WO2021077587A1

WO2021077587A1 - Differential data processing method, and receiver testing method

Info

Publication number: WO2021077587A1
Application number: PCT/CN2019/126700
Authority: WO
Inventors: 陈永耀; 邱中毅; 高峰; 许祥滨; 孙功宪; 王慧琪; 张美玲; 张志林
Original assignee: 泰斗微电子科技有限公司
Priority date: 2019-10-23
Filing date: 2019-12-19
Publication date: 2021-04-29
Also published as: CN110837091B; CN110837091A

Abstract

Embodiments of the present application are applicable to the technical field of testing, and provide a differential data processing method and a receiver testing method. The differential data processing method is applicable to terminal apparatuses, and comprises: acquiring multiple differential data frames having a specific data frame structure; identifying each of the differential data frames according to the data frame structure; adding time information to each of the differential data frames separately, and storing each of the differential data frames with the added time information as a differential data file; upon detecting target time information output by a receiver, retrieving target differential data from the differential data file according to the target time information; and sending to the receiver the target differential data, which is used to instruct the receiver to perform a positioning test. The embodiments acquire differential data by using a terminal apparatus, thereby reducing overheads of acquiring differential data.

Description

Differential data processing method and receiver test method

Technical field

This application belongs to the field of testing technology, and particularly relates to a differential data processing method and a receiver testing method.

Background technique

The Global Navigation Satellite System (GNSS) receiver is a device that tracks navigation satellite signals to achieve positioning in the fields of survey, surveying and mapping, agriculture, and drones. Commonly used navigation-type GNSS receivers only need to receive satellite signals in the sky, usually with an accuracy above the meter level; while higher-precision GNSS receivers, in addition to receiving satellite signals in the sky, also need to use differential data for testing and correction. , The accuracy can reach above centimeter level.

At present, the differential data used by high-precision GNSS receivers can be purchased from a third-party company, or can be obtained by using a satellite signal simulator or a base station built by yourself to output the differential data, or by using a radio frequency acquisition and playback system. However, all of the above methods have certain drawbacks.

For example, obtaining differential data through the use of a radio frequency acquisition and playback system requires the use of two high-precision GNSS receivers, one as a mobile station and one as a reference station to receive the playback signals at the same time. Not only does the amount of data that need to be processed are large, but the entire operation process is also very important. Trivial and complicated. By purchasing differential data from a third-party company, or using your own base station to output differential data, it may be affected by the network communication speed, resulting in data transmission delays, and it is impossible to accurately control the on-off of the transmission. It needs to be re-tested every time. When receiving differential data, the previously received differential data cannot be reused, which easily leads to an increase in test costs. However, by using a satellite signal simulator to output differential data, there will be a certain difference between the satellite signal output by the simulator and the satellite signal in the real application environment, resulting in errors in the test and affecting the accuracy of subsequent positioning.

Summary of the invention

In view of this, the embodiments of the present application provide a differential data processing method and a receiver testing method to solve the problem that differential data cannot be easily obtained when testing a GNSS receiver in the prior art.

The first aspect of the embodiments of the present application provides a differential data processing method, which is suitable for terminal equipment, and the method includes:

Collecting multiple frames of differential data, the multiple frames of differential data having a specific data frame structure;

Identify the differential data of each frame according to the data frame structure;

Adding time information to each frame of differential data respectively, and saving each frame of differential data with time information added as a differential data file;

When the target time information output by the receiver is detected, the target difference data is retrieved in the difference data file according to the target time information;

The target differential data is sent to the receiver, and the target differential data is used to instruct the receiver to perform a positioning test.

The second aspect of the embodiments of the present application provides a receiver testing method, including:

When receiving an instruction to perform a receiver test, output a format sentence to the terminal device, and the format sentence includes target time information;

Receive target difference data returned by the terminal device for the target time information, the target difference data being retrieved by the terminal device from a preset difference data file according to the target time information, the preset difference The data file is generated by the terminal device collecting multiple frames of differential data and adding time information to each frame of differential data;

The positioning test is performed using the target differential data.

The third aspect of the embodiments of the present application provides a differential data processing device, which is suitable for terminal equipment, and the device includes:

An acquisition module for acquiring multi-frame differential data, the multi-frame differential data having a specific data frame structure;

The identification module is used to identify the differential data of each frame according to the data frame structure;

An adding module for adding time information to each frame of differential data;

The save module is used to save each frame of differential data with time information as a differential data file;

The retrieval module is used to retrieve target difference data in the difference data file according to the target time information when the target time information output by the receiver is detected;

The sending module is configured to send the target differential data to the receiver, and the target differential data is used to instruct the receiver to perform a positioning test.

A fourth aspect of the embodiments of the present application provides a receiver testing device, including:

The output module is used for outputting a format sentence to the terminal device when an instruction to perform a receiver test is received, and the format sentence includes target time information;

The receiving module is configured to receive the target difference data returned by the terminal device for the target time information, the target difference data being retrieved by the terminal device from a preset difference data file according to the target time information, so The preset differential data file is generated by the terminal device collecting multiple frames of differential data and adding time information to each frame of differential data;

The test module is used to perform a positioning test using the target differential data.

The fifth aspect of the embodiments of the present application provides a terminal device, including a memory, a processor, and a computer program stored in the memory and running on the processor. When the processor executes the computer program, The steps of the differential data processing method as described in the above first aspect are implemented.

The sixth aspect of the embodiments of the present application provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the Processing method steps.

Compared with the prior art, the embodiments of the present application include the following advantages:

In the embodiment of this application, by collecting multiple frames of differential data, each frame of differential data can be identified according to the data frame structure of the differential data, and then time information is added to each frame of differential data, and each frame with time information is added. The frame difference data is saved as a difference data file, so that when the target time information output by the receiver is detected, the target difference data can be retrieved from the difference data file according to the target time information, and the target difference data can be instructed by sending the target difference data to the receiver. The receiver performs the corresponding positioning test. This embodiment collects differential data through terminal equipment, and no special or dedicated equipment is needed during the collection process, which reduces the cost of differential data collection; at the same time, by adding time information to each frame of differential data, the saved differential data can be Repeated use, only need to collect the differential data once, it can be used in the multi-test test process. There is no need to collect the differential data in real time during each test, which further reduces the cost of the test and solves the problem that may be caused by the influence of the network communication speed. Data transmission delay and other issues have improved the accuracy of subsequent tests.

Description of the drawings

In order to more clearly describe the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative work.

FIG. 1 is a schematic flowchart of steps of a method for processing differential data according to an embodiment of the present application;

2 is a schematic flowchart of steps of another differential data processing method according to an embodiment of the present application;

FIG. 3 is a schematic flowchart of the steps of another differential data processing method according to an embodiment of the present application;

4 is a schematic flowchart of steps of a receiver testing method according to an embodiment of the present application;

FIG. 5 is a schematic diagram of a data collection process according to an embodiment of the present application;

Fig. 6 is a schematic diagram of a data playback process according to an embodiment of the present application;

Fig. 7 is a schematic diagram of a differential data processing device according to an embodiment of the present application;

FIG. 8 is a schematic diagram of a test device for a receiver according to an embodiment of the present application;

Fig. 9 is a schematic diagram of a terminal device according to an embodiment of the present application.

Detailed ways

In the following description, for the purpose of illustration rather than limitation, specific details such as a specific system structure and technology are proposed for a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application can also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid unnecessary details from obstructing the description of this application.

The technical solutions of the present application will be described below through specific embodiments.

Referring to FIG. 1, there is shown a schematic flow chart of the steps of a method for processing differential data according to an embodiment of the present application, which may specifically include the following steps:

S101. Collect multiple frames of differential data, where the multiple frames of differential data have a specific data frame structure;

It should be noted that this method can be applied to terminal devices. That is, the execution subject of this embodiment is the terminal device, and the differential data is collected and processed through the terminal device, so that the processed differential data can be used for the receiver to perform high-precision positioning testing, which solves the problem of the high-precision receiver in the development, verification, and manufacturing The problem that the differential data cannot be easily obtained in the process. The foregoing terminal device may be a device such as a mobile phone, a computer, or a vehicle-mounted terminal, and the specific type of the terminal device is not limited in this embodiment.

Generally, the differential data conforms to a certain standard protocol. For example, RTCM3.2 standard protocol. RTCM is the abbreviation of Radio Technology Committee for International Maritime Industry. RTCM3.2 is a data transmission format proposed by the committee and commonly used to formulate standards for global navigation and positioning systems and real-time dynamic operations.

The differential data collected in this embodiment may be differential data complying with the above RTCM3.2 standard protocol. Of course, depending on the actual usage, the collected differential data may also be data conforming to other standards or protocols, which is not limited in this embodiment.

Because each standard or agreement will standardize the corresponding data structure. For example, specify the format of the frame header, specify the length of the data frame, and so on. Therefore, for any differential data, the data frame structure of the differential data can be determined on the basis of the standard or protocol it complies with.

S102. Identify each frame of differential data according to the data frame structure;

In this embodiment, the processing of the differential data may be performed frame by frame. Therefore, after collecting multiple frames of differential data, each frame of differential data can be identified separately according to the data frame structure of the differential data.

S103: Add time information to each frame of differential data respectively, and save each frame of differential data to which the time information is added as a differential data file;

In this embodiment, the time information added for each frame of differential data may refer to the time when the frame of differential data is received, and the above-mentioned time information may be added to the differential data of a corresponding frame in the form of a time stamp.

After the time information is added to all the differential data, you can save all the differential data as a differential data file for subsequent receiver testing. Of course, it is also possible to save the frame difference data after adding time information to each frame of difference data, which is not limited in this embodiment.

S104: When detecting the target time information output by the receiver, retrieve target difference data in the difference data file according to the target time information;

The receiver in this embodiment may be a GNSS receiver. The differential data collected, processed and stored through the foregoing steps can be used for testing of the receiver.

In a specific implementation, the receiver can first output a piece of time information when testing. The time information may be the time output after the receiver actually receives the radio frequency data. That is, by connecting the receiver with the radio frequency data acquisition and playback device, the radio frequency data acquisition and playback device directly collects GNSS satellite signals (radio frequency data), and then outputs the corresponding time information.

After detecting the time information, the terminal device can search from the stored difference data file according to the time information, and find the difference data added with the same time information as the target difference data for subsequent tests.

S105. Send the target differential data to the receiver, where the target differential data is used to instruct the receiver to perform a positioning test.

After the target differential data is sent to the receiver, the receiver can use the differential data to perform corresponding positioning tests. For example, the rationality and accuracy of the positioning algorithm can be verified.

In the embodiment of the present application, by collecting multiple frames of differential data, each frame of differential data can be identified according to the data frame structure of the differential data, and then time information is added to each frame of differential data, and the time information is added. Each frame of differential data is saved as a differential data file, so that when the target time information output by the receiver is detected, the target differential data can be retrieved from the differential data file according to the target time information, and the target differential data is sent to the receiver. The receiver can be instructed to perform the corresponding positioning test. This embodiment collects differential data through terminal equipment, and no special or dedicated equipment is needed during the collection process, which reduces the cost of differential data collection; at the same time, by adding time information to each frame of differential data, the saved differential data can be Repeated use, only need to collect the differential data once, it can be used in the multi-test test process. There is no need to collect the differential data in real time during each test, which further reduces the cost of the test and solves the problem that may be caused by the influence of the network communication speed. Data transmission delay and other issues have improved the accuracy of subsequent tests.

Referring to FIG. 2, there is shown a schematic flow diagram of the steps of another differential data processing method according to an embodiment of the present application, which may specifically include the following steps:

S201. Receive multi-frame differential data transmitted by a preset reference station or a data party, where the multi-frame differential data has a specific data frame structure;

The execution subject of this embodiment is a terminal device, and the differential data collected, processed, and stored by the terminal device can be provided to the GNSS receiver for positioning test.

In a specific implementation, the terminal device can receive the differential data transmitted by the reference station or a third-party data party for processing.

For example, you can install an application that is compatible with the base station on the terminal device, establish a communication connection between the application and the base station, and then receive the differential data transmitted by the base station through the application.

Alternatively, it is also possible to obtain a dedicated application program for receiving differential data from a third-party data party and install it on the terminal device, and obtain the differential data provided by the third-party data party by operating on the application program. The aforementioned third-party data provider may be a company or unit that specializes in providing differential data.

Generally, the differential data conforms to a certain standard or protocol. According to the differential data format defined by the standard or protocol, the data frame structure of the received differential data can be determined.

S202: Read preset bytes of to-be-detected data in the multi-frame differential data;

When identifying each frame of differential data, you can first read consecutive N bytes of data from the received data. The above N bytes can be the length of a frame of differential data specified by the current standard or protocol, or the length of a certain part of a frame of differential data, such as the length of the frame header of the data frame. This embodiment does not do this. limited.

S203: According to the data frame structure, detect whether the to-be-detected data includes a data frame header;

As an example of the present application, a frame of differential data can be determined by identifying the header of the data frame. Therefore, after reading N bytes of data, it is possible to first detect whether the data frame header is included in the N bytes.

For example, take the RTCM3.2 standard protocol as an example. According to the RTCM3.2 standard protocol, in the RTCM3.2 data frame, the frame header is fixed as "11010011", so you can first judge whether the read N bytes include the above-mentioned "11010011" data segment, if any, Then, the data length and the CRC (Cyclic Redundancy Check, cyclic redundancy check) check result can continue to be combined to determine whether the "11010011" data segment is a true frame header.

After testing, if the read N bytes include the data frame header, step S204 can be executed, starting from the data frame header, and sequentially identifying the differential data of each frame.

S204: Starting from the frame header of the data frame, sequentially identify the differential data of each frame;

For example, the length of a frame of differential data in the protocol can be determined first, and then starting from the detected frame header, a piece of data of corresponding length can be read sequentially as a frame of differential data. Alternatively, it is also possible to identify the frame headers of the received multi-frame differential data, and regard a certain frame header and the part between the frame header and the subsequent frame header as one frame of differential data.

S205. Determine the system time of each frame of differential data separately according to the data frame structure, where the system time is the time of the satellite navigation system tracked by the receiver;

Generally, according to the protocol definition, the data frame structure of a frame of differential data includes the corresponding system time, and the system time may refer to the time of the satellite navigation system tracked by the receiver. For example, it may be a GPS system (Global Positioning System), a BDS system (BeiDou Navigation Satellite System, Beidou satellite navigation system) or other satellite navigation systems, which is not limited in this embodiment.

S206. Convert the system time to Coordinated Universal Time, and use the Coordinated Universal Time to add time information to each frame of differential data.

Generally, the system time and UTC have a certain conversion relationship. After obtaining the current system time, the system time can be converted to the corresponding UTC time according to the type of navigation system used by the receiver.

Take the GPS system as the target navigation system as an example. Generally, GPS time=UTC+leap second, GPS time uses UTC as the reference object, and the zero time is midnight on January 5, 1980, that is, zero on January 6, 1980. Therefore, according to the GPS time, GPS zero time, and leap second parameters, the corresponding UTC time can be converted.

The above-mentioned UTC time can be converted into a time stamp according to the corresponding format as the time information of a frame of differential data.

It should be noted that for different versions of the differential data protocol, you can parse out the time information according to the specific protocol definition and add a time stamp to the differential data. In the file that has been added with a time stamp, you can also directly modify this file Differential data content, so that it can be applied to the fault-tolerant verification of the receiver when the differential data is wrong.

S207: In accordance with the sequence of the time information, sequentially save each frame of differential data with time information as a differential data file;

When saving each frame of differential data with time information as a differential data file, it can be arranged in a certain order. For example, the difference data of each frame can be arranged in the order of time information, and then saved as a difference data file.

S208: When the target time information output by the receiver is detected, retrieve target difference data in the difference data file according to the target time information;

S209. Send the target differential data to the receiver, where the target differential data is used to instruct the receiver to perform a positioning test.

Since steps S208-S209 in this embodiment are basically the same as steps S104-S105 in the foregoing embodiment, they can be referred to each other, which will not be repeated in this embodiment.

In this embodiment, according to the protocol definition of the differential data, the differential data of each frame is identified, and after the corresponding time information is added to it, it is saved as a differential data file in a certain order, so that the saved differential data can be repeated Use, only need to collect the differential data once, it can be used in the process of multiple tests, and there is no need to collect the differential data in real time during each test; save the processed differential data in a certain order, which is beneficial to speed up the follow-up of the differential data The search speed when searching the target difference data of a certain time information in the file.

Referring to FIG. 3, there is shown a schematic flow diagram of the steps of another differential data processing method according to an embodiment of the present application, which may specifically include the following steps:

S301. Collect multiple frames of differential data, where the multiple frames of differential data have a specific data frame structure;

S302. Identify the differential data of each frame according to the data frame structure;

S303: Add time information to each frame of differential data respectively, and save each frame of differential data with time information added as a differential data file;

Since steps S301-S303 in this embodiment are basically the same as steps S101-S103 and S201-S207 in the foregoing embodiment, they can be referred to each other, and details are not repeated in this embodiment.

S304: When the format sentence output by the receiver is detected, extract the target time information in the format sentence;

Generally, the receiver will output a corresponding format sentence in a certain format when testing, and the format sentence contains positioning data, time information, and so on. The position of the time information in the format sentence can be determined according to the protocol definition, and then the time information of the position can be extracted.

It should be noted that the above-mentioned time information may be the time output after the receiver actually receives the radio frequency data. That is, by connecting the receiver with the radio frequency data acquisition and playback device, the radio frequency data acquisition and playback device directly collects GNSS satellite signals (radio frequency data), and then outputs the corresponding time information.

S305: Retrieve the target difference data corresponding to the same time information as the target time information in the difference data file;

When retrieving the target difference data, you can traverse the time information of each frame difference data in the saved difference data file based on the extracted time information, and when the difference data that is the same as the time information output by the receiver is retrieved, You can extract the frame difference data and stop searching.

S306. Send the target differential data to the receiver, where the target differential data is used to instruct the receiver to perform a positioning test.

In a specific implementation, the terminal device can choose to send the frame differential data immediately or after a certain time delay according to actual needs, which is not limited in this embodiment.

Referring to FIG. 4, there is shown a schematic flowchart of the steps of a receiver testing method according to an embodiment of the present application, which may specifically include the following steps:

S401: When receiving an instruction to perform a receiver test, output a format sentence to a terminal device, where the format sentence includes target time information;

It should be noted that this method can be applied to the receiver. That is, the execution subject of this embodiment is the receiver, and the receiver test can be completed by receiving the differential data collected and processed by the foregoing embodiment.

In this embodiment, the test for the receiver can be triggered by instructions. In other words, when the test is started, a test command can be sent to the receiver. In response to the above test command, the receiver can output a format statement in a specific format after actually receiving the radio frequency data, and the format statement contains target time information.

S402. Receive target differential data returned by the terminal device for the target time information, where the target differential data is retrieved by the terminal device from a preset differential data file according to the target time information, and the preset The differential data file is generated by the terminal device collecting multiple frames of differential data and adding time information to each frame of differential data;

In this embodiment, after the terminal device detects the format sentence output by the receiver, by extracting the target time information from the format sentence, the time corresponding to the timestamp can be found from the preset difference data file according to the target time information. The target difference data with the same information as the above target time information is returned to the receiver.

The above-mentioned preset differential data file can be generated by the terminal device by collecting multiple frames of differential data and adding time information to each frame of differential data. For the specific process, please refer to the introduction of each step in the differential data processing method of the foregoing embodiment. I won't repeat this example.

S403. Use the target differential data to perform a positioning test.

In this embodiment, the test is performed by receiving the differential data collected and processed by the terminal device, and no special or special equipment is needed in the collection process, which reduces the instrument cost of the differential data during the test; at the same time, due to the saved differential data The data can be reused, and the differential data only needs to be collected once to be used in the multi-test test process. There is no need to collect the differential data in real time during each test, which further reduces the cost of the test.

For ease of understanding, the following describes the differential data processing method and the receiver testing method of this embodiment in conjunction with a specific example.

The whole receiver test process includes two parts, namely data acquisition and data playback. The data acquisition part is mainly to collect, process and save differential data and satellite signal data; the data playback part is to use the collected data to test the receiver.

As shown in FIG. 5, it is a schematic diagram of the data collection process of this embodiment. The entire data acquisition process includes GNSS satellite signal data (RF data) acquisition and GNSS differential data acquisition. GNSS satellite signal data collection can use GNSS satellite signal collector (radio frequency acquisition and playback instrument), GNSS differential data collection can use smart terminal equipment, such as mobile phones, computers, vehicle terminals, and so on. Among them, the signal source of the GNSS satellite signal can be the GNSS satellite signal from the actual antenna or the GNSS satellite signal from the satellite signal simulator. In this process, the collected GNSS satellite signals can be saved in the hard disk of the radio frequency acquisition and playback device, and used in conjunction with the subsequent collected GNSS differential data. The GNSS differential data can be differential data from the Internet, actual reference stations, differential data provided by a third party through the network, or even differential data from reference stations set up by yourself. In this process, you can use the application installed on the smart terminal device to directly collect the GNSS differential data, and at the same time, analyze the time information of each frame and add it to the GNSS differential data, and finally save it in the file of the terminal device and store it in the terminal. On the device's memory. For the collection, processing, and storage of GNSS differential data, reference may be made to the introduction of steps S201-S207 in the foregoing embodiment.

As shown in Figure 6, it is a schematic diagram of the data playback process of this embodiment. The entire data playback process includes GNSS satellite signal data playback and GNSS differential data playback. Among them, the radio frequency acquisition and playback instrument replays the collected GNSS satellite signal data, and the GNSS receiver to be tested receives the playback signal and outputs time information. When the application on the terminal device plays back the GNSS differential data, after the application receives the time information output by the GNSS receiver to be tested, it searches the saved differential data file according to the detected time information, and retrieves the same time After receiving the information, the application can choose whether to send the frame of differential data to the GNSS receiver under test according to actual needs, choose to send it immediately or send the frame of differential data after a certain delay.

For example, the information output by the receiver can be expressed as follows:

"$GNGGA,035117.00,2308.477816,N,11329.968626,E,4,18,0.70,35.7,M,-4.3,M,1.0,1136*46"

After identification, the time information contained is "035117.00". Then, retrieve the corresponding time information from the saved GNSS differential data. For example, the time stamped GNSS differential data includes the following data:

"

………………..

035115.00, xxxxx

035116.00, xxxxx

035117.00, xxxxx

035118.00, xxxxx

………………..

"

Then the retrieved target differential data is "035117.00, xxxxx". At this time, the frame differential data can be sent to the GNSS receiver, and the receiver uses the frame differential data for testing.

In this embodiment, differential data collection can be performed directly through the terminal device, without other special or dedicated equipment. In order to cooperate with the satellite signal data for R&D algorithm verification, factory mass production testing, customer acceptance testing, etc., it is only necessary to add an RF acquisition and playback device on this basis. There is no need to use multiple RF acquisition and playback devices, which reduces data collection. Cost of the instrument.

Secondly, the differential data collected in this embodiment can be directly stored on the terminal device in the form of text, the amount of data is greatly reduced compared with the radio frequency data collected from the reference station, and the data storage is simpler and more convenient.

Third, this embodiment can be applied to different scenarios such as simulator signals and actual satellite signals at the same time. During the acquisition process, various external input environments can be relatively fixed, which is conducive to the reproduction of scene problems and test verification problems. Research on the algorithm of GNSS differential positioning.

Fourth, when the differential data is played back, the on and off of the differential data can be flexibly controlled to simulate the actual network communication, so as to facilitate the study of the effect of the on and off of the differential data on the performance of the receiver, and to facilitate the research and verification of the algorithm; the playback of the differential data , You can also directly modify the content of the differential data that has been added with a time stamp to facilitate the research and verification of the GNSS differential calculation.

Fifth, with the repeated use of differential data and radio frequency data, it can be applied to R&D algorithm verification, factory mass production testing, customer acceptance testing, etc., reducing the cost of R&D, mass production, and acceptance verification of GNSS differential calculation, and reducing rental The cost of third-party GNSS differential data. When collecting RF data and differential data, the time does not need to be strictly aligned. During playback, the differential data and RF data can be aligned according to the time provided by the receiver, which is simple to implement. By using the method of directly analyzing the time information in the differential data, and combining the UTC time output by the receiver after actually receiving the radio frequency data to send each frame of the differential data, it can ensure that the data of each frame in the differential data and the data played by the radio frequency are accurate Alignment, there will be no accumulation of time errors.

It should be noted that the size of the sequence number of each step in the above embodiment does not mean the order of execution. The execution sequence of each process should be determined by its function and internal logic, and should not constitute any implementation process of the embodiments of this application. limited.

Referring to FIG. 7, a schematic diagram of a differential data processing apparatus according to an embodiment of the present application is shown. The apparatus is suitable for terminal equipment and may specifically include the following modules:

The collection module 701 is used to collect multiple frames of differential data, where the multiple frames of differential data have a specific data frame structure;

The identification module 702 is configured to identify each frame of differential data according to the data frame structure;

The adding module 703 is configured to add time information to each frame of differential data respectively;

The saving module 704 is configured to save each frame of differential data with time information added as a differential data file;

The retrieval module 705 is configured to retrieve target difference data in the difference data file according to the target time information when the target time information output by the receiver is detected;

The sending module 706 is configured to send the target differential data to the receiver, and the target differential data is used to instruct the receiver to perform a positioning test.

In the embodiment of the present application, the collection module 701 may specifically include the following sub-modules:

The differential data receiving sub-module is used to receive the multi-frame differential data transmitted by the preset reference station or the data party.

In the embodiment of the present application, the identification module 702 may specifically include the following sub-modules:

The data to be detected reading sub-module is used to read preset bytes of data to be detected in the multi-frame differential data;

The data frame header detection sub-module is configured to detect whether the data to be detected includes a data frame header according to the data frame structure;

The differential data identification sub-module is used to identify the differential data of each frame in sequence starting from the data frame header if the data to be detected includes a data frame header.

In the embodiment of the present application, the adding module 703 may specifically include the following sub-modules:

The system time determining sub-module is configured to determine the system time of each frame of differential data according to the data frame structure, and the system time is the time of the satellite navigation system tracked by the receiver;

Coordinated universal time conversion sub-module for converting the system time into coordinated universal time;

The time information adding sub-module is used to adopt the coordinated universal time to add time information to the difference data of each frame.

In the embodiment of the present application, the saving module 704 may specifically include the following sub-modules:

The differential data file saving sub-module is used to sequentially save each frame of differential data added with time information as a differential data file according to the sequence of the time information.

In the embodiment of the present application, the retrieval module 705 may specifically include the following sub-modules:

The target time information extraction sub-module is used to extract the target time information in the format sentence when the format sentence output by the receiver is detected;

The target difference data retrieval sub-module is used to retrieve the target difference data corresponding to the same time information as the target time information in the difference data file.

Referring to FIG. 8, a schematic diagram of a receiver testing device according to an embodiment of the present application is shown, which may specifically include the following modules:

The output module 801 is configured to output a format sentence to the terminal device when receiving an instruction to perform a receiver test, and the format sentence includes target time information;

The receiving module 802 is configured to receive the target difference data returned by the terminal device for the target time information, and the target difference data can be retrieved by the terminal device from a preset difference data file according to the target time information The preset differential data file may be generated by the terminal device collecting multiple frames of differential data and adding time information to each frame of differential data;

The test module 803 is configured to use the target differential data to perform a positioning test.

As for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and for related parts, please refer to the description of the method embodiment part.

Referring to FIG. 9, a schematic diagram of a terminal device according to an embodiment of the present application is shown. As shown in FIG. 9, the terminal device 900 of this embodiment includes a processor 910, a memory 920, and a computer program 921 that is stored in the memory 920 and can run on the processor 910. When the processor 910 executes the computer program 921, the steps in each embodiment of the above-mentioned differential data processing method are implemented, for example, steps S101 to S105 shown in FIG. 1. Alternatively, when the processor 910 executes the computer program 921, the functions of the modules/units in the foregoing device embodiments, for example, the functions of the modules 701 to 706 shown in FIG. 7 are realized.

Exemplarily, the computer program 921 may be divided into one or more modules/units, and the one or more modules/units are stored in the memory 920 and executed by the processor 910 to complete This application. The one or more modules/units may be a series of computer program instruction segments capable of completing specific functions, and the instruction segments may be used to describe the execution process of the computer program 921 in the terminal device 900. For example, the computer program 921 can be divided into a collection module, an identification module, an adding module, a saving module, a retrieval module, and a sending module. The specific functions of each module are as follows:

The terminal device 900 may be a computing device such as a desktop computer, a notebook, or a palmtop computer. The terminal device 900 may include, but is not limited to, a processor 910 and a memory 920. Those skilled in the art can understand that FIG. 9 is only an example of the terminal device 900, and does not constitute a limitation on the terminal device 900. It may include more or less components than those shown in the figure, or combine certain components, or different components. For example, the terminal device 900 may also include input and output devices, network access devices, buses, and so on.

The processor 910 may be a central processing unit (Central Processing Unit, CPU), other general-purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), Ready-made programmable gate array (Field-Programmable GateArray, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor or the like.

The memory 920 may be an internal storage unit of the terminal device 900, such as a hard disk or a memory of the terminal device 900. The memory 920 may also be an external storage device of the terminal device 900, such as a plug-in hard disk equipped on the terminal device 900, a smart memory card (Smart Media Card, SMC), and a Secure Digital (SD) Card, Flash Card and so on. Further, the memory 920 may also include both an internal storage unit of the terminal device 900 and an external storage device. The memory 920 is used to store the computer program 921 and other programs and data required by the terminal device 900. The memory 920 can also be used to temporarily store data that has been output or will be output.

The embodiment of the present application also discloses a computer-readable storage medium, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, it can realize the processing of differential data as described in the above-mentioned various method embodiments. Method steps.

The above-mentioned embodiments are only used to illustrate the technical solution of the present application, but not to limit it. Although this application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or equivalently replace some of the technical features; and these Modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.

Claims

A method for processing differential data, characterized in that it is suitable for terminal equipment, and the method includes:

Collecting multiple frames of differential data, the multiple frames of differential data having a specific data frame structure;

Identify the differential data of each frame according to the data frame structure;

Adding time information to each frame of differential data respectively, and saving each frame of differential data with time information added as a differential data file;

When the target time information output by the receiver is detected, the target difference data is retrieved in the difference data file according to the target time information;

The target differential data is sent to the receiver, and the target differential data is used to instruct the receiver to perform a positioning test.
The method according to claim 1, wherein the step of collecting multiple frames of differential data comprises:

Receive multi-frame differential data transmitted by a preset base station or data party.
The method according to claim 1, wherein the step of identifying the differential data of each frame according to the data frame structure comprises:

Reading preset bytes of to-be-detected data in the multi-frame differential data;

According to the data frame structure, detecting whether the data to be detected includes a data frame header;

If the data to be detected includes a data frame header, then starting from the data frame header, each frame of differential data is sequentially identified.
The method according to claim 3, wherein the step of adding time information to each frame of differential data respectively comprises:

Respectively determine the system time of each frame of differential data according to the data frame structure, where the system time is the time of the satellite navigation system tracked by the receiver;

Converting the system time into coordinated universal time;

Using the coordinated universal time, time information is added to each frame of differential data.
The method according to claim 4, wherein the step of saving each frame of differential data with time information added as a differential data file comprises:

In accordance with the sequence of the time information, each frame of differential data added with time information is sequentially saved as a differential data file.
The method according to claim 1, wherein when the target time information output by the receiver is detected, the step of retrieving target difference data in the difference data file according to the target time information comprises:

When the format sentence output by the receiver is detected, extract the target time information in the format sentence;

The target difference data corresponding to the same time information as the target time information is retrieved from the difference data file.
A receiver testing method, which is characterized in that it comprises:

When receiving an instruction to perform a receiver test, output a format sentence to the terminal device, and the format sentence includes target time information;

Receive target difference data returned by the terminal device for the target time information, the target difference data being retrieved by the terminal device from a preset difference data file according to the target time information, the preset difference The data file is generated by the terminal device collecting multiple frames of differential data and adding time information to each frame of differential data;

The positioning test is performed using the target differential data.
A differential data processing device, characterized in that it is suitable for terminal equipment, and the device includes:

An acquisition module for acquiring multi-frame differential data, the multi-frame differential data having a specific data frame structure;

The identification module is used to identify the differential data of each frame according to the data frame structure;

An adding module for adding time information to each frame of differential data;

The save module is used to save each frame of differential data with time information as a differential data file;

The retrieval module is used to retrieve target difference data in the difference data file according to the target time information when the target time information output by the receiver is detected;

The sending module is configured to send the target differential data to the receiver, and the target differential data is used to instruct the receiver to perform a positioning test.
A terminal device, comprising a memory, a processor, and a computer program stored in the memory and running on the processor, wherein the processor executes the computer program as claimed in claims 1 to 6. Steps of any one of the differential data processing methods.
A computer-readable storage medium storing a computer program, wherein the computer program is executed by a processor to implement the differential data processing method according to any one of claims 1 to 6 A step of.