CN117129018B

CN117129018B - Positioning error testing method and device

Info

Publication number: CN117129018B
Application number: CN202311397696.1A
Authority: CN
Inventors: 冯浩; 邹勇; 王东波; 冀永浩; 李亚楠; 吴迪; 毕猛; 田彦豪; 吕正春; 侯彦庄; 陈小奎
Original assignee: China Tower Co Ltd
Current assignee: China Tower Co Ltd
Priority date: 2023-10-26
Filing date: 2023-10-26
Publication date: 2024-01-30
Anticipated expiration: 2043-10-26
Also published as: CN117129018A

Abstract

The embodiment of the invention provides a positioning error testing method and a device, and relates to the technical field of positioning, wherein the method comprises the following steps: controlling a target carrier to run on a preset path, wherein the target carrier is provided with a terminal and inertial navigation equipment, and the preset path is provided with N acquisition equipment which are arranged at intervals; acquiring first time parameters and first position parameters of N acquisition devices, W second time parameters and second position parameters of a terminal, and M third time parameters and third position parameters output by inertial navigation; correcting the third time parameter according to the first time parameter, and correcting the third position parameter by the first position parameter to obtain a fourth time parameter and a fourth position parameter respectively; determining W' fourth time parameters closest to the second time parameters from the fourth time parameters; and calculating a positioning error according to the fourth position parameter corresponding to the fourth time parameter and the second position parameter corresponding to the second time parameter. The reliability 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, a higher precision requirement is put forward on a positioning system, and the precision of the positioning system is generally evaluated based on a positioning error obtained by measurement, such as a distance deviation or a time delay.

In the prior art, one set of positioning system is generally used for testing the positioning error index of the other set of positioning system, however, the positioning system for testing has measurement errors, and the positioning error index measured by one positioning system with errors is used for evaluating the other positioning system, so that the reliability of the positioning error index is reduced.

Therefore, the problem of poor reliability of the positioning error testing method exists in the prior art.

Disclosure of Invention

The embodiment of the invention provides a positioning error testing method and a positioning error testing device, which are used for solving the problem of poor reliability of the positioning error testing method in the prior art.

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

controlling a target carrier to run on a preset path, wherein the target carrier is provided with a terminal and an inertial navigation device, the preset path is provided with N acquisition devices which are arranged at intervals, the inertial navigation device periodically outputs time parameters and position parameters at preset frequency, and N is an integer greater than or equal to 1;

Acquiring N first time parameters and N first position parameters sensed by the N acquisition devices, W second time parameters and W second position parameters of the terminal, and M third time parameters and M third position parameters output by the inertial navigation device, wherein 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, the third time parameters are in one-to-one correspondence with the third position parameters, N and W are integers smaller than M, and W is larger than N;

correcting the M third time parameters according to the N first time parameters, and correcting the M third position parameters according to the N first position parameters to obtain M fourth time parameters and M fourth position parameters respectively;

determining W 'fourth time parameters closest to the W second time parameters from the M fourth time parameters, wherein W' is an integer smaller than or equal to W;

and calculating a positioning error according to the W 'fourth position parameters corresponding to the W' fourth time parameters and the W 'second position parameters corresponding to the W' second time parameters.

Optionally, the correcting the M third time parameters according to the N first time parameters, and the correcting the M third position parameters by the N first position parameters, respectively obtaining M fourth time parameters and M fourth position parameters, includes:

replacing the M-th third time parameter in the M third time parameters with the N-th first time parameter in the N first time parameters, and updating the time parameter after the M-th third time parameter in the M third time parameters to obtain M fourth time parameters;

replacing the mth third position parameter in the M third position parameters with the nth first position parameter in the N first position parameters, and updating the position parameters after the mth third position parameter in the M third position parameters to obtain M fourth position parameters, wherein M is a positive integer smaller than M, and N is a positive integer smaller than or equal to N;

wherein the absolute value of the difference between the mth third time parameter and the nth first time parameter is less than a first threshold.

Optionally, the determining W' fourth time parameters closest to the W second time parameters from the M fourth time parameters includes:

Sequentially calculating absolute values of differences between the M fourth time parameters and a j-th second time parameter in the W second time parameters to obtain an absolute value set corresponding to the j-th second time parameter, wherein each absolute value in the absolute value set corresponding to the j-th second time parameter is smaller than or equal to a second threshold value, and j is a positive integer smaller than or equal to W;

and determining a kth fourth time parameter in the M fourth time parameters as a fourth time parameter closest to the jth second time parameter, wherein k is a positive integer smaller than M, and the absolute value of the difference between the kth fourth time parameter and the jth second time parameter is the minimum value in the absolute value set corresponding to the jth second time parameter.

Optionally, eliminating the jth second time parameter from the W second time parameters under the condition that all absolute values in the absolute value set corresponding to the jth second time parameter are greater than the second threshold.

Optionally, the calculating the positioning error according to the W 'fourth position parameters corresponding to the W' fourth time parameters and the W 'second position parameters corresponding to the W' second time parameters includes:

The W ' fourth time parameters and the W ' second time parameters are in one-to-one correspondence, and the difference values between the W ' fourth position parameters and the W ' second position parameters are calculated 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 acquiring the N first time parameters sensed by the N acquisition devices to the target carrier includes:

and correcting the N original time parameter values sensed by the N acquisition devices according to the time delay of the data transmission of each acquisition device in the N acquisition devices to obtain the N first time parameters.

Optionally, the acquiring W second time parameters of the terminal includes:

and correcting the obtained W original time parameter values of the terminal according to the time delay of the terminal for transmitting the data and the time delay of the terminal for calculating the data to obtain W second time parameters.

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

determining W 'fourth position parameters closest to the W second position parameters from the M fourth position parameters, wherein W' is an integer less than or equal to W;

and calculating a positioning error according to W 'fourth time parameters corresponding to the W' fourth position parameters and W 'second time parameters corresponding to the W' second position parameters.

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

the control module is used for controlling the target carrier to run on a preset path, the target carrier is provided with a terminal and an inertial navigation device, the preset path is provided with N acquisition devices which are arranged at intervals, the inertial navigation device periodically outputs time parameters and position parameters at preset frequency, and N is an integer which is more than or equal to 1;

the acquisition module is used for acquiring N first time parameters and N first position parameters sensed by the N acquisition devices, W second time parameters and W second position parameters of the terminal, and M third time parameters and M third position parameters output by the inertial navigation device, wherein 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, the third time parameters are in one-to-one correspondence with the third position parameters, N and W are integers smaller than M, and W is larger than N;

the correction module is used for correcting the M third time parameters according to the N first time parameters, correcting the M third position parameters according to the N first position parameters, and respectively obtaining M fourth time parameters and M fourth position parameters;

The determining module is used for determining W 'fourth time parameters closest to the W second time parameters from the M fourth time parameters, wherein W' is an integer smaller than or equal to W;

and the calculation module is used for calculating the positioning error according to W 'fourth position parameters corresponding to the W' fourth time parameters and W 'second position parameters corresponding to the W' second time parameters.

the determining module is used for determining W 'fourth position parameters closest to the W second position parameters from the M fourth position parameters, wherein W' is an integer smaller than or equal to W;

and the calculation module is used for calculating the positioning error according to W 'fourth time parameters corresponding to the W' fourth position parameters and W 'second time parameters corresponding to the W' second position parameters.

In the embodiment of the invention, the target carrier is controlled to run on the preset path provided with N acquisition devices, and the method is suitable for scenes such as long and narrow tunnels or rooms with long and narrow corridors. And then, correcting a third time parameter output by the inertial navigation device according to the first time parameter of the target carrier sensed by the acquisition device so as to continuously correct the inertial navigation error to obtain a fourth time parameter with real inertial navigation, aligning the fourth time parameter with a second time parameter output by the terminal, reducing the time error allowed by alignment, and comparing a fourth position parameter corresponding to the fourth time parameter with a second position parameter corresponding to the second time parameter to obtain a positioning error. And the measurement error is reduced, so that the reliability 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 connection relationships of inertial navigation devices according to an embodiment of the present invention;

FIG. 3 is a second flowchart of a positioning error testing method according to an embodiment of the present invention;

fig. 4 is a schematic view of a scenario of a positioning error testing method according to an embodiment of the present invention;

FIG. 5 is a graph of cumulative probability of positioning error provided by an embodiment of the present invention;

FIG. 6 is a flowchart of another positioning error testing method according to an embodiment of the present invention;

fig. 7 is a schematic structural diagram of a positioning error testing device according to an embodiment of the present invention;

fig. 8 is a schematic structural diagram of another 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 flow chart of 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 includes the following steps:

step 101, controlling a target carrier to run on a preset path, wherein the target carrier is provided with a terminal and an inertial navigation device, the preset path is provided with N acquisition devices which are arranged at intervals, the inertial navigation device periodically outputs a time parameter and a position parameter at a preset frequency, and N is an integer which is more than or equal to 1;

the preset path may be some section of lanes of the indoor parking lot, and N acquisition devices are arranged on the preset path at intervals, so that a position parameter (i.e., a first position parameter) of each acquisition device on the preset path is known. The acquisition device may emit radiation towards the lane, and the acquisition device may record a time parameter (i.e. a first time parameter) only when the target carrier touches the radiation. The target carrier can be a vehicle, a terminal in a positioning system is arranged on the vehicle, the positioning system can comprise the terminal and a positioning platform, the vehicle is positioned in real time through signal interaction between the terminal and the positioning platform, and the second time parameter of the terminal and the second position parameter corresponding to the second time parameter can be output through the terminal when the target carrier moves on a preset path or output through 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.

The vehicle is also provided with inertial navigation equipment (inertial navigation for short), and as shown in fig. 2, the inertial navigation equipment can comprise an inertial navigation body, an odometer, an inertial navigation controller, a data line and a fixed rod. Components such as a gyroscope and an accelerometer are integrated in the inertial navigation body, so that the track of inertial navigation movement can be judged. The odometer can be fixed on a tire of a vehicle, and is arranged in a concentric circle mode with the tire, so that the inertial navigation deviation is corrected, and the inertial navigation accuracy is improved. The inertial navigation controller can control inertial navigation, including time setting, initial position setting, odometer parameter setting, initial calibration and outputting time parameters of the inertial navigation. The data line is used for connecting the odometer, the inertial navigation body and the inertial navigation controller, and transmitting the motion information acquired by the odometer to the inertial navigation body. The fixed rod is used for fixing the odometer. So that the inertial navigation can periodically output the time parameter and the position parameter at a preset frequency. Under the condition that the vehicle can output mileage information, the inertial navigation can also be directly connected to the automobile central control system.

It should be noted that the working principle of the odometer is to count the number of turns of the vehicle tyre, and only when the diameter of the vehicle tyre is known, the mileage of the vehicle can be calculated. When the odometer and the vehicle wheel are fixed in concentric circles, the diameter of the vehicle tire needs to be input in inertial navigation before testing, so that the inertial navigation accuracy can be improved through the odometer. The vehicle hub diameter is fixed, but is subject to tire pressure, and the vehicle tire diameter is subject to variation. In order to accurately measure the diameter of a vehicle tire, the following method may be employed: firstly, setting a starting point and an ending point, wherein the distance between the starting point and the ending point is obtained through measurement and is marked as D; secondly, the vehicle moves from a starting point to an ending point, and the number of turns of the vehicle is collected by an odometer and recorded as N; finally, the automobile tire diameter R is calculated as follows:

。

The odometer size is typically smaller than the size of the vehicle tire, and thus the odometer needs to be fixed to the vehicle tire. However, when testing the walking positioning index of the positioning system, the inertial navigation and the terminal can be fixedly arranged on the trolley (namely, the model vehicle with the size smaller than that of the automobile). If the size of the wheel of the odometer is not greatly different from that of the wheel of the trolley, the odometer can be directly fixed on the trolley, and the movement information can be directly acquired without conversion through the wheel of the trolley.

In the embodiment of the invention, the same time system is adopted by the positioning system, the acquisition storage module in the acquisition equipment and the inertial navigation equipment, so that calculation errors caused by time conversion are reduced under the condition of non-uniform time. Absolute time (international standard time) on a network time protocol (Network Time Protocol, NTP) server may be employed. The positioning system comprises a terminal and a positioning platform, and in active positioning, the terminal time, the time of the acquisition and storage module and the time of the inertial navigation device can be absolutely aligned. Or, a time service device can be used for simultaneously carrying out time service on the equipment and aligning the time of the time service device and the time service device; in passive positioning, the positioning platform time, the acquisition and storage module time and the inertial navigation device time can be absolutely aligned. Alternatively, a time service device may be used to simultaneously time service the above devices, so as to align the three times.

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 computers or other devices (i.e., terminals, acquisition devices, and inertial navigation devices) connected to the NTP server, providing high-precision 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.

102, acquiring N first time parameters and N first position parameters sensed by the N acquisition devices, W second time parameters and W second position parameters of the terminal, and M third time parameters and M third position parameters output by the inertial navigation device, wherein 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, the third time parameters are in one-to-one correspondence with the third position parameters, N and W are integers smaller than M, and W is larger than N;

In an example, in the step 102, acquiring N first time parameters of the N acquisition devices sensing the target carrier includes:

The first time parameter of the acquisition device when sensing the target carrier can be a time parameter obtained by correcting an original time parameter value recorded by the acquisition device after the vehicle touches the ray. The corrected time parameter, i.e. the first time parameter, is used for correcting the third time parameter in the following step 103. Errors caused by time delay of data transmission of the collector are reduced, accuracy of time parameters is improved, and accordingly reliability of positioning error testing is improved.

In an example, in the step 102, acquiring W second time parameters of the terminal includes:

When a target carrier (such as a vehicle) moves in a preset path, the positioning platform continuously positions the target carrier through the terminal, the time parameter and the position parameter corresponding to the terminal are output, and because a positioning error possibly exists in the positioning system, when the vehicle carries the terminal 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 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, the influence of the delay of the terminal transmitting the data and the delay of the terminal calculating the data is considered, the acquired W original time parameter values of the terminal are corrected to obtain W second time parameters, so that the accuracy of the time parameter is improved, and the reliability of the positioning error test is improved.

Specifically, as shown in fig. 3, positioning the terminal when the terminal is placed on the front edge of the vehicle corresponds to positioning the vehicle. The acquisition equipment can include acquisition front end and collection storage module, and the laser ray that the acquisition front end launched is perpendicular to the lane, and the test point takes right lane central point and puts. If the left lane and the right lane are not distinguished by the preset path, the center position of the lane can be taken by the test point. Taking the example that 3 acquisition points (for example, P1, P2 and P3) may be disposed on the preset path for illustration, it should be understood that other numbers of acquisition devices (i.e., the value of N may also be other numbers, such as 4, 5, 10, 20, etc.) may also be disposed on the preset path, and the same technical effect may be achieved. Each acquisition point is provided with an acquisition front end of one acquisition device, namely, first position parameters of 3 acquisition devices are respectively P1, P2 and P3, when a terminal at the front edge of a vehicle touches a laser ray, the acquisition front end transmits acquired time parameters to an acquisition storage module, and the acquisition storage module records the time of the vehicle passing through each acquisition device, see the following table 1:

table 1:

collecting original time parameter value log1 of equipment	First position parameter of acquisition device
		T1	P1
T2	P2
		T3	P3

Log1 is an original time parameter value of the vehicle sensed by the acquisition equipment, namely the time of the vehicle passing through each acquisition equipment is recorded by the acquisition storage module; t1 is an original time parameter value sensed by the acquisition equipment when the vehicle passes through P1; t2 is an original time parameter value sensed by the acquisition equipment when the vehicle passes through P2; t3 is the original time parameter value sensed by the acquisition device when the vehicle passes P3.

The invention has low requirements on the field environment, and can be deployed and realized even if the air is shielded. In the practical environment, shielding objects such as pipelines, trunking and the like are easy to exist below the roof, objects such as columns, walls and the like are easy to exist indoors, and the shielding objects do not influence the deployment of the device. As long as the selected test point avoids the shielding object, the invention can still accurately measure the dynamic error.

Correcting the acquired original time parameter value log1 sensed by the acquisition equipment to obtain a first time parameter log1', see the following table 2:

table 2:

first time parameter log1 'of acquisition device'	First position parameter of acquisition device
		T1’	P1
T2’	P2
		T3’	P3

Wherein, log1' is the actual time parameter (i.e. the first time parameter) sensed by the acquisition device; t1' is a first time parameter sensed by the acquisition equipment when the vehicle passes through P1; t2' is a first time parameter sensed by the acquisition equipment when the vehicle passes P2; t3' is a first time parameter sensed by the acquisition device when the vehicle passes P3.

The first time parameter log1' can be calculated by the following formula:

T _i ’＝T _i -∆T；

T _i ' is a first time parameter when the vehicle moves to the ith acquisition device; t (T) _i A sensed raw time parameter value for the vehicle as it moves to the ith acquisition device; and T is the time required by the acquisition front end to transmit the acquired time parameter of the vehicle passing through the test point back to the acquisition storage module. The time required by the acquisition front end i to transmit the acquired time parameter back to the acquisition and storage module can be measured in advance.

For the positioning system, the signal interaction between the terminal and the positioning platform is used for positioning the vehicle in real time, when the target carrier moves along the preset path, the positioning platform continuously positions the target carrier through the terminal, the original time parameter value and the corresponding second position parameter corresponding to the terminal are output, when the target carrier moves along the preset path, the terminal outputs 5 original time parameter values (i.e. t1 to t 5) and the corresponding 5 second position parameters (i.e. S1 to S5) as an example, and for example, it should be understood that the terminal can also output other numbers (i.e. the value of W can also be other numbers, such as 10, 20, 25, 40, etc.) of original time parameter values and the corresponding second position parameters on the preset path, and the same technical effects can be achieved. As shown in table 3 below:

Table 3:

original time parameter value log2 of terminal	Second location parameter of terminal
		t1	S1
t2	S2
		t3	S3
t4	S4
		t5	S5

Wherein log2 is the original time parameter value of the terminal; t1 is an original time parameter value of the terminal when the vehicle passes through S1; t2 is an original time parameter value of the terminal when the vehicle passes through S2; t3 is an original time parameter value of the terminal when the vehicle passes through S3; t4 is an original time parameter value of the terminal when the vehicle passes through S4; t5 is the original time parameter value of the terminal when the vehicle passes S5. The obtained original time parameter value log2 of the terminal is corrected to obtain a second time parameter log2' of the terminal, see the following table 4:

table 4:

second time parameter log2 'of terminal'	Second location parameter of terminal
		t1’	S1
t2’	S2
		t3’	S3
t4’	S4
		t5’	S5

Wherein log2' is a second time parameter of the terminal; t1' is a second time parameter corresponding to the terminal when the vehicle passes through S1; t2' is a second time parameter corresponding to the terminal when the vehicle passes through S2; t3' is a second time parameter corresponding to the terminal when the vehicle passes through S3; t4' is a second time parameter corresponding to the terminal when the vehicle passes through S4; t5' is a second time parameter corresponding to the terminal when the vehicle passes through S5.

The second time parameter log2' can be calculated by the following formula:

t _i ’＝t _i -∆t；

t _i ' is a second time parameter of the terminal when the vehicle moves to a position i on a preset path; t is t _i The original time parameter value of the terminal when the vehicle moves to a position i on a preset path; in the active positioning scene, the terminal has the computing capability and canThe position of the terminal is calculated, and the active positioning can also be called downlink positioning, so that the t is the time for the terminal to transmit the information required by positioning to the positioning platform in the active positioning scene. In the passive positioning scenario, the positioning system collects positioning terminal information (for example, the terminal is a bluetooth tag, and is the bluetooth information periodically broadcasted by the terminal), the positioning platform calculates the positioning terminal position, and the terminal does not know the position of the terminal itself, and the passive positioning can also be called uplink positioning, so in the passive positioning scenario, t comprises the time for the terminal to transmit information required by the positioning platform for positioning and the time for the positioning platform to obtain the positioning terminal position by calculating the information. It should be understood that, too, t may be measured in advance, and will not be described in detail herein.

In an example, the M third time parameters and the M third position parameters output by the inertial navigation device may be exemplified by adjusting the output frequency of the inertial navigation device so that the inertial navigation device outputs 24 third time parameters and 24 second position parameters after the vehicle passes through the position where the 3 acquisition devices are located (i.e., P1, P2, and P3 in the above example), and it should be understood that M may also be other values, such as M is 50, 100, 200, 600, or the like. The third time parameter log3 and the third position parameter outputted by the inertial navigation device are shown in table 5 below:

Table 5:

third time parameter of inertial navigation log3	Third position parameter of inertial navigation
		E1	Q1
E2	Q2
		......	......
E6	Q6
		E7	Q7
E8	Q8
		......	......
E14	Q14
		E15	Q15
......	......
		E20	Q20
......	......
		E24	Q24

Wherein P1, P2 and P3 are all located between Q1 to Q24.

The position parameter of inertial navigation is the projection position of the odometer perpendicular to the road surface on a preset path.

Step 103, correcting the M third time parameters according to the N first time parameters, and correcting the M third position parameters according to the N first position parameters to obtain M fourth time parameters and M fourth position parameters respectively;

and correcting the third time parameter according to the first time parameter every time interval, and correcting the third position parameter according to the first position parameter at the same time, so that the accuracy of inertial navigation is improved. For example, an acquisition device is deployed every 50 meters, and because the first position parameter of the acquisition device on the preset path is a known true value, the third time parameter is corrected according to the first time parameter, and meanwhile, the third position parameter when the inertial navigation passes through the acquisition device is corrected to be the first position parameter of the acquisition device, so that the accumulation of the inertial navigation error is equivalent to the accumulation of the inertial navigation error only to the distance of 50 meters, the accumulation of the inertial navigation error is realized, the high accuracy of the inertial navigation is maintained, and the millimeter level can be reached.

In an example, the step 103: correcting the M third time parameters according to the N first time parameters, and correcting the M third position parameters according to the N first position parameters to obtain M fourth time parameters and M fourth position parameters, respectively, including:

Taking the example that the third time parameter log3 of inertial navigation comprises 24 third time parameters (i.e. E1 value E24), the first time parameter log1' of the acquisition device comprises 3 first time parameters (i.e. T1' to T3 '), sequentially calculating absolute values of differences between E1 to E24 and T1', and determining E6 as the third time parameter to be replaced when the absolute value of the difference between E6 and T1' in E1 to E24 is smaller than a first threshold value, wherein E6 can be replaced by T1', Q6 corresponding to E6 is replaced by P1 corresponding to T1', the first threshold value is an allowable time error, and the product of the allowable time error and the vehicle speed is an allowable distance error. The specific numerical values thereof can be adjusted according to actual conditions, and are not limited herein. For example, when the vehicle speed is 10km/h (about 2.78 m/s), the allowable time error takes 1ms, the calculation brings about a positioning error of 2.78mm. When the time granularity of the acquisition and storage module, the positioning platform and the terminal is smaller and the positioning refresh rate of the positioning platform or the terminal is higher, the allowable time error is smaller, and the positioning error caused by the allowable time error is smaller.

Similarly, sequentially calculating absolute values of differences between E1 and E24 and T2', and determining E14 as a third time parameter to be replaced under the condition that the absolute values of differences between E14 and T2' in E1 to E24 are smaller than a first threshold value, wherein E14 can be replaced by T2', and Q14 corresponding to E14 is replaced by P2 corresponding to T2';

similarly, the absolute values of the differences between E1 and E24 and T3 'are sequentially calculated, and if the absolute value of the difference between E20 and T3' in E1 to E24 is smaller than the first threshold, determining E20 as the third time parameter to be replaced, where E20 may be replaced by T3', and Q20 corresponding to E20 is replaced by P3 corresponding to T3'.

And updates the other third time parameters in E1 to E24 according to T1', T2', and T3', and updates the other third position parameters in Q1 to Q24 according to P1, P2, and P3, i.e., updates the data in table 5 to the data shown in table 6 below:

table 6:

third time parameter log3' of modified inertial navigation (i.e. fourth time parameter of inertial navigation)	Third position parameter of modified inertial navigation (i.e. fourth position parameter of inertial navigation)
		E1 (i.e., E1')	Q1 (i.e. R1)
E2 (i.e., E2')	Q2 (i.e. R2)
		......	......
T1 '(i.e. E6')	P1 (i.e. R6)
		T1'+E7-E6 (i.e., E7')	P1+Q7-Q6 (i.e., R7)
T1'+E8-E6 (i.e., E8')	P1+Q8-Q6 (i.e., R8)
		......	......
T2 '(i.e. E14')	P2 (i.e. R14)
		T2'+E15-E14 (i.e., E15')	P2+Q15-Q14 (i.e. R15)
......	......
		T3 '(i.e. E20')	P3 (i.e. R20)
......	......
		T3'+E24-E20 (i.e., E24')	P3+Q24-Q20 (i.e., R24)

Thus, the third time parameters E6, E14 and E20 are modified according to the first time parameters T1', T2' and T3', respectively, and E1 to E24 are updated to obtain fourth time parameters (i.e., E1' to E24 '). Meanwhile, the third position parameters Q6, Q14 and Q20 are respectively corrected according to the first position parameters P1, P2 and P3, and Q1 to Q24 are updated to obtain fourth position parameters (namely R1 to R24), so that accuracy of inertial navigation is improved.

104, determining W 'fourth time parameters closest to the W second time parameters from the M fourth time parameters, wherein W' is an integer smaller than or equal to W;

and determining W' fourth time parameters closest to the W second time parameters from the M fourth time parameters, so that the inertial navigation time parameters are aligned with the time parameters of the terminal, and determining the positioning error by comparing the difference value of the position parameters under the condition that the time parameters are aligned.

Optionally, the step 104: determining W' fourth time parameters closest to the W second time parameters from the M fourth time parameters, including:

In this embodiment, in the time alignment process, since the third time parameter (i.e., the fourth time parameter) of the modified inertial navigation may not completely appear in the second time parameter of the terminal, the fourth time parameter may be aligned with the second time parameter by an allowable time error (i.e., the second threshold, which may be the same as or different from the first threshold). Specifically, the absolute value of the difference between t1' of the 24 fourth time parameters (i.e., E1' to E24 ') and the 5 second time parameters (i.e., t1' to t5 ') is first calculated sequentially. In an example, if the absolute value of the difference between the 8 fourth time parameters E1', E2', E5', E8', E10', E11', E15', and E23' and the second time parameter t1 'is less than or equal to the second threshold (e.g., 2 ms), the other fourth time parameters E1' to E24 'are discarded, the 8 fourth time parameters E1', E2', E5', E8', E10', E11', E15', and E23 'are obtained, and then the minimum value in the absolute value set corresponding to t1' is obtained, for example, in the case where E5 'is the minimum value in the absolute value set corresponding to t1', E5 'is determined as the fourth time parameter closest to t 1'.

In another alternative example, if the absolute values of the differences between the 24 fourth time parameters E1' to E24' and the second time parameter t1' are all less than or equal to the second threshold, the absolute value set corresponding to t1' is obtained including the 24 fourth time parameters E1' to E24', and then the minimum value in the absolute value set corresponding to t1' is obtained, for example, in the case where E5' is the minimum value in the absolute value set corresponding to t1', E5' is determined as the fourth time parameter closest to t1 '.

Similarly, the absolute values of the differences between t3' of the 24 fourth time parameters (i.e., E1' to E24 ') and the 5 second time parameters (i.e., t1' to t5 ') are sequentially calculated. In one example, if the absolute value of the difference between the 9 fourth time parameters E1', E3', E4', E8', E10', E13', E15', E18', and E23' and the second time parameter t3' is less than or equal to the second threshold (e.g., 2 ms), then the other fourth time parameters E1' to E24' are discarded to obtain the 9 fourth time parameters E3' corresponding to the absolute value set including E1', E3', E4', E8', E10', E13', E15', E18', and E23', and then the minimum value of the absolute value set corresponding to t3' is obtained, e.g., E10' is determined to be the fourth time parameter closest to t3' in the case where E10' is the minimum value of the absolute value set corresponding to t3 '.

Similarly, the absolute values of the differences between t5' of the 24 fourth time parameters (i.e., E1' to E24 ') and the 5 second time parameters (i.e., t1' to t5 ') are sequentially calculated. In one example, if the absolute value of the difference between the 5 fourth time parameters E1', E3', E13', E15', and E24' and the second time parameter t5' is less than or equal to the second threshold (e.g., 2 ms), the other fourth time parameters E1' to E24' are discarded to obtain the 5 fourth time parameters E1', E3', E13', E15', and E24', and then the minimum value in the 5 fourth time parameter t is obtained, e.g., E15' is determined as the fourth time parameter closest to t5' in the case where E15' is the minimum value in the 5 fourth time parameter set t5 '.

Therefore, only data needs to be recorded when the positioning error test is carried out, and the computing module only needs to align the recorded fourth time parameter of inertial navigation with the second time parameter of the terminal when the data is processed in the later period, and the dynamic positioning error is finally computed by comparing the two time parameters, so that the computing is simple and convenient and the computing amount is small.

Optionally, under the condition that all absolute values in the absolute value set corresponding to the jth second time parameter are greater than the second threshold, eliminating the jth second time parameter from the W second time parameters to obtain W' second time parameters.

In an example, the absolute values of the differences between the 24 fourth time parameters (e.g., E1' to E24 ') and the 5 second time parameters (e.g., t1' to t5 ') are sequentially calculated to obtain an absolute value set corresponding to t2', and under the condition that all the absolute values in the absolute value set corresponding to t2' are greater than the second threshold, the data of the terminal corresponding to t2' are considered as invalid data, and t2' is removed from the 5 second time parameters (e.g., t1' to t5 '), and meanwhile, S2 corresponding to t2' is removed accordingly, so as to improve accuracy.

In still another example, the absolute values of the differences between the 24 fourth time parameters (e.g., E1' to E24 ') and the 5 second time parameters (e.g., t1' to t5 ') are sequentially calculated to obtain an absolute value set corresponding to t4', and when all the absolute values in the absolute value set corresponding to t4' are greater than the second threshold, the data of the terminal corresponding to t4' are considered as invalid data, and at the same time, t4' is removed from the 5 second time parameters (e.g., t1' to t5 '), and S4 corresponding to t4' is removed accordingly to improve accuracy.

And 105, calculating a positioning error according to the W 'fourth position parameters corresponding to the W' fourth time parameters and the W 'second position parameters corresponding to the W' second time parameters.

By determining that the effective data in the second time parameters t1', t2', t3', t4', and t5 'are t1', t3', and t5' and the fourth time parameters closest to the second time parameters t1', t3', and t5 'are E5', E10', and E15', respectively, in the above step 104, the E5 'can be aligned with t1', the E10 'can be aligned with t3', the E15 'can be aligned with t5', and the positioning error can be calculated by comparing the fourth position parameter corresponding to the fourth time parameter and the second position parameter corresponding to the second time parameter. See in particular table 7 below:

table 7:

second time parameter log2 'of terminal'	Second location parameter of terminal	Third time parameter log3' of modified inertial navigation (i.e. fourth time parameter of inertial navigation)	Third position parameter of modified inertial navigation (i.e. fourth position parameter of inertial navigation)
				t1’	S1	E5’	R5
t3’	S3	E10’	R10
				t5’	S5	E15’	R15

When calculating the effective acquisition point error, the inertial navigation position parameter (i.e. the projection position of the odometer perpendicular to the road surface on the preset path) and the terminal position need to be projected onto the lane, such as the center position of the right lane, and in particular, the inertial navigation position parameter is divided into two cases, as shown in fig. 4.

In the first case, the terminal position is S1, and the odometer position is R5. Firstly, the S1 and the R5 are projected on lanes closest to each other, if the S1 and the R5 are projected on the lane AB, the drop feet are respectively marked as S1 'and R5', and then the error d=S1 'R5'.

In the second case, the terminal position is S5 and the odometer position is R15. First, S5 and R15 are projected onto the lane closest to the driver, if S5 is projected onto lane BC, the drop foot is denoted as S5', R15 is projected onto lane AB, and the drop foot is denoted as R15', the error d=s5 'R15'.

Thus, when the first acquisition device is located (i.e., P1), the error in positioning the terminal is: the absolute value of the difference between the foot S1 'projected onto lane AB and the foot R5' projected onto lane AB by S1, i.e. the distance between S1 'and R5'.

When the second acquisition device is located (i.e., P2), the error of locating the terminal is: the absolute value of the difference between the foot S3 'projected onto lane AB and the foot R10' projected onto lane AB by R10, i.e., the distance between S3 'and R10'.

When the third acquisition device is located (i.e., P3), the error of locating the terminal is: the absolute value of the difference between the drop foot S5 'projected to lane BC and the drop foot R15' projected to lane AB by S5, i.e. the distance between S5 'and R15'.

In some examples, the error values measured at the locations of the respective acquisition devices may be averaged to obtain a positioning error. In other alternative examples, calculating the positioning error may also be described as follows:

Optionally, the step 105: calculating a positioning error according to W 'fourth position parameters corresponding to the W' fourth time parameters and W 'second position parameters corresponding to the W' second time parameters, including:

In this example, the fourth time parameter corresponds to the second time parameter one by one, the difference between the fourth position parameter and the second position parameter is calculated, after a plurality of error values are obtained, the plurality of error values are sorted from small to large, an error value sequence is obtained, 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. 5, 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 the embodiment of the invention, the target carrier is controlled to run on the preset path provided with N acquisition devices, and the method is suitable for scenes such as long and narrow tunnels or rooms with long and narrow corridors.

And then, correcting a third time parameter output by the inertial navigation device according to the first time parameter of the target carrier sensed by the acquisition device so as to continuously correct the inertial navigation error to obtain a fourth time parameter with real inertial navigation, aligning the fourth time parameter with a second time parameter output by the terminal, reducing the time error allowed by alignment, and comparing a fourth position parameter corresponding to the fourth time parameter with a second position parameter corresponding to the second time parameter to obtain a positioning error. And the measurement error is reduced, so that the reliability of the positioning error test result is improved.

Referring to fig. 6, fig. 6 is a flowchart illustrating another positioning error testing method according to an embodiment of the invention. As shown in fig. 6, the positioning error testing method provided by the embodiment of the invention includes the following steps:

step 601, controlling a target carrier to run on a preset path, wherein the target carrier is provided with a terminal and an inertial navigation device, the preset path is provided with N acquisition devices which are arranged at intervals, the inertial navigation device periodically outputs a time parameter and a position parameter at a preset frequency, and N is an integer greater than or equal to 1;

step 602, obtaining N first time parameters and N first position parameters sensed by the N acquisition devices, W second time parameters and W second position parameters of the terminal, and M third time parameters and M third position parameters output by the inertial navigation device, where 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, the third time parameters are in one-to-one correspondence with the third position parameters, N and W are integers less than M, and W is greater than N;

step 603, correcting the M third time parameters according to the N first time parameters, and correcting the M third position parameters according to the N first position parameters, so as to obtain M fourth time parameters and M fourth position parameters respectively;

Step 604, determining W 'fourth location parameters closest to the W second location parameters from the M fourth location parameters, where W' is an integer less than or equal to W;

step 605, calculating a positioning error according to W 'fourth time parameters corresponding to the W' fourth position parameters and W 'second time parameters corresponding to the W' second position parameters.

Wherein, the step 603: correcting the M third time parameters according to the N first time parameters, and correcting the M third position parameters according to the N first position parameters to obtain M fourth time parameters and M fourth position parameters, respectively, including:

The absolute value of the difference between the mth third position parameter and the nth first position parameter is smaller than a third threshold, and the third threshold is an allowable position error.

Wherein, the step 604: determining W' fourth location parameters closest to the W second location parameters from the M fourth location parameters, including:

sequentially calculating absolute values of differences between the M fourth position parameters and a j-th second position parameter in the W second position parameters to obtain an absolute value set corresponding to the j-th second position parameter, wherein each absolute value in the absolute value set corresponding to the j-th second position parameter is smaller than or equal to a fourth threshold value, and j is a positive integer smaller than or equal to W;

and determining a kth fourth position parameter in the M fourth position parameters as a fourth position parameter closest to the jth second position parameter, wherein k is a positive integer smaller than M, the absolute value of the difference between the kth fourth position parameter and the jth second position parameter is the minimum value in an absolute value set corresponding to the jth second position parameter, and the fourth threshold can be equal to the third threshold.

And eliminating the j second position parameter from the W second position parameters under the condition that all absolute values in the absolute value set corresponding to the j second position parameter are larger than the fourth threshold.

Wherein, the step 605: calculating a positioning error according to W 'fourth time parameters corresponding to the W' fourth position parameters and W 'second time parameters corresponding to the W' second position parameters, including:

the W ' fourth position parameters and the W ' second position parameters are in one-to-one correspondence, and the difference values between the W ' fourth time parameters and the W ' second time parameters are calculated to obtain W ' error values;

And then, correcting the third position parameter output by the inertial navigation device according to the first position parameter of the acquisition device to continuously correct the inertial navigation error to obtain a fourth position parameter with true inertial navigation, aligning the fourth position parameter with the second position parameter output by the terminal, reducing the position error allowed by alignment, and comparing the fourth time parameter corresponding to the fourth position parameter with the second time parameter corresponding to the second position parameter to obtain a positioning error. And the measurement error is reduced, so that the reliability of the positioning error test result is improved.

The positioning error testing method provided by the embodiment of the invention is similar to each process implemented by the method embodiment shown in fig. 1, and can achieve the same beneficial effects, and in order to avoid repetition, the description is omitted here.

Referring to fig. 7, fig. 7 is a schematic structural diagram of a positioning error testing device according to an embodiment of the invention. As shown in fig. 7, the positioning error testing apparatus 700 includes:

the control module 701 is configured to control a target carrier to travel on a preset path, where the target carrier is provided with a terminal and an inertial navigation device, the preset path is provided with N acquisition devices arranged at intervals, the inertial navigation device periodically outputs a time parameter and a position parameter at a preset frequency, and N is an integer greater than or equal to 1;

The acquiring module 702 is configured to acquire N first time parameters and N first position parameters sensed by the N collecting devices, W second time parameters and W second position parameters of the terminal, and M third time parameters and M third position parameters output by the inertial navigation device, where 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, the third time parameters are in one-to-one correspondence with the third position parameters, N and W are integers less than M, and W is greater than N;

a correction module 703, configured to correct the M third time parameters according to the N first time parameters, and correct the M third position parameters according to the N first position parameters, so as to obtain M fourth time parameters and M fourth position parameters respectively;

a determining module 704, configured to determine W 'fourth time parameters closest to the W second time parameters from the M fourth time parameters, where W' is an integer less than or equal to W;

the calculating module 705 is configured to calculate a positioning error according to W 'fourth position parameters corresponding to the W' fourth time parameters and W 'second position parameters corresponding to the W' second time parameters.

Optionally, the correction module 703 includes:

the first replacing sub-module is used for replacing the mth third time parameter in the M third time parameters with the nth first time parameter in the N first time parameters, and updating the time parameter after the mth third time parameter in the M third time parameters to obtain M fourth time parameters;

the second replacing sub-module is used for replacing the mth third position parameter in the M third position parameters with the nth first position parameter in the N first position parameters, and updating the position parameters after the mth third position parameter in the M third position parameters to obtain M fourth position parameters, wherein M is a positive integer smaller than M, and N is a positive integer smaller than or equal to N;

Optionally, the determining module 704 includes:

the first calculation submodule is used for sequentially calculating absolute values of differences between the M fourth time parameters and the j second time parameters in the W second time parameters to obtain an absolute value set corresponding to the j second time parameters, wherein each absolute value in the absolute value set corresponding to the j second time parameters is smaller than or equal to a second threshold value, and j is a positive integer smaller than or equal to W;

A first determining submodule, configured to determine a kth fourth time parameter of the M fourth time parameters as a fourth time parameter closest to the jth second time parameter, where k is a positive integer smaller than M, and an absolute value of a difference between the kth fourth time parameter and the jth second time parameter is a minimum value in an absolute value set corresponding to the jth second time parameter.

Optionally, the first determining submodule is further configured to reject the jth second time parameter from the W second time parameters if all absolute values in the absolute value set corresponding to the jth second time parameter are greater than the second threshold.

Optionally, the computing module 705 includes:

the second calculating sub-module is used for corresponding the W ' fourth time parameters to the W ' second time parameters one by one, and calculating the difference values between the W ' fourth position parameters and the W ' second position parameters to obtain W ' error values;

the sequencing sub-module is used for sequencing the W' error values from small to large to obtain an error value sequence;

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

Optionally, the acquiring module 702 includes:

and the first correction submodule is used for correcting the N original time parameter values sensed by the N acquired acquisition equipment according to the time delay of data transmission of each acquisition equipment in the N acquisition equipment to obtain N first time parameters.

Optionally, the acquiring module 702 includes:

and the second correction submodule is used for correcting the obtained W original time parameter values of the terminal according to the time delay of the terminal for transmitting the data and the time delay of the terminal for calculating the data to obtain W second time parameters.

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.

Referring to fig. 8, fig. 8 is a schematic structural diagram of another positioning error testing apparatus according to an embodiment of the invention. As shown in fig. 8, the positioning error testing apparatus 800 includes:

the control module 801 is configured to control a target carrier to travel on a preset path, where the target carrier is provided with a terminal and an inertial navigation device, the preset path is provided with N acquisition devices arranged at intervals, the inertial navigation device periodically outputs a time parameter and a position parameter at a preset frequency, and N is an integer greater than or equal to 1;

The acquiring module 802 is configured to acquire N first time parameters and N first position parameters sensed by the N collecting devices, W second time parameters and W second position parameters of the terminal, and M third time parameters and M third position parameters output by the inertial navigation device, where 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, the third time parameters are in one-to-one correspondence with the third position parameters, N and W are integers less than M, and W is greater than N;

the correction module 803 is configured to correct the M third time parameters according to the N first time parameters, and correct the M third position parameters according to the N first position parameters, so as to obtain M fourth time parameters and M fourth position parameters respectively;

a determining module 804, configured to determine W 'fourth location parameters closest to the W second location parameters from the M fourth location parameters, where W' is an integer less than or equal to W;

the calculating module 805 is configured to calculate a positioning error according to W 'fourth time parameters corresponding to the W' fourth position parameters and W 'second time parameters corresponding to the W' second position parameters.

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

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

calculating a positioning error according to W 'fourth position parameters corresponding to the W' fourth time parameters and W 'second position parameters corresponding to the W' second time parameters;

wherein, calculating the positioning error according to the W 'fourth position parameters corresponding to the W' fourth time parameters and the W 'second position parameters corresponding to the W' second time parameters includes:

2. The method of claim 1, wherein the correcting the M third time parameters according to the N first time parameters and the correcting the M third position parameters according to the N first position parameters respectively obtain M fourth time parameters and M fourth position parameters includes:

3. The method of claim 1, wherein the determining W fourth time parameters closest to the W second time parameters from the M fourth time parameters comprises:

4. A method according to claim 3, wherein the j-th second time parameter is rejected from the W second time parameters in case all absolute values in the set of absolute values corresponding to the j-th second time parameter are larger than the second threshold.

5. The method of claim 1, wherein the acquiring the N first time parameters that the N acquisition devices sensed the target carrier comprises:

6. The method of claim 1, wherein the obtaining W second time parameters for the terminal comprises:

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

calculating a positioning error according to W 'fourth time parameters corresponding to the W' fourth position parameters and W 'second time parameters corresponding to the W' second position parameters;

wherein, calculating the positioning error according to the W 'fourth time parameters corresponding to the W' fourth position parameters and the W 'second time parameters corresponding to the W' second position parameters includes:

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

the calculation module is used for calculating a positioning error according to W 'fourth position parameters corresponding to the W' fourth time parameters and W 'second position parameters corresponding to the W' second time parameters;

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

the calculation module is used for calculating a positioning error according to W 'fourth time parameters corresponding to the W' fourth position parameters and W 'second time parameters corresponding to the W' second position parameters;