CN111562600B - Precision calibration system and calibration method - Google Patents
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- CN111562600B CN111562600B CN202010436953.8A CN202010436953A CN111562600B CN 111562600 B CN111562600 B CN 111562600B CN 202010436953 A CN202010436953 A CN 202010436953A CN 111562600 B CN111562600 B CN 111562600B
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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 for performing precision calibration on an intelligent GNSS code table in a simulation environment, which comprises the following steps: the satellite signal simulator simulates navigation data of a satellite navigation system and provides corresponding radio frequency signals; a reference frequency scale providing a time-based reference signal to the satellite signal simulator; the test scene module provides a preset motion trail 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 invention can repeatedly test and analyze by adopting various setting conditions, thereby further improving the accuracy and the credibility of the calibration.
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 are currently a popular sport that people explore naturally and challenge themselves, record their own motion trajectories and friends share it as an enthusiast of riding lovers.
The riding position of the athlete is typically obtained by an additional GNSS (Global Navigation Satellite System ) positioning device (GNSS code table) in the phone, while the continued obtaining may form the riding track. The GNSS code table is used for receiving satellite signals in the sky by using a global satellite positioning system and then measuring and calculating so as to obtain data of speed, mileage, time and height; meanwhile, obtaining data of pedal frequency, heart rate and power through connecting an external sensor; finally, a novel measuring instrument for intuitively and abundantly riding data is obtained through comprehensive calculation.
The GNSS currently taking the most dominant role includes: GPS developed in the united states (Global Positioning System ), GLONASS developed in russia (GLOBAL NAVIGATION SATELLITE SYSTEM, global satellite navigation system), beidou navigation system developed in china, and galileo satellite navigation system developed in the european union (Galileo Satellite Navigation System).
GNSS code tables are very popular today, and they have the advantage of recording track and riding data, connecting social media, and being able to meet various demands of navigation and fitness training. But the accuracy of the speed, distance, with respect to the code table directly influences the best effect for people who are increasingly pursuing health. Most of the current tests on intelligent GNSS code tables are often performed through mutual evaluation with different terminals, and quantitative evaluation cannot be prepared. The special test is required to be carried out on a high-precision mobile test vehicle, the comparison and analysis are carried out through real-time data record, and the high-precision standard device is required to be used on the high-precision test vehicle and the test vehicle is modified to meet the test requirement.
Disclosure of Invention
The invention aims to provide an accuracy calibration system and a corresponding calibration method, wherein the system/method can solve the defect that quantitative evaluation cannot be performed due to mutual evaluation among different terminals, and can also solve the problems of transformation and higher use cost caused by using a high-accuracy test vehicle.
The invention provides a satellite signal simulator based scenerization test method based on the working principle of an intelligent GNSS code table, and a high-precision test platform is built by establishing a sinusoidal motion track model, a circular motion model and other model test scenes to form a concrete test scheme, and the accuracy of the speed and mileage of the intelligent GNSS code table is detected and calibrated in a simulation environment.
Firstly, the invention provides a precision calibration system for calibrating precision of an intelligent GNSS code table in an analog environment, comprising:
the satellite signal simulator simulates navigation data of a satellite navigation system and provides corresponding radio frequency signals;
a reference frequency scale providing a time-based reference signal to the satellite signal simulator;
the test scene module provides a preset motion trail 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 above-mentioned precision calibration system, wherein the controlling the output of the satellite signal simulator at least includes: the simulated satellite system is selected and the radio frequency point is selected.
The precision calibration system described above, wherein the defining conditions of the test scene module at least include: an atmospheric delay model, a tropospheric delay model, an intelligent GNSS code table motion model and a scene motion trail.
In the above precision calibration system, the precision analysis module performs precision calibration according to a mileage error, a speed precision and a maximum speed.
The precision calibration system is characterized in that when the update rate of the speed error, the speed precision and the maximum speed is larger than 1Hz, a quadratic term or spline fitting interpolation algorithm is adopted for compensation.
The invention further provides a precision calibration method for calibrating the precision of the intelligent GNSS code table in the simulation environment, which comprises the following steps:
s1, selecting a motion trail scene;
s2, running navigation signal control software, and collecting data of an intelligent GNSS code table;
s3, running accuracy analysis software to calibrate the accuracy of the intelligent GNSS code table;
s4, repeating the steps S1 to S3 until the preset times are reached.
The above-mentioned precision calibration method, before step S1, further includes: a satellite signal simulator providing simulated navigation data is preheated.
In the above-mentioned precision calibration method, step S2 includes:
controlling at least one satellite signal simulator to output: the frequency code, data, power and radio frequency point of the simulated satellite system;
and defining an atmosphere delay model, a troposphere delay model, an intelligent GNSS code table motion model and a scene motion trail in the test scene module.
In the above-mentioned 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 update rate of the speed error, the speed precision and the maximum speed is greater than 1Hz, adopting a quadratic term or spline fitting interpolation algorithm to compensate.
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 accuracy calibration method is realized.
Compared with the prior art, the technical scheme of the invention gives out the data of the satellite system through the satellite signal simulator, so that the calibration does not need to be carried out in the actual satellite system, and the convenience and reliability of the calibration are improved; secondly, the technical scheme of the invention unifies the test conditions such as paths, climates and the like during calibration by setting a standard test scene module, thereby realizing the repeatability of calibration, and the calibration of a plurality of code tables can be realized based on the same standard, so that the reliability of the calibration is improved; the technical scheme of the invention also realizes data acquisition and calculation through analysis and control software, and can repeatedly test and analyze by adopting various setting conditions, thereby further improving the accuracy and the credibility of calibration.
Drawings
Those skilled in the art will appreciate that the following figures merely illustrate some embodiments of the invention and that other embodiments of the same nature can be obtained by those skilled in the art from these figures without undue effort.
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 of the present invention;
FIG. 3 is a schematic diagram of the operation of the accuracy 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 accompanied with figures are described in detail below. This invention may, however, be embodied in different forms and should not be construed as limited to the embodiments set forth herein. Moreover, embodiments and features of embodiments in this application allow for combining or replacing each other without conflict. The advantages and features of the present invention will become more apparent in conjunction with the following description.
It should be noted that the drawings are in a very simplified form and are all to a non-precise scale, merely for convenience and clarity in aiding in the description of embodiments of the invention.
It should be further noted that the step numbering in the present invention is for ease of reference, and not to limit the order of precedence. The steps of the respective order are emphasized, and will be specifically described in specific terms.
The core idea of the inventive concept is to propose a method based on a satellite signal simulator and a scenerisation test according to the satellite navigation principle. Namely, a plurality of standard scenes or customized special scenes are reserved for simulating the running track (comprising the speed) of the intelligent GNSS code table, and the speed accuracy and the mileage accuracy are calculated respectively by combining speed and mileage analysis software. The testing method is simple and feasible, the testing result is stable and reliable, and reliable technical basis can be provided for the calibration of the speed and mileage accuracy of the intelligent GNSS code table.
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 standard 2, a navigation signal control module 3, a test scene 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 art, there are many kinds of Global Navigation Satellite Systems (GNSS), and in our country, the us GPS system and the china beidou system are used more often. The GPS system is provided with 24 navigation satellites in the whole world, and the Beidou system is provided with more than thirty satellites in the whole world. In real life, the positioning device can receive the data of the two satellite systems at the same time. In the satellite signal simulator 1 of the invention, the option of a multi-satellite and multi-system is also provided, which positioning system the user can choose to use and simulate receiving signals from several satellites. Meanwhile, the satellite signal simulator 1 also provides a common satellite communication frequency point for users to select.
The reference frequency scale 2 is used to provide a time-based 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 navigation is based on positioning, the positioning is based on ranging, the ranging is based on measuring the transmission delay of electric waves, and the time delay is based on a unified time-frequency reference. Only positioning data obtained under the same time base standard is based on the trustworthiness.
The test scene module 4 provides a preset motion trail and a limiting condition selection. The preset motion trail not only comprises a motion path, but also comprises setting of a speed (acceleration) when the motion trail moves. Preferably, the preset motion profile may include: uniform linear motion track, sinusoidal motion track and circular motion track. Further, the track of the actual real route may also be saved in the test scene module 4. However, the true route requires calibration of the true value of its route. The true value can be calibrated by using a high-precision integrated navigation receiver, but the precision is one order of magnitude higher than that of an 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 scene module 4. The output of the control satellite signal simulator 1 comprises at least: the simulated satellite system is selected and the radio frequency point is selected. Further, selecting the simulated satellite system includes selecting and turning on the visible satellite spreading code and the navigation data code, and selecting the visible satellite signal power. If the intelligent GNSS code table has low receiving sensitivity, the satellite signal simulator 1 can be further configured to increase the output signal power.
As shown in fig. 3, the accuracy analysis module 5 obtains mileage and speed information from the satellite signal simulator 1 and the intelligent GNSS code table 6, respectively, and calculates the accuracy of the intelligent GNSS code table 6 with 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 update rate of the corresponding satellite signal simulator 1 needs to be configured, for example, the satellite signal simulator 1 does not support the high-speed update rate (the update rate is greater than 1 Hz), and the precision analysis module 5 can compensate by adopting a quadratic term or spline fitting interpolation algorithm.
The precision calibration system adopts a unified and stable and repeatedly-realized simulated satellite navigation system and a standard reference time base, provides a standard reference for the speed measurement and the distance measurement (track recording) of the intelligent GNSS code table, places the data test of all the intelligent GNSS code tables on the same scale, and solves the defect that in the prior art, the precision of the intelligent GNSS code table can only be qualitatively but not quantitatively detected through mutual evaluation of different terminals. In the test scene module provided by the precision calibration system, various preset motion tracks are simulated through software, and the motion tracks comprise motion paths and motion speed information, so that the defects of high cost, low efficiency, poor repeatability and the like caused by using a mobile test vehicle are overcome. In summary, the precision calibration system is simple and feasible, has strong portability and stable and reliable test result, and provides reliable technical basis for the precision calibration of the speed and mileage of the intelligent GNSS code table.
As shown in FIG. 4, based on the above-mentioned 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 trail scene;
s2, running navigation signal control software, and collecting data of an intelligent GNSS code table;
s3, running accuracy analysis software to calibrate the accuracy of the intelligent GNSS code table;
s4, repeating the steps S1 to S3 until the preset times are reached.
In step S0, the satellite signal simulator is further set to be a multi-satellite multi-system, and corresponding satellite signal frequency points are set.
In step S1, the motion trail scene includes:
a) And (5) selecting an atmosphere model and a tropospheric delay model.
b) Editing the motion trail. Specifically, the motion track comprises a uniform linear motion track, a sinusoidal motion track, a circular motion track and a speed value during motion. Further, the method can also comprise a motion track compiled according to an actual route.
c) A motion model of the smart 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 (initially position) the intelligent GNSS code table.
In step S2, the navigation signal control software is used for leading, loading the motion trail scene, opening the visible satellite spread spectrum code and the navigation data code, and setting the visible satellite signal power (generally-130 dBm); if the intelligent GNSS code table has lower receiving sensitivity, the output signal power of the visible satellite signal power can be further improved.
In step S3, the accuracy analysis software acquires a mileage error, a speed accuracy, and a maximum speed, and aims at the speed analysis, and the UTC time or the local time is required to be strictly aligned.
According to the precision calibration method, the high-precision test platform is built by building the model test scenes such as the linear motion track model, the sinusoidal motion track model and the circular motion, so that a concrete test scheme is formed, the precision of the speed and the mileage of the intelligent GNSS code table can be detected in a simulation environment, and the method is simple, convenient and reliable, high in repeatability and high in obtained data reliability.
Finally, the invention also provides a readable and writable storage medium, on which an executable program is stored, which can implement the above-mentioned accuracy calibration method when the executable program is called. Those skilled in the art will appreciate that the above-described methods, steps 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. Likewise, 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 modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (9)
1. An accuracy calibration system for accuracy calibration of an intelligent GNSS code table in a simulated environment, comprising:
the satellite signal simulator simulates navigation data of a satellite navigation system and provides corresponding radio frequency signals;
a reference frequency scale providing a time-based reference signal to the satellite signal simulator;
the test scene module provides a preset motion trail 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;
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 precision analysis module carries out precision calibration according to the mileage error, the speed precision and the maximum speed; when the update rate of the speed error, the speed precision and the maximum speed is greater than 1Hz, the update rate of the corresponding satellite signal simulator is required to be configured.
2. The precision calibration system of claim 1, wherein the controlling the output of the satellite signal simulator comprises at least: the simulated satellite system is selected and the radio frequency point is selected.
3. The precision calibration system of claim 1, wherein the defining conditions of the test scene module include at least: an atmospheric delay model, a tropospheric delay model, an intelligent GNSS code table motion model and a scene motion trail.
4. The accuracy calibration system of claim 1, 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 employed to compensate.
5. A precision calibration method, characterized in that the precision calibration system according to any one of claims 1-4 is used for performing precision calibration on an intelligent GNSS code table in a simulation environment, comprising the following steps:
s1, selecting a motion trail scene;
s2, running navigation signal control software, and collecting data of an intelligent GNSS code table;
s3, running accuracy analysis software to calibrate the accuracy of the intelligent GNSS code table;
s4, repeating the steps S1 to S3 until the preset times are reached.
6. The method of calibrating accuracy according to claim 5, further comprising, prior to step S1: a satellite signal simulator providing simulated navigation data is preheated.
7. The method of calibrating accuracy according to claim 5, wherein in step S2, comprising:
controlling at least one satellite signal simulator to output: the frequency code, data, power and radio frequency point of the simulated satellite system;
and defining an atmosphere delay model, a troposphere delay model, an intelligent GNSS code table motion model and a scene motion trail in the test scene module.
8. The method according to claim 5, wherein in step S3, accuracy calibration is performed based on mileage error, speed accuracy, and maximum speed; and when the update rate of the speed error, the speed precision and the maximum speed is greater than 1Hz, adopting a quadratic term or spline fitting interpolation algorithm to compensate.
9. A readable and writable storage medium, characterized in that an executable program is stored thereon, which when called implements the accuracy calibration method according to any one of claims 5-8.
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| CN111459086B (en) * | 2020-03-30 | 2023-08-29 | 深圳市科楠科技开发有限公司 | System and method for realizing scaler control and data processing |
| 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 |
| CN117610316B (en) * | 2024-01-19 | 2024-05-14 | 灿芯技术(深圳)有限公司 | GNSS positioning performance simulation test model generation method, device, equipment and medium |
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