CN114217104A - Indoor analog signal generation method and device and analog signal generator - Google Patents
Indoor analog signal generation method and device and analog signal generator Download PDFInfo
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Abstract
The embodiment of the invention relates to the technical field of signal simulation, and discloses an indoor analog signal generation method, an indoor analog signal generation device and an analog signal generator.
Description
Technical Field
The embodiment of the invention relates to the technical field of signal simulation, in particular to an indoor simulation signal generation method and device and a simulation signal generator.
Background
Unmanned vehicle and robot technologies are being developed iteratively, and most schemes use a combination of a Global Navigation Satellite System (GNSS) and an Inertial sensor (IMU) to realize high-precision positioning of outdoor motion, so that a moving body (vehicle or robot) obtains its position in a Global coordinate System.
To the research and development production company of autopilot or other mobile machine equipment, when research and development debugs autopilot software module, usually need the engineer in outdoor debugging verification, carry out further debugging after outdoor various data of real-time acquisition, and outdoor debugging needs to move dismouting equipment and look for the place, comparatively inconvenient, manpower and materials are with high costs, still can receive the weather influence simultaneously, can't debug when weather is bad, influence research and development personnel work efficiency easily.
Disclosure of Invention
The embodiment of the application provides an indoor analog signal generation method and device and an analog signal generator, and navigation simulation can be carried out indoors.
The purpose of the embodiment of the invention is realized by the following technical scheme:
in order to solve the above technical problem, in a first aspect, an embodiment of the present invention provides an indoor analog signal generating method applied to an analog signal generator, where the method includes: acquiring time data acquired outdoors in advance and corresponding positioning data and inertial measurement data; covering the pre-collected time data with the current simulation time; according to the positioning data and the inertial measurement data, simulating to generate navigation data; and based on the current simulation time, packaging and outputting the positioning data, the inertial measurement data and the navigation data.
In some embodiments, the acquiring time data and corresponding positioning data and inertial measurement data collected outdoors in advance includes: and acquiring positioning data through a positioning system, and acquiring inertia measurement data through an inertia measurement unit.
In some embodiments, the overwriting the current simulation time with the pre-acquired time data includes: acquiring timestamps of the positioning data and the inertial measurement data which are simultaneously acquired in advance through a real-time clock unit; acquiring the output frequency of the analog signal generator; setting a timer of the analog signal generator according to the output frequency; and covering the pre-acquired time data with the current simulation time to serve as a new timestamp of the pre-simultaneously acquired positioning data and the inertial measurement data.
In some embodiments, said simulating from said positioning data and said inertial measurement data generates navigation data, comprising: simulating to generate coordinate data within the current simulation time; generating a coordinate conversion relation of the coordinate data according to the positioning data and the inertial measurement data; and simulating and generating navigation data of the target on the road according to the coordinate conversion relation, the coordinate data, the positioning data and the inertial measurement data.
In some embodiments, said packaging said positioning data, said inertial measurement data, and said navigation data for output based on said current simulated time comprises: acquiring an output port of the analog signal generator; and packaging the positioning data, the inertia measurement data and the navigation data into a data packet and outputting the data packet according to the type of the output port and the current simulation time.
In order to solve the above technical problem, in a second aspect, an embodiment of the present invention provides an indoor analog signal generating device, which is applied to an analog signal generator, and the device includes: the acquisition unit is used for acquiring time data acquired outdoors in advance and corresponding positioning data and inertial measurement data; the setting unit is used for covering the pre-collected time data with the current simulation time; the simulation unit is used for simulating and generating navigation data according to the positioning data and the inertial measurement data; and the output unit is used for packaging and outputting the positioning data, the inertia measurement data and the navigation data based on the current simulation time.
In order to solve the above technical problem, in a third aspect, an embodiment of the present invention provides an analog signal generator, including: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of the first aspect as described above.
In some embodiments, further comprising: the positioning system is connected with the processor and is used for acquiring and storing positioning data; and the inertial measurement unit is connected with the processor and is used for acquiring and storing inertial measurement data.
In some embodiments, further comprising: the real-time clock unit is connected with the processor and is used for acquiring and saving the time stamp; and the timer is connected with the real-time clock unit and the processor and is used for setting the current simulation time.
In some embodiments, further comprising: and the interaction module is connected with the processor and is used for acquiring the model of the positioning system selected by a user, the output frequency and the output port of the analog signal generator.
In some embodiments, the interaction module, when comprising a display device, is further configured to display the navigation data.
In order to solve the above technical problem, in a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium storing computer-executable instructions for causing a computer to perform the method according to the first aspect.
In order to solve the above technical problem, in a fifth aspect, the present invention further provides a computer program product, which includes a computer program stored on a computer-readable storage medium, the computer program including program instructions, which, when executed by a computer, cause the computer to execute the method according to the first aspect.
Compared with the prior art, the invention has the beneficial effects that: different from the situation of the prior art, the embodiment of the invention provides an indoor analog signal generation method, an indoor analog signal generation device and an analog signal generator, the method firstly needs to acquire time data acquired outdoors in advance and corresponding positioning data and inertial measurement data, then covers the time data acquired in advance with current analog time, then generates navigation data in an analog mode according to the positioning data and the inertial measurement data, and finally packages and outputs the positioning data, the inertial measurement data and the navigation data based on the current analog time.
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One or more embodiments are illustrated by the accompanying figures in the drawings that correspond thereto and are not to be construed as limiting the embodiments, wherein elements/modules and steps having the same reference numerals are represented by like elements/modules and steps, unless otherwise specified, and the drawings are not to scale.
Fig. 1 is a schematic diagram of an application environment of an indoor analog signal generation method according to an embodiment of the present invention;
fig. 2 is a schematic flow chart of an indoor analog signal generating method according to an embodiment of the present invention;
FIG. 3 is a schematic view of a sub-flow of the step S200 in the method of FIG. 2;
FIG. 4 is a schematic view of a sub-flow of the step S300 of the method of FIG. 2;
FIG. 5 is a schematic view of a sub-flow of the step S400 in the method of FIG. 2;
fig. 6 is a schematic structural diagram of an indoor analog signal generating device according to a second embodiment of the present invention;
fig. 7 is a schematic diagram of a hardware structure of an analog signal generator according to a third embodiment of the present invention;
fig. 8 is a schematic diagram of another hardware structure of the analog signal generator according to the third embodiment of the present invention.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications can be made by persons skilled in the art without departing from the spirit of the invention. All falling within the scope of the present invention.
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
It should be noted that, if not conflicted, the various features of the embodiments of the invention may be combined with each other within the scope of protection of the present application. Additionally, while functional block divisions are performed in apparatus schematics, with logical sequences shown in flowcharts, in some cases, steps shown or described may be performed in sequences other than block divisions in apparatus or flowcharts. It will be understood that when an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may be present.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
In order to solve the problems of low outdoor debugging cost and high efficiency, the embodiment of the invention provides an indoor analog signal generation method, an indoor analog signal generation device and an analog signal generator, which can realize indoor debugging.
Fig. 1 is a schematic diagram of an application environment of an indoor analog signal generation method according to an embodiment of the present invention, where the application environment includes: an analog signal generator 10 and a vehicle 20.
In this application scenario, the analog signal generator 10 and the vehicle 20 are connected by a wire, wherein a data transmission line used when the analog signal generator 10 and the vehicle 20 are connected by the wire may be selected according to actual needs, and in other scenarios, the analog signal generator 10 and the vehicle 20 may also be connected wirelessly, specifically, may be selected according to actual needs.
The analog signal generator 10 is mounted with a display screen 100 capable of realizing interaction, and a user can select a model, an output frequency and an output port of the positioning system through the display screen 100, for example, in the example shown in fig. 1, a case where the model is selected to Novatel, the frequency is selected to 100Hz, and the port is selected to UART0 is shown, and in some other scenarios, the setting can be performed according to actual needs. Further, the analog signal generator 10 may be mounted with a positioning system, an inertial measurement unit, a real-time clock unit, a timer, and the like, and may be specifically set according to actual needs.
The vehicle 20 is a navigation data simulation target of the analog signal generator 10, and in some embodiments, the positioning system, the inertial measurement unit, the real-time clock unit, the timer, and the like may also be mounted on the vehicle 20, and further, the analog signal generator 10 may also be mounted on the vehicle 20, and may be specifically set according to actual needs.
In other embodiments, the vehicle 20 may be replaced with other modules, devices, apparatuses, systems, etc. that need to perform a navigation simulation test, such as a robot, and specifically, an actual simulation target or object may be selected according to the needs of a user.
Specifically, the embodiments of the present invention will be further explained below with reference to the drawings.
Example one
An embodiment of the present invention provides an indoor analog signal generating method, which is applied to an analog signal generator, where the analog signal generator may be the analog signal generator 10 shown in fig. 1 and the application scenario described above, please refer to fig. 2, which shows a flow of the indoor analog signal generating method provided in the embodiment of the present invention, where the method includes, but is not limited to:
step S100: acquiring time data acquired outdoors in advance and corresponding positioning data and inertial measurement data;
in the embodiment of the present invention, time data acquired outdoors in advance, positioning data and inertial measurement data acquired together with the time, and the like can be used as references for indoor signal simulation. Specifically, the positioning data may be acquired by a positioning system, and at the same time, the inertial measurement data may be acquired by an inertial measurement unit. The positioning System can be a Global Navigation Satellite System (GNSS), the Inertial Measurement Unit can be an Inertial Measurement Unit (IMU), the positioning data and the Inertial Measurement data are used as simulation parameters of the Navigation data, the advantage of high-precision positioning of the GNSS and the advantage of high sampling frequency of the Inertial sensor can be combined, the positioning data is used for compensating the Inertial Measurement data, and the simulation output of the Navigation data with high precision and high frequency can be realized. Furthermore, if needed, the camera can be used for collecting image data, the laser radar can be used for collecting distance data and other data, and the data are used for indoor signal simulation.
Step S200: covering the pre-collected time data with the current simulation time;
in the embodiment of the invention, in the engineering of indoor experiments, if the data packet of outdoor acquired positioning data and inertial measurement data is directly taken to carry out indoor navigation simulation, because the time stamp of the data packet is the outdoor time stamp and the navigation simulation strongly depends on the real-time coordinate conversion relation TFtopic, the sensing, predicting and other modules of the system cannot convert the position coordinates of the obstacle detected by the sensor into the world coordinate system, and therefore, the time data acquired in advance needs to be replaced by the current simulation time before the navigation simulation is carried out, so that the simulation generator simulates a real-time road condition state. Specifically, referring to fig. 3, which shows a sub-process of the step S200 in the method shown in fig. 2, the overwriting the current simulation time with the pre-collected time data includes:
step S210: acquiring timestamps of the positioning data and the inertial measurement data which are simultaneously acquired in advance through a real-time clock unit;
step S220: acquiring the output frequency of the analog signal generator;
step S230: setting a timer of the analog signal generator according to the output frequency;
step S240: and covering the pre-acquired time data with the current simulation time to serve as a new timestamp of the pre-simultaneously acquired positioning data and the inertial measurement data.
In the embodiment of the invention, firstly, a timestamp of positioning data and inertial measurement data acquired in the same time period required for analog navigation is acquired, the timestamp has a corresponding relationship with the positioning data and the inertial measurement data acquired in each frame in the time period, and the timestamp stores information such as the signature time and the signature parameters of the positioning data and the inertial measurement data. Then, the output frequency of the analog signal generator is obtained according to the current analog requirement, the output frequency can be selected by a user according to the output requirement, or can be automatically generated by a system, and can be specifically set according to the actual requirement. Then, a timer of the analog signal generator may be set according to the output frequency, and the timer starts to count time and stores a correspondence between the time and the navigation data after the navigation simulation is started. And finally, the timer covers the current simulation time with the pre-acquired time data as new timestamps of the positioning data and the inertial measurement data which are acquired in advance and are acquired simultaneously, so that the navigation data, the positioning data and the inertial measurement data can be correspondingly stored.
Step S300: according to the positioning data and the inertial measurement data, simulating to generate navigation data;
in the embodiment of the present invention, the positioning data includes, but is not limited to, position information (e.g., normal, east, down), heading information (e.g., raw, pitch, yaw), GPS time (GPS week and GPS time), and the like, and the inertial measurement data includes, but is not limited to, acceleration (x, y, z), span, measurement time, and the like. Further, after the time stamps of the positioning data and the inertia measurement data collected in advance are synchronized with the current simulation time, the positioning data and the inertia measurement data can be input into the system to simulate and generate navigation data. Specifically, referring to fig. 4, which shows a sub-process of the step S300 in the method shown in fig. 2, the simulating to generate navigation data according to the positioning data and the inertial measurement data includes:
step S310: simulating to generate coordinate data within the current simulation time;
step S320: generating a coordinate conversion relation of the coordinate data according to the positioning data and the inertial measurement data;
step S330: and simulating and generating navigation data of the target on the road according to the coordinate conversion relation, the coordinate data, the positioning data and the inertial measurement data.
In the embodiment of the invention, firstly, a group of coordinate data can be generated in a simulation mode, and a virtual scene is constructed; further, the real coordinates of the scene may also be acquired by map software or the like. Then, according to the obtained coordinate data, positioning data and inertia measurement data, after data such as a certain speed and the like are set, the scene is simulated, for example, the condition that the vehicle runs on a certain road is simulated, and finally, the simulated navigation data is stored.
Step S400: and based on the current simulation time, packaging and outputting the positioning data, the inertial measurement data and the navigation data.
In an embodiment of the present invention, after a process of generating a complete analog signal is executed, each item of data and time data are packaged and output, where positioning data and inertial measurement data collected outdoors in advance, and the navigation data are output based on time of a current analog time, specifically, please refer to fig. 5, which shows a sub-process of step S400 in the method shown in fig. 2, where the packaging and output of the positioning data, the inertial measurement data, and the navigation data based on the current analog time includes:
step S410: acquiring an output port of the analog signal generator;
step S420: and packaging the positioning data, the inertia measurement data and the navigation data into a data packet and outputting the data packet according to the type of the output port and the current simulation time.
In the embodiment of the invention, a user can select the output format and the output port of the data packet of the analog signal generator according to the requirement, the type of the output port can be flexibly changed, the analog debugging and verification are more flexible and convenient, and the data is packaged and output together according to the type of the output port after the output port is determined, thereby completing the whole signal simulation generation process. The type of the output port of the analog signal generator 10 may be selected according to actual needs, for example, the analog signal generator may be of a Novatel type, a Trimble type, or the like, and the analog signal generator 10 may selectively output an analog signal in a Novatel format or an analog signal in a Trimble format.
It should be noted that, for different positioning systems and inertial measurement units, there is a certain difference between the content and format of the output data packet, and the user can select the data packet according to the actual needs, where the positioning data includes but is not limited to: start bit, packet ID, length, data segment, check, end flag, etc.
Example two
An embodiment of the present invention provides an indoor analog signal generating device, which can be applied to an analog signal generator, where the analog signal generator may be the analog signal generator shown in fig. 1 and the application scenario described above, please refer to fig. 6, which shows a structure of the indoor analog signal generating device provided in the embodiment of the present invention, where the indoor analog signal generating device 200 includes: an acquisition unit 210, a setting unit 220, a simulation unit 230, and an output unit 240.
The acquiring unit 210 is configured to acquire time data acquired outdoors in advance and corresponding positioning data and inertial measurement data; the setting unit 220 is configured to cover the pre-collected time data with the current simulation time; the simulation unit 230 is configured to generate navigation data through simulation according to the positioning data and the inertial measurement data; the output unit 240 is configured to output the positioning data, the inertial measurement data, and the navigation data in a package based on the current simulation time.
In some embodiments, the obtaining unit 210 is further configured to obtain the positioning data through the positioning system, and simultaneously obtain the inertial measurement data through the inertial measurement unit.
In some embodiments, the setting unit 220 is further configured to obtain, through a real-time clock unit, timestamps of the positioning data and the inertial measurement data that are simultaneously acquired in advance; acquiring the output frequency of the analog signal generator; setting a timer of the analog signal generator according to the output frequency; and covering the pre-acquired time data with the current simulation time to serve as a new timestamp of the pre-simultaneously acquired positioning data and the inertial measurement data.
In some embodiments, the simulation unit 230 is further configured to generate coordinate data by simulation during the current simulation time; generating a coordinate conversion relation of the coordinate data according to the positioning data and the inertial measurement data; and simulating and generating navigation data of the target on the road according to the coordinate conversion relation, the coordinate data, the positioning data and the inertial measurement data.
In some embodiments, the output unit 240 is further configured to obtain an output port of the analog signal generator; and packaging the positioning data, the inertia measurement data and the navigation data into a data packet and outputting the data packet according to the type of the output port and the current simulation time.
EXAMPLE III
An analog signal generator according to an embodiment of the present invention is further provided, and please refer to fig. 7, which illustrates a hardware structure of the analog signal generator capable of executing the indoor analog signal generating method described in fig. 2 to 5. The analog signal generator 10 may be the analog signal generator 10 shown in fig. 1.
The analog signal generator 10 includes: at least one processor 11; and a memory 12 communicatively coupled to the at least one processor 11, one processor 11 being illustrated in fig. 7. The memory 12 stores instructions executable by the at least one processor 11, and the instructions are executed by the at least one processor 11 to enable the at least one processor 11 to perform the indoor analog signal generating method described in fig. 2 to 5. The processor 11 and the memory 12 may be connected by a bus or other means, and fig. 7 illustrates the connection by a bus as an example.
In some embodiments, please refer to fig. 8, which shows another hardware structure of an analog signal generator capable of executing the indoor analog signal generating method of fig. 2 to 5, wherein the analog signal generator 10 further includes: a positioning system 13, an inertial measurement unit 14, a real-time clock unit 15, a timer 16 and/or an interaction module 17.
The positioning system 13 is connected with the processor 11 and is used for acquiring and saving positioning data; the Positioning System 13 may be a Global Navigation Satellite System (GNSS), or a Global Positioning System (GPS), and specifically, may be selected according to actual needs of a user.
The inertial measurement unit 14 is connected to the processor 11 and is configured to collect and store inertial measurement data. The Inertial Measurement Unit may be an Inertial sensor (Inertial Measurement Unit), and the like, and specifically, the setting of the model, the precision, and the like of the Inertial Measurement Unit 14 may be selected according to the actual needs of the user.
The real-time clock unit 15 is connected with the processor 11 and is used for acquiring and saving time stamps; the Real-Time Clock unit 15 may be a Clock chip or a Clock integrated circuit in the system electronic module/unit, that is, a Real-Time Clock (RTC), and specifically, may be set according to actual needs.
The timer 16 is connected with the real-time clock unit 15 and the processor 11, and is used for setting the current simulation time. The timer 16 is a device in the analog signal generator 10 for precisely controlling time, timing, controlling a switch or working time, and in the embodiment of the present invention, the timer 16 is assigned to cover the current analog time with the pre-collected time data, and performs timing work according to the time data.
The interaction module 17 is connected to the processor 11, and is configured to obtain a model of the positioning system selected by a user, and an output frequency and an output port of the analog signal generator 10. When the interaction module 17 comprises a display device, the navigation module is further configured to display the navigation data. Preferably, the interaction module 17 may be configured as a touch screen, or may be configured with a key for a user to select, and further, the interaction module 17 may be further configured with a network interface, an RS232 interface circuit, and the like to implement functional functions such as data output.
The memory 12, which is a non-volatile computer-readable storage medium, may be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as program instructions/modules corresponding to the indoor analog signal generation method in the embodiment of the present application, for example, the respective modules shown in fig. 6. The processor 11 executes various functional applications and data processing of the server by running the nonvolatile software programs, instructions and modules stored in the memory 12, that is, implements the indoor analog signal generation method of the above-described method embodiment.
The memory 12 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the indoor analog signal generating device, and the like. Further, the memory 12 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some embodiments, the memory 12 optionally includes memory located remotely from the processor 11, and these remote memories may be connected to the indoor analog signal generating device via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The one or more modules are stored in the memory 12 and when executed by the one or more processors 11, perform the indoor analog signal generation method in any of the above-described method embodiments, for example, perform the method steps of fig. 2 to 5 described above, and implement the functions of the modules and units in fig. 6.
The product can execute the method provided by the embodiment of the application, and has the corresponding functional modules and beneficial effects of the execution method. For technical details that are not described in detail in this embodiment, reference may be made to the methods provided in the embodiments of the present application.
Embodiments of the present application also provide a non-transitory computer-readable storage medium storing computer-executable instructions for execution by one or more processors, for example, to perform the method steps of fig. 2-5 described above to implement the functions of the modules in fig. 6.
Embodiments of the present application further provide a computer program product comprising a computer program stored on a non-volatile computer-readable storage medium, the computer program comprising program instructions that, when executed by a computer, cause the computer to perform the indoor analog signal generation method in any of the above-described method embodiments, for example, to perform the method steps of fig. 2 to 5 described above, to implement the functions of the respective modules in fig. 6.
The embodiment of the invention provides an indoor analog signal generation method, an indoor analog signal generation device and an analog signal generator.
It should be noted that the above-described device embodiments are merely illustrative, where the units described as separate parts may or may not be physically separate, and the parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a general hardware platform, and certainly can also be implemented by hardware. It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware related to instructions of a computer program, which can be stored in a computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; within the idea of the invention, also technical features in the above embodiments or in different embodiments may be combined, steps may be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (11)
1. An indoor analog signal generating method, applied to an analog signal generator, the method comprising:
acquiring time data acquired outdoors in advance and corresponding positioning data and inertial measurement data;
covering the pre-collected time data with the current simulation time;
according to the positioning data and the inertial measurement data, simulating to generate navigation data;
and based on the current simulation time, packaging and outputting the positioning data, the inertial measurement data and the navigation data.
2. The indoor analog signal generating method according to claim 1,
the acquiring of time data collected outdoors in advance and corresponding positioning data and inertial measurement data comprises:
and acquiring positioning data through a positioning system, and acquiring inertia measurement data through an inertia measurement unit.
3. The indoor analog signal generating method according to claim 1,
the step of overwriting the current simulation time with the pre-acquired time data comprises:
acquiring timestamps of the positioning data and the inertial measurement data which are simultaneously acquired in advance through a real-time clock unit;
acquiring the output frequency of the analog signal generator;
setting a timer of the analog signal generator according to the output frequency;
and covering the pre-acquired time data with the current simulation time to serve as a new timestamp of the pre-simultaneously acquired positioning data and the inertial measurement data.
4. The indoor analog signal generating method according to any one of claims 1 to 3,
the simulation generating navigation data according to the positioning data and the inertial measurement data comprises:
simulating to generate coordinate data within the current simulation time;
generating a coordinate conversion relation of the coordinate data according to the positioning data and the inertial measurement data;
and simulating and generating navigation data of the target on the road according to the coordinate conversion relation, the coordinate data, the positioning data and the inertial measurement data.
5. The indoor analog signal generating method according to claim 4,
the packaging and outputting the positioning data, the inertial measurement data and the navigation data based on the current simulation time comprises:
acquiring an output port of the analog signal generator;
and packaging the positioning data, the inertia measurement data and the navigation data into a data packet and outputting the data packet according to the type of the output port and the current simulation time.
6. An indoor analog signal generating device, for use in an analog signal generator, the device comprising:
the acquisition unit is used for acquiring time data acquired outdoors in advance and corresponding positioning data and inertial measurement data;
the setting unit is used for covering the pre-collected time data with the current simulation time;
the simulation unit is used for simulating and generating navigation data according to the positioning data and the inertial measurement data;
and the output unit is used for packaging and outputting the positioning data, the inertia measurement data and the navigation data based on the current simulation time.
7. An analog signal generator, comprising:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-5.
8. The analog signal generator of claim 7, further comprising:
the positioning system is connected with the processor and is used for acquiring and storing positioning data;
and the inertial measurement unit is connected with the processor and is used for acquiring and storing inertial measurement data.
9. The analog signal generator of claim 7, further comprising:
the real-time clock unit is connected with the processor and is used for acquiring and saving the time stamp;
and the timer is connected with the real-time clock unit and the processor and is used for setting the current simulation time.
10. The analog signal generator of claim 7, further comprising:
and the interaction module is connected with the processor and is used for acquiring the model of the positioning system selected by a user, the output frequency and the output port of the analog signal generator.
11. The analog signal generator of claim 10, wherein the interaction module, when comprising a display device, is further configured to display the navigation data.
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