CN106443724A - Method and system for testing pseudo-range differential positioning precision of navigation receiver - Google Patents
Method and system for testing pseudo-range differential positioning precision of navigation receiver Download PDFInfo
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- CN106443724A CN106443724A CN201610947410.6A CN201610947410A CN106443724A CN 106443724 A CN106443724 A CN 106443724A CN 201610947410 A CN201610947410 A CN 201610947410A CN 106443724 A CN106443724 A CN 106443724A
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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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Abstract
The invention provides a method and system for testing the pseudo-range differential positioning precision of a navigation receiver. The method comprises the steps of acquiring pseudo-range correction information, acquiring navigation signals in a mobile manner according to a preset moving track and storing the acquired navigation signals, importing the acquired navigation signals and the pseudo-range correction information into a navigation receiver to be tested successively according to a preset time interval, acquiring address location information calculated by the navigation receiver to be tested, and testing the pseudo-range differential positioning precision of the navigation receiver to be tested according to the address location information and the preset moving track. In the whole process, the navigation signals are acquired according to the preset moving track, information of a test scene is already fixed, and pseudo-range differential positioning precision testing can be performed on a plurality of navigation receivers to be tested according to the same set of navigation signals and the pseudo-range correction information. The method provided by the invention has good repeatability and traceability, and the test efficiency is high.
Description
Technical field
The present invention relates to technical field of navigation and positioning, more particularly to navigation neceiver pseudo range difference positioning precision test side
Method and system.
Background technology
The positioning precision of navigation neceiver is important performance parameter, and it is directly connected to the availability of equipment, is can not
Or the detection project lacking.The method of testing of positioning precision is to directly receive outdoor satellite signal with receiver, the positioning number reporting
According to compared with actual actual value, calculate and obtain precision.One-Point Location and Differential positioning can be divided into according to positioning mode.Single-point is fixed
Bit comparison is easy to understand, and the meaning of Differential positioning is that receiver is receiving reception while satellite navigation signals carry out positioning calculation
Error correction information, to lift final positioning precision.According to the difference of the correction receiving, Differential positioning can be divided into pseudorange
Differential positioning and carrier difference positioning.
As shown in figure 1, pseudo range difference positioning refers to by a receiver on base station, according to base station known coordinate,
How pseudorange correction amount to be passed to equipment under test be to test to the Differential positioning of how realizing of satellite to calculate base station
The key of journey.Traditional method of testing is by radio wave propagation（Or other communications）Mode, pseudorange correction amount believed by base station
Breath passes to equipment under test, after equipment under test receives correction information, realizes Differential positioning pattern, positioning result is reported survey
Test system.
Although above-mentioned method of testing can realize the test of pseudo range difference positioning precision substantially, method of testing has very overall situation
Sex-limited, being on the one hand mainly test is easily affected by the communication mode self performance such as radio station；On the other hand it is that test can weigh
Renaturation is poor, almost without repeatability.There is the defect that efficiency is low and trackability is poor in whole method of testing.
Content of the invention
Based on this it is necessary to low and can for general navigation neceiver pseudo range difference positioning precision method of testing testing efficiency
The problem of retrospective difference, provides the navigation neceiver pseudo range difference positioning precision test that a kind of testing efficiency is high and trackability is good
Method and system.
A kind of navigation neceiver pseudo range difference positioning precision method of testing, including step：
Obtain pseudorange correction amount information；
According to default motion track, mobile collection navigation signal simultaneously stores；
According to prefixed time interval, successively the navigation signal collecting and pseudorange correction amount information are imported navigation to be measured
Receiver；
Obtain the calculated geographic location information of navigation neceiver to be measured；
According to geographic location information and default motion track, test navigation neceiver pseudo range difference positioning precision to be measured.
A kind of navigation neceiver pseudo range difference positioning precision test system, including：
Correction acquisition module, for obtaining pseudorange correction amount information；
Navigation signal acquisition module, for according to default motion track, mobile collection navigation signal simultaneously stores；
Import processing module, for according to prefixed time interval, successively by the navigation signal collecting and pseudorange correction
Amount information imports navigation neceiver to be measured；
Geographic location information computing module, for obtaining the calculated geographic location information of navigation neceiver to be measured；
Positioning precision test module, connects for according to geographic location information and default motion track, testing navigation to be measured
Receipts machine pseudo range difference positioning precision.
Navigation neceiver pseudo range difference positioning precision method of testing of the present invention and system, obtain pseudorange correction amount information, root
According to default motion track, mobile collection navigation signal simultaneously stores, according to prefixed time interval, successively by the navigation signal collecting
And pseudorange correction amount information imports navigation neceiver to be measured, obtain navigation neceiver to be measured calculated address bit confidence
Breath, according to geographic location information and default motion track, tests navigation neceiver pseudo range difference positioning precision to be measured.Whole mistake
Cheng Zhong, gathers navigation signal according to default motion track, and test scene information has cured, and can be navigated according to same set and believe
Number and pseudorange correction amount information pseudo range difference positioning precision test is carried out to multiple navigation neceivers to be measured, its test have good
Good repeatability and trackability, and testing efficiency is high.
Brief description
Fig. 1 is conventional navigation receiver pseudo range difference positioning precision method of testing application schematic diagram；
Fig. 2 is that the flow process of navigation neceiver pseudo range difference first embodiment of positioning precision method of testing of the present invention is illustrated
Figure；
Fig. 3 is that the flow process of navigation neceiver pseudo range difference second embodiment of positioning precision method of testing of the present invention is illustrated
Figure；
Fig. 4 is the structural representation of navigation neceiver pseudo range difference first embodiment of positioning precision test system of the present invention
Figure；
Fig. 5 is the structural representation of navigation neceiver pseudo range difference second embodiment of positioning precision test system of the present invention
Figure；
Fig. 6 is in navigation neceiver pseudo range difference positioning precision method of testing of the present invention and the one of application example of system
Data acquisition phase schematic diagram；
Fig. 7 navigation neceiver of the present invention pseudo range difference positioning precision method of testing is fixed with the one of application example of system
Position accuracy test stage schematic diagram.
Specific embodiment
As shown in Fig. 2 a kind of navigation neceiver pseudo range difference positioning precision method of testing, including step：
S100：Obtain pseudorange correction amount information.
Pseudorange correction amount information can be obtained based on historical empirical data, for example, be directed to same area, identical navigation
Signal（The navigation signal that same satellite issues）, its pseudorange correction amount information is usually identical, in this regard, can be based on history note
Data in record, obtains this area, the pseudorange correction amount information of identical navigation signal.In addition, pseudorange correction amount information is acceptable
Calculate in real time and obtain.As shown in figure 3, wherein in an embodiment, calculate in real time and obtain pseudorange correction amount information and include step：
S120：Obtain the navigation signal that position known base station receives.
S140：Position according to position known base station and navigation signal, calculate pseudorange correction amount information.
The position of base station typically can obtain corresponding address location data by common carrier or BTS management side,
Obtain the navigation signal that these position known base station receive, satellite navigation locating base station can be drawn based on this navigation signal
Position, then the position that position known to base station is positioned with satellite navigation is compared, and calculates pseudorange correction amount information.
S200：According to default motion track, mobile collection navigation signal simultaneously stores.
Default motion track is drawn in advance and is set, and it can pre- advanced stroke of the needs based on actual scene set, such as with base
Stand and draw the circle setting a diameter of 10 kilometers around base station for the center of circle as default motion track.In actual applications, preset and move
Dynamic rail mark can be irregular travel route, such as interspersed route travelling etc. on urban road.Set based on drawing in advance
Motion track, gathers navigation signal under mobile status, and the navigation signal collecting is stored.Non-essential, in collection
In navigation signal storing process, can also be by each acquisition time and the navigation signal collecting associated storage, based on collection
Time and default motion track can be appreciated that and currently move present position.In actual applications, can be by test carriage
Setting navigation signal reclaims Acquisition Instrument, and test carriage is in default motion track（Path）Upper traveling, is led with certain frequency interval collection
Boat signal, also records acquisition time while gathering navigation signal, and the navigation signal collecting was stored with association in time
Get up.
S300：According to prefixed time interval, successively the navigation signal collecting and pseudorange correction amount information are imported and treat
Survey navigation neceiver.
In practical application scene（Prior art for example shown in Fig. 1）Pseudorange correction amount information is to be later than navigation signal to pass
Defeated to navigation neceiver to be measured.In the present embodiment, it is spaced Preset Time, with the navigation signal that collects formerly, pseudorange is repaiied
Positive quantity information, in rear importing navigation neceiver to be measured, simulates real application scenarios.
S400：Obtain the calculated geographic location information of navigation neceiver to be measured.
Navigation neceiver to be measured carries out pseudo range difference positioning according to the navigation information importing and pseudorange correction amount information, obtains
Geographic location information to after positioning.
S500：According to geographic location information and default motion track, test navigation neceiver pseudo range difference positioning to be measured
Precision.
Default motion track can be interpreted as accurate geographical position, navigation to be measured be received the address bit confidence of positioning
Breath is compared with default motion track, calculates the deviation for both geographical location information, you can obtains navigation to be measured and receives
Machine pseudo range difference positioning precision test result.Non-essential, obtain a period of time in navigation neceiver to be measured calculatedly
Location positional information, counts these geographical location information and obtains geographical trace information, then this geographical trace information is moved with default
Track is compared, and repeatedly calculates deviation between the two, then calculates the meansigma methodss of deviation as navigation neceiver to be measured puppet
Away from Differential positioning precision.
Navigation neceiver pseudo range difference positioning precision method of testing of the present invention, obtains pseudorange correction amount information, according to default
Motion track, mobile collection navigation signal simultaneously stores, according to prefixed time interval, successively by the navigation signal collecting and puppet
Import navigation neceiver to be measured away from correction information, obtain the calculated geographic location information of navigation neceiver to be measured, according to
Geographic location information and default motion track, test navigation neceiver pseudo range difference positioning precision to be measured.In whole process, root
Gather navigation signal according to default motion track, test scene information has cured, can according to same set navigation signal and
Pseudorange correction amount information carries out pseudo range difference positioning precision test to multiple navigation neceivers to be measured, its test have good can
Repeatability and trackability, and testing efficiency is high.
Wherein in an embodiment, according to default motion track, the mobile collection navigation signal step storing includes：
Step one：According to default motion track, the time of mobile collection navigation signal and collection；
Step 2：By the time collecting navigation signal and the navigation signal associated storage collecting.
Based on default motion track, the acquisition time of mobile collection navigation signal, it is apparent that mobile collection navigates
Signal is presently in position, by the time collecting navigation signal and the navigation signal associated storage collecting, both can be accurate
During really understanding whole mobile collection navigation signal, each navigation signal corresponding exact address positional information, so that subsequently
" point compares " mode can be directly adopted to immediately arrive at navigation neceiver pseudo range difference positioning precision test result to be measured in step.
Below process is realized in instance interpretation " point compares " mode.After assuming that the equipment of mobile collection navigation signal is loading
The test carriage of navigation signal reclaimer, with the speed of at the uniform velocity 1 meter per second, desired guiding trajectory is for A point to B point, then be directed to for test carriage
When the 10th second from starting acquisition time, test carriage travels to desired guiding trajectory apart from 10 meters of the position in A point ground, records known bits
It is set to M, the navigation signal now gathering is X, is now based on navigation signal X and pseudorange correction amount information, obtains geographical position
Information is N, you can directly carries out navigation neceiver pseudo range difference positioning precision according to known location M with geographical location information N and surveys
Examination, obtains test result.It is pointed out that can not also be realized in desired guiding trajectory using at the uniform velocity mode in practical operation
Upper position determines, for example, can arrange the equipment being accurately positioned on test carriage and equally can be implemented in standard on desired guiding trajectory
Determine position, or using counting distance travelled（Distance）Mode determines test carriage accurate location on desired guiding trajectory, test carriage
Distance travelled can the equipment such as car running computer based on test carriage obtain.
Wherein in an embodiment, according to prefixed time interval, successively the navigation signal collecting and pseudorange are repaiied
The step that positive quantity information imports navigation neceiver to be measured includes：
Step one：Obtain prefixed time interval；
Step 2：Adjustment prefixed time interval, until navigation neceiver to be measured can carry out pseudo range difference positioning action, obtains
Prefixed time interval after must updating；
Step is three：According to the prefixed time interval after updating, successively by the navigation signal collecting and pseudorange correction
Amount information imports navigation neceiver to be measured.
Prefixed time interval can be set based on practical situation, specifically, a prefixed time interval that need to arrange
Disclosure satisfy that navigation neceiver to be measured carries out the demand of pseudo range difference positioning action, when meeting, need to Preset Time
Interval is adjusted updating.Meet the demand that navigation neceiver to be measured carries out pseudo range difference positioning action, specifically refer to, in reality
In operation, this time interval size allows survey navigation neceiver can perceive enough, and then carries out pseudo range difference positioning action.
As shown in figure 3, wherein in an embodiment, step S500 includes：
S510：Obtain geographic location information in real time.
S520：The geographical trace information that in statistics a period of time, navigation neceiver positioning to be measured obtains.
S530：Search known trajectory information corresponding with a period of time in default motion track.
S540：According to geographical trace information and known trajectory information, test navigation neceiver pseudo range difference positioning accurate to be measured
Degree.
A period of time can be 1 minute, 1 hour etc..Taking 1 hour as a example, obtain geographical location information in real time, statistics 1 is little
When the geographical trace information that obtains of interior navigation neceiver to be measured positioning, desired guiding trajectory is searched corresponding test carriage 1 little at this
When interior movement trace information, as known trajectory information, geographical trace information is compared with known trajectory information, test
Navigation neceiver pseudo range difference positioning precision to be measured.Non-essential, in comparison procedure, geographical trace information can be chosen respectively
Choose multiple correlation ratios and relatively put with known trajectory information and repeatedly compared calculating, finally calculate the average of deviation to improve test
The accuracy of result.Furthermore it is also possible to calculate variance and the mean square deviation of multiple comparative result, further study navigation to be measured and connect
There is the concrete condition of deviation in receipts machine pseudo range difference positioning precision.
As shown in figure 4, a kind of navigation neceiver pseudo range difference positioning precision test system, including：
Correction acquisition module 100, for obtaining pseudorange correction amount information.
Navigation signal acquisition module 200, for according to default motion track, mobile collection navigation signal simultaneously stores.
Import processing module 300, for according to prefixed time interval, successively repairing the navigation signal collecting and pseudorange
Positive quantity information imports navigation neceiver to be measured.
Geographic location information computing module 400, for obtaining the calculated geographic location information of navigation neceiver to be measured.
Positioning precision test module 500, for according to geographic location information and default motion track, testing navigation to be measured
Receiver pseudo range difference positioning precision.
Navigation neceiver pseudo range difference positioning precision test system of the present invention, correction acquisition module 100 obtains pseudorange and repaiies
Positive quantity information, navigation signal acquisition module 200 simultaneously stores according to default motion track, mobile collection navigation signal, and importing is processed
The navigation signal collecting and pseudorange correction amount information, according to prefixed time interval, are successively imported navigation to be measured by module 300
Receiver, geographic location information computing module 400 obtains the calculated geographic location information of navigation neceiver to be measured, positioning accurate
Degree test module 500, according to geographic location information and default motion track, tests navigation neceiver pseudo range difference positioning to be measured
Precision.In whole process, navigation signal is gathered according to default motion track, test scene information has cured, can be according to phase
Same group of navigation signal and pseudorange correction amount information carry out pseudo range difference positioning precision test to multiple navigation neceivers to be measured,
Its test has good repeatability and trackability, and testing efficiency is high.
As shown in figure 5, wherein in an embodiment, correction acquisition module 100 includes：
Acquiring unit 120, for obtaining the navigation signal that position known base station receives.
Correction-amount calculating 140, for the position according to position known base station and navigation signal, calculates pseudorange correction
Amount information.
Wherein in an embodiment, navigation signal acquisition module 200 includes：
Collecting unit, for according to default motion track, the time of mobile collection navigation signal and collection.
Memory element, for by the time collecting navigation signal and the navigation signal associated storage collecting.
Wherein in an embodiment, import processing module 300 and include：
Time interval acquiring unit, for obtaining prefixed time interval；
Time interval adjustment unit, for adjusting prefixed time interval, until navigation neceiver to be measured can carry out pseudorange
Differential positioning operates, and obtains the prefixed time interval after updating；
Processing unit, for according to the prefixed time interval after updating, successively by the navigation signal collecting and pseudorange
Correction information imports navigation neceiver to be measured.
As shown in figure 5, wherein in an embodiment, positioning precision test module 500 includes：
Acquiring unit 510 in real time, obtains geographic location information for real-time.
Statistic unit 520, the geographical trace information obtaining for navigation neceiver positioning to be measured in statistics a period of time.
Searching unit 530, for searching known trajectory information corresponding with a period of time in default motion track.
Positioning precision test cell 540, for according to geographical trace information and known trajectory information, testing navigation to be measured and connecing
Receipts machine pseudo range difference positioning precision.
For further explaining in detail the skill of navigation neceiver pseudo range difference positioning precision method of testing of the present invention and system
Art scheme, and its effect brought, using instantiation, and will be described in detail with reference to Fig. 6 and Fig. 7 below.
When practical application navigation neceiver of the present invention pseudo range difference positioning precision method of testing is with system, mainly can divide
Test two stages for data acquisition with positioning precision.
As shown in fig. 6, data acquisition phase, concrete data acquisition is as follows：
1）Reference receiver is started shooting, and by serial communication, agreement reports the information such as pseudorange correction amount according to the rules, transmission
To serial data recording system.Serial data recording system receives pseudorange correction amount information, is stored by control software.
2）Navigation signal collection playback apparatus start, starts to record navigation signal.
3）According to default, test carriage has planned that route carries out sport car.
4）After scene recording finishes, first turn off navigation signal collection playback apparatus, then turn off Serial Port Information recording system, finally
Reference receiver power-off.
As shown in fig. 7, positioning precision test phase, concrete test process is as follows：
1）Navigation signal collection playback apparatus scene time is aligned according to intervals with pseudorange correction amount information time.
Can be obtained by the principle of Differential positioning, receiver receives navigation signal formerly, difference information has certain delay.Serial data is recorded
System, when playing back pseudo range difference information, can adjust the time difference between navigation signal and difference information with regulating time axle.
2）After the completion of time alignment, control navigation signal collection playback apparatus and serial data recording system playback scenario, connect
Receipts machine receipt signal realizes Differential positioning, reporting orientation information, is transferred to evaluation system, completes to test.
Generally, pseudo range difference is positioned by navigation neceiver pseudo range difference positioning precision method of testing of the present invention with system
Accuracy test switchs to indoor test from outdoor test（In taken outdoors desired data, carry out positioning precision test indoors）.Pseudo-
Away from the conventional test methodologies of Differential positioning precision, be outdoor by way of radio station by pseudorange correction amount information transmission give tested
Receiver, tested receiver realizes Differential positioning function, completes to test.And navigation neceiver pseudo range difference positioning precision of the present invention
Method of testing and system are by way of recording navigation signal and difference information, and test mode is converted into from outdoor test
Indoor test, solves the problems, such as to test the impact being easily subject to the communication modes such as radio station performance.Navigation neceiver pseudorange of the present invention
Differential positioning method for testing precision and system can support that same condition test realized by more receiver, solve conventional measurement
Method for testing is with the receiver quantity restricted problem of condition test.Navigation neceiver pseudo range difference positioning precision method of testing of the present invention
Also solve Differential positioning functional test repeatability, trackability problem with system.This navigation neceiver pseudo range difference positions
Method for testing precision, its test scene, difference positioning information etc. are all realized solidifying, and test possesses repeatable completely and can review
Property.
Embodiment described above only have expressed the several embodiments of the present invention, and its description is more concrete and detailed, but simultaneously
Can not therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
Say, without departing from the inventive concept of the premise, some deformation can also be made and improve, these broadly fall into the protection of the present invention
Scope.Therefore, the protection domain of patent of the present invention should be defined by claims.
Claims (10)
1. a kind of navigation neceiver pseudo range difference positioning precision method of testing is it is characterised in that include step：
Obtain pseudorange correction amount information；
According to default motion track, mobile collection navigation signal simultaneously stores；
According to prefixed time interval, successively the navigation signal collecting and described pseudorange correction amount information are imported navigation to be measured
Receiver；
Obtain the calculated geographic location information of described navigation neceiver to be measured；
According to described geographic location information and default motion track, test described navigation neceiver pseudo range difference positioning accurate to be measured
Degree.
2. navigation neceiver pseudo range difference positioning precision method of testing according to claim 1 is it is characterised in that described obtain
The step taking pseudorange correction amount information includes：
Obtain the navigation signal that position known base station receives；
Position according to described position known base station and described navigation signal, calculate pseudorange correction amount information.
3. navigation neceiver pseudo range difference positioning precision method of testing according to claim 1 is it is characterised in that described
According to default motion track, the mobile collection navigation signal step storing includes：
According to default motion track, the time of mobile collection navigation signal and collection；
By the time collecting described navigation signal and the described navigation signal associated storage collecting.
4. navigation neceiver pseudo range difference positioning precision method of testing according to claim 1 is it is characterised in that described
According to prefixed time interval, successively the navigation signal collecting and described pseudorange correction amount information are imported navigation neceiver to be measured
Step include：
Obtain prefixed time interval；
Adjust described prefixed time interval, until described navigation neceiver to be measured can carry out pseudo range difference positioning action, obtain
Prefixed time interval after renewal；
According to the prefixed time interval after updating, successively the navigation signal collecting and described pseudorange correction amount information are imported
Navigation neceiver to be measured.
5. navigation neceiver pseudo range difference positioning precision method of testing according to claim 1 is it is characterised in that described
According to described geographic location information and default motion track, test the step of described navigation neceiver pseudo range difference positioning precision to be measured
Rapid inclusion：
Obtain described geographic location information in real time；
The geographical trace information that in statistics a period of time, described navigation neceiver positioning to be measured obtains；
Search known trajectory information corresponding with described a period of time in default motion track；
According to described geography trace information and described known trajectory information, the described navigation neceiver pseudo range difference positioning to be measured of test
Precision.
6. a kind of navigation neceiver pseudo range difference positioning precision test system is it is characterised in that include：
Correction acquisition module, for obtaining pseudorange correction amount information；
Navigation signal acquisition module, for according to default motion track, mobile collection navigation signal simultaneously stores；
Import processing module, for according to prefixed time interval, successively by the navigation signal collecting and described pseudorange correction
Amount information imports navigation neceiver to be measured；
Geographic location information computing module, for obtaining the calculated geographic location information of described navigation neceiver to be measured；
Positioning precision test module, for according to described geographic location information and default motion track, testing described to be measured lead
Boat receiver pseudo range difference positioning precision.
7. navigation neceiver pseudo range difference positioning precision test system according to claim 6 is it is characterised in that described repair
Positive quantity acquisition module includes：
Acquiring unit, for obtaining the navigation signal that position known base station receives；
Correction-amount calculating, for the position according to described position known base station and described navigation signal, calculates pseudorange and repaiies
Positive quantity information.
8. navigation neceiver pseudo range difference positioning precision test system according to claim 6 is it is characterised in that described lead
Boat signal acquisition module includes：
Collecting unit, for according to default motion track, the time of mobile collection navigation signal and collection；
Memory element, for by the time collecting described navigation signal and the described navigation signal associated storage collecting.
9. navigation neceiver pseudo range difference positioning precision test system according to claim 6 is it is characterised in that described lead
Enter processing module to include：
Time interval acquiring unit, for obtaining prefixed time interval；
Time interval adjustment unit, for adjusting described prefixed time interval, until described navigation neceiver to be measured can be carried out
Pseudo range difference positioning action, obtains the prefixed time interval after updating；
Processing unit, for according to the prefixed time interval after updating, successively by the navigation signal collecting and described pseudorange
Correction information imports navigation neceiver to be measured.
10. navigation neceiver pseudo range difference positioning precision test system according to claim 6 is it is characterised in that described
Positioning precision test module includes：
Acquiring unit in real time, obtains described geographic location information for real-time；
Statistic unit, the geographical trace information obtaining for navigation neceiver positioning to be measured described in statistics a period of time；
Searching unit, for searching known trajectory information corresponding with described a period of time in default motion track；
Positioning precision test cell, for according to described geography trace information and described known trajectory information, test is described to be measured
Navigation neceiver pseudo range difference positioning precision.
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| CN108363078A (en) * | 2018-01-17 | 2018-08-03 | 全明 | Dynamic positioning error test device, system and method for navigation positioning system |
| CN108363078B (en) * | 2018-01-17 | 2024-04-05 | 国图测绘科技(浙江)有限公司 | Dynamic positioning error testing device, system and method for navigation positioning system |
| CN111158027A (en) * | 2018-11-07 | 2020-05-15 | 千寻位置网络有限公司 | Multi-terminal synchronization-based network RTK service testing method and device and testing system |
| CN110196419A (en) * | 2019-06-11 | 2019-09-03 | 北京无线电计量测试研究所 | Pseudorange accuracy calibration method and system for GNSS signal acquisition playback apparatus |
| CN110412622A (en) * | 2019-08-13 | 2019-11-05 | 广州广电计量检测股份有限公司 | A kind of RTK Performance Test System and method |
| CN110967707A (en) * | 2020-01-20 | 2020-04-07 | 深圳信息通信研究院 | High-precision virtual drive test system and method for positioning performance of 5G mobile communication terminal |
| CN112782737A (en) * | 2020-12-30 | 2021-05-11 | 深圳市金溢科技股份有限公司 | Differential positioning, road side unit and vehicle-mounted unit based on vehicle-road cooperation |
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