CN111027019B - Method and device for statistically analyzing confidence coefficient of high-precision positioning result - Google Patents
Method and device for statistically analyzing confidence coefficient of high-precision positioning result Download PDFInfo
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Abstract
The invention provides a method and a device for statistically analyzing the confidence coefficient of a high-precision positioning result, which comprises the following steps: obtaining confidence information and positioning position information through a positioning result file, wherein the confidence information comprises a horizontal confidence radius and an elevation confidence radius; obtaining a positioning error according to the positioning position information and a reference positioning file, wherein the positioning error comprises a horizontal error and an elevation error; calculating a confidence error, subtracting the horizontal confidence radius from the horizontal error to obtain a horizontal confidence error, and subtracting the elevation confidence radius from the elevation error to obtain an elevation confidence error; and analyzing the horizontal confidence errors and the elevation confidence errors to obtain confidence accuracy and confidence accuracy results.
Description
Technical Field
The invention relates to the technical field of confidence analysis, in particular to a method and a device for statistically analyzing high-precision positioning result confidence.
Background
In the latest high-precision positioning result, the confidence radius of the position under different probabilities is also given at the same time when the positioning position is given, namely, the error of the positioning position relative to the actual position falls within the confidence radius with the probability. The location message and confidence message in the high accuracy location result file are as follows:
$GPGGA，053729.40，3120.728839，N，12130.071879，E，2，16，1.096596，23.642921，M，0，M，，0000*79
$ACCUR，1，12，0，211117，053729.40，3，3，2，3.5，2.5，4，4，3
wherein a confidence message $ACCUR follows each $GPGGA or $GPNR message (hereafter referred to as a location message), and the time information is consistent with the location message, providing confidence-related information for the location therein.
The format of $ ACCUR is shown in Table 1.
Table 1 confidence message format table
The existing high-precision positioning confidence coefficient is divided into three levels, wherein the confidence coefficient 1 is 68.26%, the confidence coefficient 2 is 95.00%, and the confidence coefficient 3 is 99.90%. The confidence radii for three directions are temporarily given at each level: north N, east E, and sky U, giving a total of 9 confidence radii.
Technical solutions for performing statistical analysis on all confidence radii of high-precision positioning results in terms of accuracy and precision have not been found in the prior art.
Disclosure of Invention
The invention provides a method and a device for statistically analyzing the confidence coefficient of a high-precision positioning result, which are used for statistically analyzing all confidence radiuses of the high-precision positioning result in terms of accuracy and precision.
The technical scheme adopted by the invention is as follows:
the invention provides a method for statistically analyzing high-precision positioning result confidence coefficient, which comprises the following steps:
obtaining confidence information and positioning position information through a positioning result file, wherein the confidence information comprises a horizontal confidence radius and an elevation confidence radius;
obtaining a positioning error according to the positioning position information and a reference positioning file, wherein the positioning error comprises a horizontal error and an elevation error;
calculating a confidence error, subtracting the horizontal confidence radius from the horizontal error to obtain a horizontal confidence error, and subtracting the elevation confidence radius from the elevation error to obtain an elevation confidence error;
and analyzing the horizontal confidence errors and the elevation confidence errors to obtain confidence accuracy and confidence accuracy results.
Further, the horizontal confidence radius is obtained by combining a north confidence radius and an east confidence radius.
Further, in the confidence error calculation result, the confidence error is positive number or 0 is positive sample, the confidence error is negative number is negative sample, the positive sample number, the negative sample number and the total number of samples of the horizontal confidence error and the elevation confidence error are counted, and the horizontal confidence accuracy and the elevation confidence accuracy are calculated.
Further, the horizontal confidence accuracy is obtained by the total number of positive samples with horizontal confidence errors/the total number of samples with horizontal confidence errors, and the elevation confidence accuracy is obtained by the total number of positive samples with high Cheng Zhixin errors/the total number of samples with elevation confidence errors.
Further, the horizontal confidence accuracy/elevation confidence accuracy is compared with a given confidence level to evaluate the confidence accuracy.
Further, calculating confidence offset, wherein the absolute value of the horizontal confidence error is the horizontal confidence offset, the absolute value of the elevation confidence error is the elevation confidence offset, and obtaining the accuracy result of the confidence offset, namely the confidence accuracy result, by counting the sample distribution of the horizontal confidence offset and the elevation confidence offset and performing corresponding calculation.
Further, the confidence offset of the confidence error positive sample and the confidence offset of the confidence error negative sample are counted, the absolute value of the confidence error positive sample is the confidence offset of the confidence error positive sample, the absolute value of the confidence error negative sample is the confidence offset of the confidence error negative sample, and the confidence offset of the confidence error positive sample and the confidence offset of the confidence error negative sample are correspondingly calculated to obtain the statistical results of the confidence offset of the confidence error positive sample and the confidence offset of the confidence error negative sample.
Further, calculating the confidence offset rate, obtaining the horizontal confidence offset rate by the horizontal confidence offset/horizontal error, obtaining the elevation confidence offset rate by the high Cheng Zhixin offset/elevation error, and obtaining the statistical result of the confidence offset rate by counting the sample distribution of the horizontal confidence offset rate and the elevation confidence offset rate and performing corresponding calculation.
Further, a confidence offset positive sample and a confidence offset negative sample are counted, and corresponding calculation is carried out on the confidence offset positive sample and the confidence offset negative sample, so that the statistical results of the confidence offset positive sample and the confidence offset negative sample are obtained.
The invention also provides a statistical analysis device for the confidence of the positioning result, which comprises the following steps:
the position information acquisition unit is used for acquiring confidence coefficient information and positioning position information through the positioning result file, wherein the confidence coefficient information comprises a horizontal confidence radius and an elevation confidence radius;
the positioning error calculation unit obtains positioning errors according to the positioning position information and the reference positioning file, wherein the positioning errors comprise horizontal errors and elevation errors;
the confidence error calculation unit is used for calculating a confidence error, subtracting the horizontal confidence radius from the horizontal error to obtain a horizontal confidence error, and subtracting the elevation confidence radius from the elevation error to obtain an elevation confidence error;
and the confidence coefficient analysis unit is used for analyzing the horizontal confidence errors and the elevation confidence errors to obtain confidence accuracy and confidence accuracy results.
The invention also provides a statistical analysis system, which comprises the statistical analysis device for the confidence of the positioning result.
The present invention also provides a memory storing a computer program, the computer program being executable by a processor to:
obtaining confidence information and positioning position information through a positioning result file, wherein the confidence information comprises a horizontal confidence radius and an elevation confidence radius;
obtaining a positioning error according to the positioning position information and a reference positioning file, wherein the positioning error comprises a horizontal error and an elevation error;
calculating a confidence error, subtracting the horizontal confidence radius from the horizontal error to obtain a horizontal confidence error, and subtracting the elevation confidence radius from the elevation error to obtain an elevation confidence error;
and analyzing the horizontal confidence errors and the elevation confidence errors to obtain confidence accuracy and confidence accuracy results.
The method has the advantages that the accuracy and precision of the confidence coefficient of the high-precision positioning result are statistically analyzed, and the blank of the prior art in the field is filled.
Drawings
FIG. 1 is a flow chart of the confidence statistical analysis of the present invention;
FIG. 2 is a block diagram of a confidence level statistical analysis device according to the present invention.
Detailed Description
The invention is further described below with reference to the drawings and examples.
Embodiment one:
confidence (confidence interval) is a concept in statistics where the confidence interval (Confidence interval) of a probability sample is an interval estimate of some overall parameter of the sample. Confidence reveals the degree to which the true value of this parameter falls around the measurement with a certain probability.
The existing high-precision positioning confidence coefficient is divided into three levels, wherein the confidence coefficient 1 is 68.26%, the confidence coefficient 2 is 95.00%, and the confidence coefficient 3 is 99.90%. The confidence radii for three directions are temporarily given at each level: north N, east E, and sky U, giving a total of 9 confidence radii. The follow-up positioning result file also gives out the confidence radius of the speed and course positioning result, and the statistical method is the same as the technology.
FIG. 1 is a flow chart of the statistical analysis of confidence coefficient of the present invention, as shown in FIG. 1, the confidence coefficient of the positioning result is statistically analyzed, the reference positioning result is used as a real position, the error between the positioning position and the real position is calculated, the position error and the confidence radius are compared to obtain a confidence error, and then the confidence error is further analyzed to form a statistical report of the accuracy and the accuracy of the confidence coefficient.
The confidence coefficient is divided into a horizontal direction and an elevation direction by the method, namely, the north direction and the east direction are combined and unified into the horizontal direction, and the combining mode is a collude law, namely:
the elevation confidence radius is the heaven confidence radius.
The process of obtaining a positioning error according to positioning position information and a reference positioning file in fig. 1 belongs to the prior art. The positioning error is stored in an intermediate file in a text format, each line records one sample, and the specific content of each sample comprises information such as time, horizontal error, elevation error and the like of one-time positioning. On the basis of the existing intermediate file, adding confidence errors continuously, namely adding six columns in the intermediate file, wherein the confidence errors are respectively 1/2/3/1/2/3. The specific calculation method is as follows:
horizontal confidence error 1 = horizontal confidence radius 1-horizontal error
Horizontal confidence error 2 = horizontal confidence radius 2-horizontal error
Horizontal confidence error 3 = horizontal confidence radius 3-horizontal error
Elevation confidence error 1 = elevation confidence radius 1-elevation error
Elevation confidence error 2 = elevation confidence radius 2-elevation error
Elevation confidence error 3 = elevation confidence radius 3-elevation error
In the calculation result, the confidence error is positive number or 0 is a positive sample, namely the positioning error of the direction is within the confidence radius; negative is a negative sample, i.e. the positioning error in this direction exceeds the confidence radius.
And respectively counting the total number of various samples, the number of positive samples and the number of negative samples.
The level/elevation confidence accuracy 1 was compared with 68.26%, the level/elevation confidence accuracy 2 was compared with 95.00%, and the level/elevation confidence accuracy 3 was compared with 99.90%, respectively, to evaluate the accuracy of the corresponding confidence radius.
Further performing accuracy statistical analysis on the confidence errors, and firstly calculating the absolute value of the confidence error of each sample, namely confidence offset:
horizontal confidence offset 1= |horizontal confidence error 1|
Horizontal confidence offset 2= |horizontal confidence error 2|
Horizontal confidence offset 3= |horizontal confidence error 3|
Elevation confidence offset 1= |elevation confidence error 1|
Elevation confidence offset 2= |elevation confidence error 2|
Elevation confidence offset 3= |elevation confidence error 3|
And then respectively counting the sample distribution of each type of offset, and calculating the root mean square value RMS, the standard deviation value STD, the CEP68, the CEP95, the CEP997, the maximum value and the time point thereof to obtain the accuracy statistic result of the confidence offset. The specific calculation process is as follows:
wherein the method comprises the steps ofRefers to the arithmetic average value of the samples, and the calculation formula is +.>
CEP (Circular Error Probability) refers to the round probability error. The calculation method comprises the following steps: the samples are arranged in ascending order to obtain a sample ascending sequence,
sample of CEP68 Sample up sequence [ n×0.68 ]]
Sample of CEP95 Sample up sequence [ n×0.95 ]]
Sample of cEP997 Sample up sequence [ N x 0.997 ]]
Where samples refer to horizontal confidence offset 1, horizontal confidence offset 2, horizontal confidence offset 3, high Cheng Zhixin offset 1, high Cheng Zhixin offset 2, elevation confidence offset 3, respectively, and n is the number of such samples.
In addition, the samples of each type of confidence errors are divided into positive samples and negative samples, and root mean square value RMS, standard deviation value STD, CEP68, CEP95, CEP997, maximum value and time points thereof are also calculated respectively to obtain statistical results of various types of positive sample confidence deviations and negative sample confidence deviations.
The confidence offset rate refers to the ratio of confidence offset to positioning error, and the calculation method is as follows:
similar to the method for counting confidence deviation sample distribution, the sample distribution of each type of deviation rate is counted, and root mean square value, standard deviation value STD, CEP68, CEP95, CEP997, maximum value and time point are calculated to obtain the counting result of the confidence deviation rate. The specific calculation process is as follows:
wherein the method comprises the steps ofRefers to the arithmetic average value of the samples, and the calculation formula is +.>
The samples are arranged in ascending order to obtain a sample ascending sequence,
sample of CEP68 Sample up sequence [ n×0.68 ]]
Sample of CEP95 Sample up sequence [ n×0.95 ]]
Sample of CEP997 Sample ascending orderColumn [ N.0.997 ]]
The samples respectively refer to a horizontal confidence offset rate 1, a horizontal confidence offset rate 2, a horizontal confidence offset rate 3, a high Cheng Zhixin offset rate 1, a high Cheng Zhixin offset rate 2 and an elevation confidence offset rate 3, and N is the number of the samples.
The confidence offset rate samples are divided into positive and negative samples, and root mean square value RMS, standard deviation value STD, CEP68, CEP95, CEP997, maximum value and time point are calculated respectively to obtain statistics results of various positive sample confidence offset rates and negative sample confidence offset rates.
In the actual statistical process, the invention supports classifying all samples according to a positioning mode or a scene, and respectively counting the accuracy and precision of the confidence radius.
Embodiment two:
the invention also provides a statistical analysis device for the confidence of the positioning result, as shown in fig. 2, comprising:
the position information acquisition unit is used for acquiring confidence coefficient information and positioning position information through the positioning result file, wherein the confidence coefficient information comprises a horizontal confidence radius and an elevation confidence radius;
the positioning error calculation unit obtains positioning errors according to the positioning position information and the reference positioning file, wherein the positioning errors comprise horizontal errors and elevation errors;
the confidence error calculation unit is used for calculating a confidence error, subtracting the horizontal confidence radius from the horizontal error to obtain a horizontal confidence error, and subtracting the elevation confidence radius from the elevation error to obtain an elevation confidence error;
and the confidence coefficient analysis unit is used for analyzing the horizontal confidence errors and the elevation confidence errors to obtain confidence accuracy and confidence accuracy results.
In addition, the invention also provides a statistical analysis system which is characterized by comprising the statistical analysis device for the confidence of the positioning result.
Embodiment III:
the present invention also provides a memory storing a computer program, the computer program being executable by a processor to:
obtaining confidence information and positioning position information through a positioning result file, wherein the confidence information comprises a horizontal confidence radius and an elevation confidence radius;
obtaining a positioning error according to the positioning position information and a reference positioning file, wherein the positioning error comprises a horizontal error and an elevation error;
calculating a confidence error, subtracting the horizontal confidence radius from the horizontal error to obtain a horizontal confidence error, and subtracting the elevation confidence radius from the elevation error to obtain an elevation confidence error;
and analyzing the horizontal confidence errors and the elevation confidence errors to obtain confidence accuracy and confidence accuracy results.
Although the present invention has been described in terms of the preferred embodiments, it is not intended to be limited to the embodiments, and any person skilled in the art can make any possible variations and modifications to the technical solution of the present invention by using the methods and technical matters disclosed above without departing from the spirit and scope of the present invention, so any simple modifications, equivalent variations and modifications to the embodiments described above according to the technical matters of the present invention are within the scope of the technical matters of the present invention.
Claims (7)
1. A method for statistically analyzing confidence levels of high-precision positioning results, the method comprising the steps of:
obtaining confidence information and positioning position information through a positioning result file, wherein the confidence information comprises a horizontal confidence radius and an elevation confidence radius; the horizontal confidence radius is obtained by combining a north confidence radius and an east confidence radius;
obtaining a positioning error according to the positioning position information and a reference positioning file, wherein the positioning error comprises a horizontal error and an elevation error;
calculating a confidence error, subtracting the horizontal confidence radius from the horizontal error to obtain a horizontal confidence error, and subtracting the elevation confidence radius from the elevation error to obtain an elevation confidence error;
analyzing the horizontal confidence error and the elevation confidence error to obtain a confidence accuracy and a confidence accuracy result;
in the confidence error calculation result, the confidence error is positive number or 0 is positive sample, the confidence error is negative number is negative sample, the positive sample number, the negative sample number and the total number of samples of the horizontal confidence error and the elevation confidence error are counted, and the horizontal confidence accuracy and the elevation confidence accuracy are calculated;
the horizontal confidence accuracy is obtained by the total number of positive samples with horizontal confidence errors/the total number of samples with horizontal confidence errors, and the elevation confidence accuracy is obtained by the total number of positive samples with high Cheng Zhixin errors/the total number of samples with elevation confidence errors;
comparing the horizontal confidence accuracy/elevation confidence accuracy with a given confidence level, and evaluating the confidence accuracy;
the method further comprises the steps of calculating confidence offset, wherein the absolute value of the horizontal confidence error is the horizontal confidence offset, the absolute value of the elevation confidence error is the elevation confidence offset, and obtaining the accuracy result of the confidence offset, namely the confidence accuracy result, through statistics of sample distribution of the horizontal confidence offset and the elevation confidence offset and corresponding calculation.
2. The method for statistically analyzing the confidence level of the high-precision positioning result according to claim 1, wherein the confidence offset of the positive sample of the confidence error and the confidence offset of the negative sample of the confidence error are counted, the absolute value of the positive sample of the confidence error is the confidence offset of the positive sample of the confidence error, the absolute value of the negative sample of the confidence error is the confidence offset of the negative sample of the confidence error, and the confidence offset of the positive sample of the confidence error and the confidence offset of the negative sample of the confidence error are correspondingly calculated to obtain the statistical results of the confidence offset of the positive sample of the confidence error and the confidence offset of the negative sample of the confidence error.
3. A method of statistically analyzing confidence in high-accuracy positioning results according to claim 1, wherein calculating a confidence offset rate comprises: the horizontal confidence deviation/horizontal error obtains a horizontal confidence deviation rate, the high Cheng Zhixin deviation/elevation error obtains an elevation confidence deviation rate, and the statistical result of the confidence deviation rate is obtained by counting the sample distribution of the horizontal confidence deviation rate and the elevation confidence deviation rate and performing corresponding calculation.
4. A method for statistically analyzing the confidence level of a high-precision positioning result according to claim 3, wherein the positive sample of the confidence offset and the negative sample of the confidence offset are counted, and the positive sample of the confidence offset and the negative sample of the confidence offset are correspondingly calculated to obtain the statistical results of the positive sample of the confidence offset and the negative sample of the confidence offset.
5. A statistical analysis device for confidence of a positioning result, the device comprising:
the position information acquisition unit is used for acquiring confidence coefficient information and positioning position information through the positioning result file, wherein the confidence coefficient information comprises a horizontal confidence radius and an elevation confidence radius; the horizontal confidence radius is obtained by combining a north confidence radius and an east confidence radius;
the positioning error calculation unit obtains positioning errors according to the positioning position information and the reference positioning file, wherein the positioning errors comprise horizontal errors and elevation errors;
the confidence error calculation unit is used for calculating a confidence error, subtracting the horizontal confidence radius from the horizontal error to obtain a horizontal confidence error, and subtracting the elevation confidence radius from the elevation error to obtain an elevation confidence error;
the confidence coefficient analysis unit is used for analyzing the horizontal confidence errors and the elevation confidence errors to obtain confidence accuracy and confidence accuracy results;
the confidence analysis unit performs the steps of:
in the confidence error calculation result, the confidence error is positive number or 0 is positive sample, the confidence error is negative number is negative sample, the positive sample number, the negative sample number and the total number of samples of the horizontal confidence error and the elevation confidence error are counted, and the horizontal confidence accuracy and the elevation confidence accuracy are calculated;
the horizontal confidence accuracy is obtained by the total number of positive samples with horizontal confidence errors/the total number of samples with horizontal confidence errors, and the elevation confidence accuracy is obtained by the total number of positive samples with high Cheng Zhixin errors/the total number of samples with elevation confidence errors;
comparing the horizontal confidence accuracy/elevation confidence accuracy with a given confidence level, and evaluating the confidence accuracy;
the confidence analysis unit further performs the steps of:
calculating confidence offset, wherein the absolute value of the horizontal confidence error is the horizontal confidence offset, the absolute value of the elevation confidence error is the elevation confidence offset, and obtaining the accuracy result of the confidence offset, namely the confidence accuracy result, through statistics of sample distribution of the horizontal confidence offset and the elevation confidence offset and corresponding calculation.
6. A statistical analysis system comprising a statistical analysis device of the confidence of a localization result of claim 5.
7. A memory storing a computer program, wherein the computer program is executed by a processor to:
obtaining confidence information and positioning position information through a positioning result file, wherein the confidence information comprises a horizontal confidence radius and an elevation confidence radius; the horizontal confidence radius is obtained by combining a north confidence radius and an east confidence radius;
obtaining a positioning error according to the positioning position information and a reference positioning file, wherein the positioning error comprises a horizontal error and an elevation error;
calculating a confidence error, subtracting the horizontal confidence radius from the horizontal error to obtain a horizontal confidence error, and subtracting the elevation confidence radius from the elevation error to obtain an elevation confidence error;
analyzing the horizontal confidence error and the elevation confidence error to obtain a confidence accuracy and a confidence accuracy result;
in the confidence error calculation result, the confidence error is positive number or 0 is positive sample, the confidence error is negative number is negative sample, the positive sample number, the negative sample number and the total number of samples of the horizontal confidence error and the elevation confidence error are counted, and the horizontal confidence accuracy and the elevation confidence accuracy are calculated;
the horizontal confidence accuracy is obtained by the total number of positive samples with horizontal confidence errors/the total number of samples with horizontal confidence errors, and the elevation confidence accuracy is obtained by the total number of positive samples with high Cheng Zhixin errors/the total number of samples with elevation confidence errors;
comparing the horizontal confidence accuracy/elevation confidence accuracy with a given confidence level, and evaluating the confidence accuracy;
calculating confidence offset, wherein the absolute value of the horizontal confidence error is the horizontal confidence offset, the absolute value of the elevation confidence error is the elevation confidence offset, and obtaining the accuracy result of the confidence offset, namely the confidence accuracy result, through statistics of sample distribution of the horizontal confidence offset and the elevation confidence offset and corresponding calculation.
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