:

；

；

wherein N is a positive integer less than or equal to N, t _n Represents the nth first time parameter, t, of the N first time parameters _w Representing the W second time parameter of the W second time parameters, v representing the moving speed of the positioning terminal, (x) _(n-1) ，y _(n-1) ) Represents the N-1 th first position parameter of the N first position parameters, (x) _(n) ，y _(n) ) Represents the nth first position parameter of the N first position parameters, (x) _（ t _w） ，y _（ t _w） ) Representing the W third position parameter of the W third position parameters.

Optionally, the second computing sub-module includes:

a fourth calculating unit, configured to calculate differences between the W third position parameters and the W second position parameters, to obtain W error values;

The sequencing unit is used for sequencing the W error values from small to large to obtain an error value sequence;

and the determining unit is used for determining the error value of the preset percentage position in the error value sequence as the positioning error.

Optionally, the computing module 903 includes:

a third calculation sub-module, configured to calculate, according to the W second location parameters, a third time parameter corresponding to the positioning terminal when each of the W second location parameters is calculated, to obtain W third time parameters of the positioning terminal, where a W third time parameter of the W third time parameters is calculated according to a W second location parameter of the W second location parameters, an N first location parameter of the N first location parameters, and an N first time parameter of the N first time parameters, a difference value between the N first location parameter and the W second location parameter is a second difference value, the second difference value is a minimum value of absolute values of differences between the N first location parameter and each of the W second location parameters, and the W second location parameter is greater than or equal to the N first location parameter, where N is less than or equal to N, and W is less than or equal to W;

And a fourth calculation sub-module, configured to calculate differences between the W third time parameters and the W second time parameters, to obtain the positioning error.

Optionally, the W second time parameters of the positioning terminal are time parameters obtained after time delay correction of W original time parameter values of the positioning terminal.

Optionally, the N first time parameters of the N collecting devices are time parameters obtained after time delay correction of N original time parameter values of the N collecting devices.

The positioning error testing device provided by the embodiment of the invention can realize each process realized by the method embodiment shown in fig. 1, and can obtain the same beneficial effects, and in order to avoid repetition, the description is omitted.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, 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, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element. Furthermore, it should be noted that the scope of the methods and apparatus in the embodiments of the present invention is not limited to performing the functions in the order discussed, but may also include performing the functions in a substantially simultaneous manner or in an opposite order depending on the functions involved, e.g., the described methods may be performed in an order different from that described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) comprising instructions for causing a terminal (which may be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to perform the method according to the embodiments of the present invention.

The embodiments of the present invention have been described above with reference to the accompanying drawings, but the present invention is not limited to the above-described embodiments, which are merely illustrative and not restrictive, and many forms may be made by those having ordinary skill in the art without departing from the spirit of the present invention and the scope of the claims, which are to be protected by the present invention.

Claims (10)

1. A method for positioning error testing, the method comprising:

controlling the positioning terminal to move at a uniform speed on a preset path, wherein the preset path is provided with N acquisition devices, and N is an integer greater than or equal to 1;

acquiring N first time parameters and N first position parameters of the N acquisition devices, and W second time parameters and W second position parameters of the positioning terminal, wherein the first time parameters are time parameters corresponding to the acquisition devices when the acquisition devices sense the positioning terminal, the first position parameters are position parameters corresponding to the acquisition devices, the first time parameters are in one-to-one correspondence with the first position parameters, the second time parameters are in one-to-one correspondence with the second position parameters, and W is an integer greater than or equal to N;

and calculating positioning errors according to the N first time parameters, the N first position parameters, the W second time parameters and the W second position parameters.

2. The method of claim 1, wherein said calculating a positioning error based on said N first time parameters and said N first position parameters, and said W second time parameters and said W second position parameters comprises:

According to the W second time parameters, calculating a third position parameter corresponding to each second time parameter of the positioning terminal to obtain W third position parameters of the positioning terminal, wherein a W third position parameter of the W third position parameters is obtained by calculating according to a W second time parameter of the W second time parameters, an N first time parameter of the N first time parameters and an N first position parameter of the N first position parameters, the difference between the N first time parameter and the W second time parameter is a first difference value, the first difference value is the minimum value of the absolute value of the difference between the N first time parameter and each second time parameter of the W second time parameters, and the W second time parameter is larger than or equal to the N first time parameter, N is smaller than or equal to N, and W is smaller than or equal to W;

and calculating the difference values between the W third position parameters and the W second position parameters to obtain the positioning error.

3. The method according to claim 2, wherein, in the case that the preset path is a straight line, at least two of the acquisition devices are set at intervals on the preset path, and a W third position parameter of the W third position parameters is calculated according to the following formula:

X _（ t _w） =X _（n） +v×(t _w -t _n )；

Wherein N is a positive integer less than or equal to N, t _n Represents the nth first time parameter, t, of the N first time parameters _w Representing the W second time parameter of the W second time parameters, v representing the moving speed of the positioning terminal, and X _（n） Represents the nth first position parameter, X, of the N first position parameters _（ t _w） Representing the W third position parameter of the W third position parameters.

4. The method according to claim 2, wherein, in the case where the preset path is circular, at least one acquisition device is arranged on an axis of a circle formed by the preset path, and a W third position parameter of the W third position parameters is calculated according to the following formula:

；

；

wherein N is a positive integer less than or equal to N, (x) ₀ ，y ₀ ) T is the center coordinates of the circle _n Represents the nth first time parameter, t, of the N first time parameters _w Representing the W second time parameter of the W second time parameters, v representing the moving speed of the positioning terminal, r representing the radius of the circle, (x) _（ t _w） ，y _（ t _w） ) Representing the W third position parameter of the W third position parameters.

5. The method according to claim 2, wherein, in the case that the preset path is polygonal, one of the acquisition devices is provided at each corner position of the preset path, and a W third position parameter of the W third position parameters is calculated according to the following formula:

；

；

Wherein N is a positive integer less than or equal to N, t _n Represents the nth first time parameter, t, of the N first time parameters _w Representing the W second time parameter of the W second time parameters, v representing the moving speed of the positioning terminal, (x) _(n-1) ，y _(n-1) ) Represents the N-1 th first position parameter of the N first position parameters, (x) _(n) ，y _(n) ) Represents the nth first position parameter of the N first position parameters, (x) _（ t _w） ，y _（ t _w） ) Representing the W third position parameter of the W third position parameters.

6. The method of claim 2, wherein said calculating differences between said W third position parameters and said W second position parameters to obtain said positioning error comprises:

calculating the difference values between the W third position parameters and the W second position parameters to obtain W error values;

sequencing the W error values from small to large to obtain an error value sequence;

and determining an error value of a preset percentage position in the error value sequence as the positioning error.

7. The method of claim 1, wherein said calculating a positioning error based on said N first time parameters and said N first position parameters, and said W second time parameters and said W second position parameters comprises:

According to the W second position parameters, calculating a third time parameter corresponding to each second position parameter of the positioning terminal to obtain W third time parameters of the positioning terminal, wherein a W third time parameter of the W third time parameters is calculated according to a W second position parameter of the W second position parameters, an N first position parameter of the N first position parameters and an N first time parameter of the N first time parameters, the difference between the N first position parameters and the W second position parameters is a second difference, the second difference is the smallest value of the absolute value of the difference between the N first position parameters and each second position parameter of the W second position parameters, and the W second position parameter is larger than or equal to the N first position parameter, and N is smaller than or equal to N, W is smaller than or equal to W;

and calculating the difference values between the W third time parameters and the W second time parameters to obtain the positioning error.

8. The method of claim 1, wherein the W second time parameters of the positioning terminal are time parameters obtained after time delay correction of W original time parameter values of the positioning terminal.

9. The method of claim 1, wherein the N first time parameters of the N acquisition devices are time parameters obtained after time delay correction of N original time parameter values of the N acquisition devices.

10. A positioning error testing device, the device comprising:

the control module is used for controlling the positioning terminal to move at a uniform speed on a preset path, N acquisition devices are arranged on the preset path, and N is an integer greater than or equal to 1;

the acquisition module is used for acquiring N first time parameters and N first position parameters of the N acquisition devices, and W second time parameters and W second position parameters of the positioning terminal, wherein the first time parameters are time parameters corresponding to the acquisition devices when the acquisition devices sense the positioning terminal, the first position parameters are position parameters corresponding to the acquisition devices, the first time parameters are in one-to-one correspondence with the first position parameters, the second time parameters are in one-to-one correspondence with the second position parameters, and W is an integer greater than or equal to N;

and the calculating module is used for calculating positioning errors according to the N first time parameters, the N first position parameters, the W second time parameters and the W second position parameters.