CN111562600A - Precision calibration system and calibration method - Google Patents
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- CN111562600A CN111562600A CN202010436953.8A CN202010436953A CN111562600A CN 111562600 A CN111562600 A CN 111562600A CN 202010436953 A CN202010436953 A CN 202010436953A CN 111562600 A CN111562600 A CN 111562600A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/23—Testing, monitoring, correcting or calibrating of receiver elements
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/52—Determining velocity
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- Radar, Positioning & Navigation (AREA)
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- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
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Abstract
The invention relates to the technical field of satellite navigation, and provides a precision calibration system, which is used for carrying out precision calibration on an intelligent GNSS code table in a simulation environment and comprises the following steps: the satellite signal simulator simulates navigation data of a satellite navigation system and provides a corresponding radio frequency signal; a reference frequency scale providing a timing reference signal to the satellite signal simulator; the test scene module is used for providing a preset motion track and limiting condition selection; the navigation signal control module controls the output of the satellite signal simulator and controls the calling of the test scene module; and the precision analysis module is used for acquiring mileage and speed information from the satellite signal simulator and the intelligent GNSS code table respectively and calculating the precision of the intelligent GNSS code table. The invention has the advantages that the test and analysis can be repeatedly carried out by adopting various set conditions, and the accuracy and the credibility of the calibration are further improved.
Description
Technical Field
The invention relates to the technical field of satellite navigation, in particular to a precision calibration system and a calibration method.
Background
Bicycle sports is an enthusiasm for people to explore nature and challenge themselves at present, record own movement tracks and share friends, and is also an enthusiasm for riding enthusiasts.
The riding position of the sporter is usually obtained by an additional GNSS (Global Navigation satellite system) positioning device (GNSS code table) in the mobile phone, and the continuous obtaining can form a riding track. The GNSS code table receives satellite signals in the space by using a global satellite positioning system, and then calculates and calculates to obtain data of speed, mileage, time and height; meanwhile, data of the step frequency, the heart rate and the power are obtained by connecting an external sensor; finally, a novel measuring instrument for obtaining intuitive and rich riding data through comprehensive calculation.
GNSS currently occupying a relatively dominant position includes: GPS (Global positioning System) developed in the united states, GLONASS (Global NAVIGATION Satellite System SATELLITE SYSTEM) developed in russia, beidou NAVIGATION System developed in china, and Galileo Satellite NAVIGATION System developed in the european union.
The GNSS stopwatch has the advantages that the GNSS stopwatch can record track and riding data, is connected with social media, and can meet various requirements of navigation, fitness training and the like. But the accuracy of speed and distance on the code table directly influences the best effect for people who are pursuing health increasingly. At present, most tests on the intelligent GNSS code table are usually carried out through mutual evaluation between the intelligent GNSS code table and different terminals, and quantitative evaluation cannot be prepared. The special test needs to be carried out on a high-precision mobile test vehicle, comparison and analysis are carried out through real-time data records, and a high-precision standard device is needed for the high-precision test vehicle and is modified on the test vehicle so as to meet the test requirement.
Disclosure of Invention
The invention aims to provide a precision calibration system and a corresponding calibration method, wherein the system/method can solve the defect that quantitative evaluation cannot be carried out due to mutual evaluation between different terminals, and can also solve the problems of high reconstruction and use cost due to the use of a high-precision test vehicle.
The invention provides a scene testing method based on a satellite signal simulator based on the working principle of an intelligent GNSS code table, a high-precision testing platform is built by establishing a model testing scene of a sinusoidal motion track model, circular motion and the like, a specific testing scheme is formed, and the speed and mileage precision of the intelligent GNSS code table are detected and calibrated in a simulation environment.
Firstly, the invention provides a precision calibration system for performing precision calibration on an intelligent GNSS code table in a simulation environment, which comprises:
the satellite signal simulator simulates navigation data of a satellite navigation system and provides a corresponding radio frequency signal;
a reference frequency scale providing a timing reference signal to the satellite signal simulator;
the test scene module is used for providing a preset motion track and limiting condition selection;
the navigation signal control module controls the output of the satellite signal simulator and controls the calling of the test scene module;
and the precision analysis module is used for acquiring mileage and speed information from the satellite signal simulator and the intelligent GNSS code table respectively and calculating the precision of the intelligent GNSS code table.
An accuracy calibration system as described above, wherein said controlling the output of said satellite signal simulator comprises at least: selecting a simulated satellite system and selecting radio frequency points.
The precision calibration system described above, wherein the defining conditions of the test scenario module at least include: the method comprises an atmospheric layer delay model, a troposphere delay model, an intelligent GNSS code table motion model and a scene motion track.
In the precision calibration system, in the precision analysis module, the precision calibration is performed according to the mileage error, the speed precision and the maximum speed.
The accuracy calibration system, wherein when the speed error, the speed accuracy and the update rate of the maximum speed are greater than 1Hz, a quadratic term or spline fitting interpolation algorithm is used for compensation.
Secondly, the invention also provides a precision calibration method for carrying out precision calibration on the intelligent GNSS code table in a simulation environment, which comprises the following steps:
s1, selecting a motion track scene;
s2, operating navigation signal control software, and acquiring data of the intelligent GNSS code table;
s3, running precision analysis software to calibrate the precision of the intelligent GNSS code table;
and S4, repeating S1-S3 until reaching the preset times.
The accuracy calibration method described above, before step S1, further includes: a satellite signal simulator that provides simulated navigation data is preheated.
The precision calibration method, in step S2, includes:
controlling a satellite signal simulator to output at least: frequency codes, data, power and radio frequency points of the simulated satellite system;
and limiting an atmosphere delay model, a troposphere delay model, an intelligent GNSS code table motion model and a scene motion track in the test scene module.
In the above precision calibration method, in step S3, precision calibration is performed according to the mileage error, the speed precision and the maximum speed; and when the speed error, the speed precision and the maximum speed updating rate are more than 1Hz, compensating by adopting a quadratic term or spline fitting interpolation algorithm.
Based on the same inventive concept, the invention also provides a readable and writable storage medium, wherein an executable program is stored on the readable and writable storage medium, and when the executable program is called, the precision calibration method is realized.
Compared with the prior art, the technical scheme of the invention gives the data of the satellite system through the satellite signal simulator, so that the calibration is not required to be carried out in the actual satellite system, and the convenience and the reliability of the calibration are improved; secondly, the technical scheme of the invention unifies the testing conditions such as paths, climates and the like during calibration by setting a standard testing scene module, thereby realizing the repeatability of calibration, realizing the calibration of a plurality of code tables based on the same standard and improving the reliability of calibration; the technical scheme of the invention also realizes data acquisition and calculation through analysis and control software, and can adopt a plurality of set conditions to repeatedly test and analyze, thereby further improving the accuracy and the credibility of calibration.
Drawings
Those skilled in the art will appreciate that the following drawings merely illustrate some embodiments of the invention and that other embodiments (drawings) of the same nature can be obtained by those skilled in the art without the exercise of inventive faculty.
FIG. 1 is a block diagram of one embodiment of a calibration system of the present invention;
FIG. 2 is a functional block diagram of a navigation signal control module according to the present invention;
FIG. 3 is a schematic diagram of the operation of the precision analysis module of the present invention;
fig. 4 is a schematic flow chart of the calibration method of the present invention.
Detailed Description
In order to make the objects and features of the present invention more comprehensible, embodiments of the present invention are described in detail below with reference to the accompanying drawings. This invention may, however, be embodied in different forms and should not be construed as limited to the embodiments set forth herein. Also, the embodiments and features of the embodiments in the present application are allowed to be combined with or substituted for each other without conflict. The advantages and features of the present invention will become more apparent in conjunction with the following description.
It is to be noted that the drawings are in a very simplified form and are not to precise scale, which is merely for the purpose of facilitating and distinctly claiming the embodiments of the present invention.
It should also be noted that the numbering of the steps in the present invention is for ease of reference and not for limitation of the order of the steps. Specific language will be used herein to describe the particular sequence of steps which is required.
The core idea of the inventive concept is to propose a method based on a satellite signal simulator and a scenarization test according to the satellite navigation principle. The method is characterized in that a plurality of standard scenes or special scenes are preset and used for simulating the running track (including speed) of the intelligent GNSS code table, and the speed precision and the mileage precision are calculated respectively by combining speed and mileage analysis software. The test method is simple and feasible, the test result is stable and reliable, and a reliable technical basis can be provided for the calibration of the speed and mileage accuracy of the intelligent GNSS code meter.
Referring to fig. 1, the present embodiment provides a system for performing accuracy calibration on an intelligent GNSS code table in a simulation environment, which mainly includes a satellite signal simulator 1, a reference frequency scale 2, a navigation signal control module 3, a test scenario module 4, and an accuracy analysis module 5.
The satellite signal simulator 1 is used for simulating navigation data of a satellite navigation system and providing corresponding radio frequency signals. As described in the background, there are various Global Navigation Satellite Systems (GNSS), and in our country, the GPS system in the united states and the beidou system in the country are used more. Wherein, 24 navigation satellites are distributed in the world by the GPS system, and more than thirty satellites are distributed in the world by the Beidou system. In the actual life of people, the positioning device can receive the data of the two satellite systems at the same time. In the satellite signal simulator 1 of the present invention, a multi-satellite and multi-system option is also provided, and the user can select which positioning system to use and simulate to receive signals of several satellites. Meanwhile, the satellite signal simulator 1 also provides a frequently-used satellite communication frequency point for a user to select.
The reference frequency scale 2 is used to provide a timing reference signal to the satellite signal simulator 1. Time is closely related to frequency and navigational positioning techniques. For a satellite navigation positioning system, the basis of navigation is positioning, the basis of positioning is ranging, the basis of ranging is measuring electric wave transmission delay, and the basis of measuring delay is a uniform time frequency reference. Only the positioning data obtained under the same time base standard is based on plausibility.
The test scene module 4 provides a preset motion track and a selection of a limiting condition. The preset motion trajectory includes not only the path of the motion but also the setting of the velocity (acceleration) at which it moves. Preferably, the preset motion trajectory may include: uniform linear motion track, sinusoidal motion track and circular motion track. Further, the actual real route trajectory can be saved in the test scenario module 4. However, the real route needs to be calibrated for the true value of its route. The true value is calibrated by using a high-precision combined navigation receiver, but the precision of the true value is one order of magnitude higher than that of the intelligent GNSS code table.
As shown in fig. 2, the navigation signal control module 3 controls the output of the satellite signal simulator 1 and controls the invocation of the test scenario module 4. The output of the control satellite signal simulator 1 comprises at least: selecting a simulated satellite system and selecting radio frequency points. Further, selecting the simulated satellite system includes selecting and turning on visible satellite spreading codes and navigation data codes, selecting visible satellite signal power. If the receiving sensitivity of the intelligent GNSS code table is low, the satellite signal simulator 1 can be further arranged to improve the output signal power.
As shown in fig. 3, the precision analysis module 5 obtains the mileage and speed information from the satellite signal simulator 1 and the intelligent GNSS code meter 6, and calculates the precision of the intelligent GNSS code meter 6 using the satellite signal simulator 1 as a standard value. Specifically, the accuracy analysis module 5 performs accuracy calibration according to the mileage error, the speed accuracy, and the maximum speed. When the update rate of the speed error, the speed precision and the maximum speed is greater than 1Hz, the corresponding update rate of the satellite signal simulator 1 needs to be configured, and if the satellite signal simulator 1 does not support the high-speed update rate (the update rate is greater than 1Hz), the precision analysis module 5 can perform compensation by adopting a quadratic term or spline fitting interpolation algorithm.
The precision calibration system adopts a unified, stable and repeatedly-realized simulated satellite navigation system and a standard reference time base, provides standard reference for speed measurement and distance measurement (track recording) of the intelligent GNSS code table, puts data tests of all the intelligent GNSS code tables on the same scale, and overcomes the defect that the precision of the intelligent GNSS code table can only be qualitatively and not quantitatively detected through mutual evaluation of different terminals in the prior art. In the test scene module provided by the precision calibration system, a plurality of preset motion tracks are simulated through software, the motion tracks comprise motion paths and motion speed information, and the defects of high cost, low efficiency, poor repeatability and the like caused by the use of a mobile test vehicle are overcome. In conclusion, the precision calibration system is simple and feasible, high in portability and stable and reliable in test result, and provides a reliable technical basis for precision calibration of speed and mileage of the intelligent GNSS stopwatch.
As shown in fig. 4, based on the above precision calibration system, the present invention further provides a precision calibration method for performing precision calibration on an intelligent GNSS code table in a simulation environment. The method specifically comprises the following steps:
s0, preheating the satellite signal simulator, preferably for more than 30 minutes;
s1, selecting a motion track scene;
s2, operating navigation signal control software, and acquiring data of the intelligent GNSS code table;
s3, running precision analysis software to calibrate the precision of the intelligent GNSS code table;
and S4, repeating S1-S3 until reaching the preset times.
In step S0, the satellite signal simulator needs to be set as a multisatellite system, and set corresponding satellite signal frequency points.
In step S1, the motion trajectory scene includes:
a) and selecting an atmosphere model and a troposphere delay model.
b) And editing the motion trail. Specifically, the motion trajectory includes a uniform linear motion trajectory, a sinusoidal motion trajectory, a circular motion trajectory, and a motion velocity value. Further, a movement track compiled according to an actual route can be included.
c) A motion model of the intelligent GNSS code table (receiver) is defined, the motion model comprising a static and a dynamic model. When the dynamic motion model is used, the static scene configuration needs to be initialized to fully position (initial positioning) the intelligent GNSS code table.
In step S2, the navigation signal control software is used to control the loading of the motion trajectory scene, open the visible satellite spreading code and navigation data code, and set the visible satellite signal power (generally set to-130 dBm); if the receiving sensitivity of the intelligent GNSS code table is low, the output signal power of the visible satellite signal power can be further improved.
In step S3, the accuracy analysis software obtains the mileage error, the speed accuracy, and the maximum speed, and the UTC time or the local time needs to be aligned strictly for the speed analysis.
According to the precision calibration method, the high-precision test platform is built by establishing model test scenes such as the linear motion track model, the sinusoidal motion track model and the circular motion, a specific test scheme is formed, the speed and the mileage precision of the intelligent GNSS code table can be detected in a simulation environment, the method is simple, convenient and reliable, the repeatability is high, and the reliability of the obtained data is high.
Finally, the invention also provides a readable and writable storage medium, wherein an executable program is stored on the readable and writable storage medium, and when the executable program is called, the precision calibration method can be realized. Those skilled in the art will appreciate that the methods, steps described above may be embodied directly in hardware (system on a chip Soc), in a software module executed by a processor, or in a combination of the two. A software module may reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art. In the alternative, the storage medium may be integral to the processor, the processor and the storage medium may reside in an ASIC, and the ASIC may reside in a user terminal. Similarly, in the alternative, the processor and the storage medium may reside as discrete components in a user terminal.
It will be apparent to those skilled in the art that various changes and modifications may be made in the invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. An accuracy calibration system, configured to perform accuracy calibration on an intelligent GNSS code table in a simulation environment, comprising:
the satellite signal simulator simulates navigation data of a satellite navigation system and provides a corresponding radio frequency signal;
a reference frequency scale providing a timing reference signal to the satellite signal simulator;
the test scene module is used for providing a preset motion track and limiting condition selection;
the navigation signal control module controls the output of the satellite signal simulator and controls the calling of the test scene module;
and the precision analysis module is used for acquiring mileage and speed information from the satellite signal simulator and the intelligent GNSS code table respectively and calculating the precision of the intelligent GNSS code table.
2. The accuracy calibration system of claim 1, wherein said controlling the output of said satellite signal simulator comprises at least: selecting a simulated satellite system and selecting radio frequency points.
3. The accuracy calibration system of claim 1, wherein the defined conditions of the test scenario module comprise at least: the method comprises an atmospheric layer delay model, a troposphere delay model, an intelligent GNSS code table motion model and a scene motion track.
4. The accuracy calibration system of claim 1, wherein in the accuracy analysis module, accuracy calibration is performed based on the mileage error, the speed accuracy, and the maximum speed.
5. The accuracy calibration system of claim 4, wherein when the update rate of the speed error, speed accuracy and maximum speed is greater than 1Hz, a quadratic term or spline fitting interpolation algorithm is used for compensation.
6. An accuracy calibration method is used for performing accuracy calibration on an intelligent GNSS code table in a simulation environment, and comprises the following steps:
s1, selecting a motion track scene;
s2, operating navigation signal control software, and acquiring data of the intelligent GNSS code table;
s3, running precision analysis software to calibrate the precision of the intelligent GNSS code table;
and S4, repeating S1-S3 until reaching the preset times.
7. The accuracy calibration method according to claim 6, further comprising, before step S1: a satellite signal simulator that provides simulated navigation data is preheated.
8. The accuracy calibration method according to claim 6, wherein the step S2 includes:
controlling a satellite signal simulator to output at least: frequency codes, data, power and radio frequency points of the simulated satellite system;
and limiting an atmosphere delay model, a troposphere delay model, an intelligent GNSS code table motion model and a scene motion track in the test scene module.
9. The accuracy calibration method according to claim 6, wherein in step S3, accuracy calibration is performed based on the mileage error, the speed accuracy, and the maximum speed; and when the speed error, the speed precision and the maximum speed updating rate are more than 1Hz, compensating by adopting a quadratic term or spline fitting interpolation algorithm.
10. A readable and writable storage medium having stored thereon an executable program which, when invoked, implements the accuracy calibration method of any one of claims 6 to 9.
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| CN113532477A (en) * | 2021-07-15 | 2021-10-22 | 青岛迈金智能科技有限公司 | Riding stopwatch equipment and automatic calibration method for initial posture of riding stopwatch |
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