CN110673170A - A test method and terminal for dynamic single-point positioning accuracy - Google Patents

Abstract

The invention discloses a dynamic single-point positioning accuracy testing method and terminal. The single-point positioning receiver to be tested and the RTK receiver used for comparison are installed on the same moving carrier, and the differential data of the base station is forwarded to the RTK receiver. The positioning result of the single-point positioning receiver to be tested is compared with the positioning result calculated by the RTK receiver based on the differential data of the base station, so as to determine the accuracy of the dynamic single-point positioning of the receiver to be tested; The verified RTK receiver can complete the test, which minimizes the test cost, and can be tested in a real dynamic environment according to the satellite signal actually received by the receiver, with high test accuracy; at the same time, it can save the test process. All kinds of data provide data support for problem finding and algorithm optimization in the process of positioning algorithm research and development.

Description

A test method and terminal for dynamic single-point positioning accuracy

technical field

The invention relates to the field of positioning accuracy testing, in particular to a testing method and terminal for dynamic single-point positioning accuracy.

Background technique

In the field of positioning, with the development of receiver hardware and data processing technology, low-cost, single-frequency, miniaturized receivers have been widely used in navigation, surveying and mapping, resource survey and other fields. Single-point positioning technology is widely used in navigation fields such as vehicles and ships because of its simple operation and independent solution. For the accuracy evaluation of static single-point positioning, it is not difficult to obtain the high-precision reference value required for the accuracy evaluation. Therefore, many researchers have evaluated the static single-point positioning accuracy. For dynamic positioning, the receiver is usually placed on a moving carrier (such as a car, a plane, a ship, etc.), and the true trajectory of the moving carrier is difficult to accurately measure. Therefore, the accuracy evaluation of the receiver in the moving state has always attracted people's attention.

In different stages of receiver product development (such as chip, solution algorithm, complete machine), it is necessary to carry out multiple targeted accuracy tests. At present, the dynamic positioning accuracy of receivers is mainly tested with signal simulators. The BeiDou/Global Navigation Satellite System (GNSS) signal simulator performance requirements and test methods were also implemented in November 2015. According to different test requirements, different types of simulator products from high-end to low-end are correspondingly formed in the market, such as satellite signal simulators that support multi-frequency and multi-mode, and the price is as high as millions of yuan. However, for most practitioners engaged in the R&D of receiver hardware and software, the signal simulator is a large investment, and there is even no signal simulator. Based on this, this case designs a method and device for testing the dynamic single-point positioning accuracy of a navigation receiver, which not only reduces the cost of dynamic testing of the receiver, but also flexibly tests the receiver with actual satellite signals.

SUMMARY OF THE INVENTION

The technical problem to be solved by the present invention is to provide a method and a terminal for testing the dynamic single-point positioning accuracy, which can reduce the testing cost of the receiver's dynamic single-point positioning accuracy.

In order to solve the above-mentioned technical problems, a kind of technical scheme adopted in the present invention is:

A method for testing dynamic single-point positioning accuracy, comprising the steps of:

S1. Install a base station receiver, and determine the precise position of the base station receiver;

S2. Install a receiver to be tested and a high-level receiver on the mobile carrier, the receiver to be tested is a single point positioning receiver, and the high-level receiver is an RTK receiver;

S3. Control the moving carrier to move according to a preset planned path, receive differential data sent by the base station receiver during the moving process of the moving carrier, and forward the differential data to a high-level receiver;

S4. Receive a first positioning result obtained by performing single-point positioning calculation by the receiver to be tested and a second positioning result obtained by performing RTK calculation by the high-level receiver according to the differential data. According to the first positioning result The result and the second positioning result determine the dynamic single-point positioning accuracy of the receiver under test.

In order to solve the above-mentioned technical problems, another technical scheme adopted by the present invention is:

A test terminal for dynamic single-point positioning accuracy, comprising a memory, a processor and a computer program stored in the memory and running on the processor, the processor implements the following steps when executing the computer program:

S1. Determine the precise location of the installed base station receiver;

S2. Control the moving carrier to move according to a preset planning path. A receiver to be tested and a high-level receiver are installed on the moving carrier. The receiver to be tested is a single-point positioning receiver, and the high-level receiver is a RTK receiver;

S3. Receive the differential data sent by the base station receiver during the movement of the moving carrier, and forward the differential data to the high-level receiver;

S4. Receive a first positioning result obtained by performing single-point positioning calculation by the receiver to be tested and a second positioning result obtained by performing RTK calculation by the high-level receiver according to the differential data. According to the first positioning result The result and the second positioning result determine the dynamic single-point positioning accuracy of the receiver under test.

The beneficial effect of the invention is that: the single-point positioning receiver to be tested and the RTK receiver for comparison are installed on the same mobile carrier, the differential data of the base station is forwarded to the RTK receiver, and the single-point positioning receiver to be tested is The positioning result of the receiver is compared with the positioning result calculated by the RTK receiver based on the differential data of the base station, so as to determine the accuracy of the dynamic single-point positioning of the receiver to be tested; only one verified RTK receiver can be completed. The test minimizes the test cost, and can be tested in a real dynamic environment according to the satellite signal actually received by the receiver, with high test accuracy; at the same time, it can save all kinds of data during the test process for the development process of the positioning algorithm. Provide data support for problem finding, algorithm optimization, etc.

Description of drawings

1 is a flow chart of steps of a method for testing dynamic single-point positioning accuracy according to an embodiment of the present invention;

2 is a schematic structural diagram of a testing terminal for dynamic single-point positioning accuracy according to an embodiment of the present invention;

3 is a schematic diagram of the hardware structure of a testing system for dynamic single-point positioning accuracy according to an embodiment of the present invention;

4 is a schematic diagram of a planned path according to an embodiment of the present invention;

5 is a schematic diagram of the distribution of the difference between the positioning results of the receiver to be tested and the high-level receiver in a climbing state according to an embodiment of the present invention;

6 is a schematic diagram of the distribution of the difference between the positioning results of the receiver to be tested and the high-level receiver in a straight flight state according to an embodiment of the present invention;

7 is a schematic diagram of the distribution of the difference between the positioning results of the receiver to be tested and the high-level receiver in a curved flight state according to an embodiment of the present invention;

8 is a schematic diagram of the distribution of the difference between the positioning results of the receiver under test and the high-level receiver in a landing state according to an embodiment of the present invention;

Label description:

1. A testing terminal for dynamic single-point positioning accuracy; 2. Memory; 3. Processor.

Detailed ways

In order to describe in detail the technical content, achieved objects and effects of the present invention, the following descriptions are given with reference to the embodiments and the accompanying drawings.

Please refer to Fig. 1, a kind of testing method of dynamic single-point positioning accuracy, including steps:

S1. Install a base station receiver, and determine the precise position of the base station receiver;

S2. Install a receiver to be tested and a high-level receiver on the moving carrier, the receiver to be tested is a single point positioning receiver, and the high-level receiver is an RTK receiver;

S3. Control the moving carrier to move according to a preset planned path, receive differential data sent by the base station receiver during the moving process of the moving carrier, and forward the differential data to a high-level receiver;

S4. Receive a first positioning result obtained by performing single-point positioning calculation by the receiver to be tested and a second positioning result obtained by performing RTK calculation by the high-level receiver according to the differential data. According to the first positioning result The result and the second positioning result determine the dynamic single-point positioning accuracy of the receiver under test.

It can be seen from the above description that the beneficial effects of the present invention are: the single point positioning receiver to be tested and the RTK receiver for comparison are installed on the same mobile carrier, the differential data of the base station is forwarded to the RTK receiver, and the The positioning results of the measured single-point positioning receiver are compared with the positioning results calculated by the RTK receiver based on the differential data of the base station, so as to determine the accuracy of the dynamic single-point positioning of the receiver to be tested; only one verified RTK is required. The receiver can complete the test, which minimizes the test cost, and can be tested in a real dynamic environment according to the satellite signal actually received by the receiver, with high test accuracy; Provide data support for problem finding and algorithm optimization in the process of positioning algorithm research and development.

Further, the step S1 also includes:

configuring the data collection type and differential data type of the base station receiver;

The step S2 also includes:

Configure the sampling interval and cut-off altitude angle of the receiver to be tested and the high-level receiver;

Configure the observation quantity and ephemeris output type of the receiver to be tested and the high-level receiver;

Configure the single-point positioning calculation parameters of the receiver to be tested and the RTK calculation parameters of the high-level receiver.

As can be seen from the above description, before performing the test, the base station receiver, the receiver under test and the high-level receiver are configured to ensure the reliability and validity of the subsequent test.

Further, the steps between S2 and S3 are also included:

Check whether the configurations of the base station receiver, the receiver under test and the high-level receiver are correct;

Check whether the communication link between the base station receiver and the high-level receiver is correct;

If all are correct, go to step S3.

It can be seen from the above description that before the test is performed, the relevant data configuration of the base station receiver, the receiver under test and the high-level receiver, and the communication link between the base station receiver and the high-level receiver are tested and verified. After the verification is correct, subsequent tests are performed, which not only ensures the reliability of the test, but also avoids useless tests and saves resource consumption.

Further, in the step S4, determining the dynamic single-point positioning accuracy of the receiver under test according to the first positioning result and the second positioning result includes:

Eliminate floating-point solutions and single-point solutions from the second positioning result, and retain fixed solutions;

The dynamic single-point positioning accuracy of the receiver under test is determined according to the fixed solution in the first positioning result and the second positioning result.

It can be seen from the above description that the dynamic single-point positioning accuracy test is performed based on the RTK fixed solution, which further improves the test accuracy.

Further, in the step S4, determining the dynamic single-point positioning accuracy of the receiver under test according to the first positioning result and the second positioning result includes:

The first positioning result and the second positioning result are respectively converted into the station center coordinate system positioning data, and the first station center coordinate system positioning result and the second station center coordinate system positioning result are obtained;

Determine the difference between the positioning result of the first station center coordinate system and the positioning result of the second station center coordinate system;

According to the difference value, determine the average value of the difference values in each direction of the positioning results of the receiver to be tested and the high-level receiver in the station center coordinate system;

Determine the standard deviation of the single-point positioning error of the receiver under test according to the difference and the average value of the difference;

The dynamic single-point positioning accuracy of the receiver under test is determined according to the average value of the differences and the standard deviation.

It can be seen from the above description that the RTK settlement result of the high-level receiver is used as the reference true value, and it is compared with the single-point positioning result of the receiver under test, and the difference, the average value of the difference, and the standard deviation are comprehensively determined. The dynamic single-point positioning accuracy of the receiver to be tested ensures the reliability of the dynamic single-point positioning accuracy judgment.

Please refer to FIG. 2 , a test terminal for dynamic single-point positioning accuracy, including a memory, a processor, and a computer program stored in the memory and running on the processor, which is implemented when the processor executes the computer program. The following steps:

S1. Determine the precise location of the installed base station receiver;

S2. Control the moving carrier to move according to a preset planning path. A receiver to be tested and a high-level receiver are installed on the moving carrier. The receiver to be tested is a single-point positioning receiver, and the high-level receiver is a RTK receiver;

S3. Receive the differential data sent by the base station receiver during the movement of the moving carrier, and forward the differential data to the high-level receiver;

S4. Receive a first positioning result obtained by performing single-point positioning calculation by the receiver to be tested and a second positioning result obtained by performing RTK calculation by the high-level receiver according to the differential data. According to the first positioning result The result and the second positioning result determine the dynamic single-point positioning accuracy of the receiver under test.

It can be seen from the above description that the beneficial effects of the present invention are: the single point positioning receiver to be tested and the RTK receiver for comparison are installed on the same motion carrier, the differential data of the base station is forwarded to the RTK receiver, and the The positioning results of the measured single-point positioning receiver are compared with the positioning results calculated by the RTK receiver based on the differential data of the base station, so as to determine the accuracy of the dynamic single-point positioning of the receiver to be tested; only one verified RTK is required. The receiver can complete the test, which minimizes the test cost, and can be tested in a real dynamic environment according to the satellite signal actually received by the receiver, with high test accuracy; Provide data support for problem finding and algorithm optimization in the process of positioning algorithm research and development.

Further, the step S1 also includes:

configuring the data collection type and differential data type of the base station receiver;

Before the step S2, it also includes:

Configure the sampling interval and cut-off altitude angle of the receiver to be tested and the high-level receiver;

Configure the observation quantity and ephemeris output type of the receiver to be tested and the high-level receiver;

Configure the single-point positioning calculation parameters of the receiver to be tested and the RTK calculation parameters of the high-level receiver.

As can be seen from the above description, before performing the test, the base station receiver, the receiver under test and the high-level receiver are configured to ensure the reliability and validity of the subsequent test.

Further, steps are also included before the step S2:

Check whether the configurations of the base station receiver, the receiver under test and the high-level receiver are correct;

Check whether the communication link between the base station receiver and the high-level receiver is correct;

If all are correct, go to step S2.

It can be seen from the above description that before the test is performed, the relevant data configuration of the base station receiver, the receiver under test and the high-level receiver, and the communication link between the base station receiver and the high-level receiver are tested and verified. After the verification is correct, subsequent tests are performed, which not only ensures the reliability of the test, but also avoids useless tests and saves resource consumption.

Further, in the step S4, determining the dynamic single-point positioning accuracy of the receiver under test according to the first positioning result and the second positioning result includes:

Eliminate floating-point solutions and single-point solutions from the second positioning result, and retain fixed solutions;

The dynamic single-point positioning accuracy of the receiver under test is determined according to the fixed solution in the first positioning result and the second positioning result.

It can be seen from the above description that the dynamic single-point positioning accuracy test is performed based on the RTK fixed solution, which further improves the test accuracy.

Further, in the step S4, determining the dynamic single-point positioning accuracy of the receiver under test according to the first positioning result and the second positioning result includes:

The first positioning result and the second positioning result are respectively converted into the station center coordinate system positioning data, and the first station center coordinate system positioning result and the second station center coordinate system positioning result are obtained;

Determine the difference between the positioning result of the first station center coordinate system and the positioning result of the second station center coordinate system;

According to the difference value, determine the average value of the difference values in each direction of the positioning results of the receiver to be tested and the high-level receiver in the station center coordinate system;

Determine the standard deviation of the single-point positioning error of the receiver under test according to the difference and the average value of the difference;

The dynamic single-point positioning accuracy of the receiver under test is determined according to the average value of the differences and the standard deviation.

It can be seen from the above description that the RTK calculation result of the high-level receiver is used as the reference true value, and it is compared with the single-point positioning result of the receiver under test, and the difference, the average value of the difference, and the standard deviation are comprehensively determined. The dynamic single-point positioning accuracy of the receiver under test is described, which ensures the reliability of the dynamic single-point positioning accuracy judgment.

Example 1

Please refer to Fig. 1, a kind of testing method of dynamic single-point positioning accuracy, including steps:

S1. Install a base station receiver, and determine the precise position of the base station receiver;

According to the testing requirements of dynamic single point positioning, the base station receiver should be installed under the observation conditions that are far away from high-power radio transmission sources, away from high-voltage transmission lines, and there are no objects that strongly transmit satellite signals nearby, and the point position is under the observation conditions that the viewing height angle of the point is more than 15° and there are no obstacles. and antenna;

As a specific scenario, for the needs of dynamic single-point positioning test, the base station receiver and antenna are placed on the track and field about 100 meters south of the Guangcheng Building of Minjiang University. Support multi-frequency and multi-system satellite data collection;

Also includes:

Configure the data collection type and differential data type of the base station receiver. Specifically, configure the data sampling interval of the base station multi-frequency receiver to be 5 Hz, configure the base station receiver to output GPS/BDS/GLONASS observations and ephemeris, and configure the base station to receive The differential data format broadcast by the machine to the high-level receiver of the mobile terminal is RTCM3.2, the message type is MSM4, and the specific content is 1074 (GPS observation), 1084 (GLONASS observation), 1124 (BDS observation), 1006 ( 3D position of base station);

The precise coordinates of the base station antenna phase center are measured as the precise position of the base station receiver. Specifically, the static relative positioning method is adopted through the single base station on the roof of the Guangcheng Building of Minjiang University (the precise coordinates are known, and the position accuracy is better than ±3mm). The precise coordinates of the base station antenna phase center are measured, the baseline length is about 100 meters, and the accuracy is ±3mm;

S2. Install a receiver to be tested and a high-level receiver on the moving carrier, the receiver to be tested is a single point positioning receiver, and the high-level receiver is an RTK receiver;

Also includes:

Configure the sampling interval and cut-off height angle of the receiver to be tested and the high-level receiver, preferably, the interval is 5Hz, and the cut-off height angle is 15°;

Configure the observation and ephemeris output types of the receiver under test and the high-level receiver. Specifically, configure the receiver under test to output single-frequency observation and broadcast ephemeris, and the high-level receiver to output multi-frequency observation and broadcast Ephemeris;

Configure the single-point positioning calculation parameters of the receiver to be tested and the RTK calculation parameters of the high-level receiver. Specifically, configure the single-point positioning calculation model of the receiver to be tested as a dynamic model, and the satellite system as GPS+BDS , frequency single frequency, cut-off altitude angle of 15°, ionospheric model is the classic Klobuchar model (Klobuchar), troposphere model is the classic Saastamoinen model (Saastamoinen), etc. Further, the single-point positioning solution is According to the epoch-by-epoch independent calculation of the pseudo-range observation, the pseudo-range observation is not smoothed by the carrier phase; the RTK calculation model equipped with a high-level receiver is a dynamic model, the satellite system is GPS/BDS/GLONASS, and the frequency is Multi-frequency, cut-off altitude angle of 15°, ionospheric model is a combination model without ionosphere, troposphere model is Sastamonen model, etc.;

S3. Control the moving carrier to move according to a preset planned path, receive differential data sent by the base station receiver during the moving process of the moving carrier, and forward the differential data to a high-level receiver;

Before performing step S3, check whether the configurations of the base station receiver, the receiver under test and the high-level receiver are correct;

Check whether the communication link between the base station receiver and the high-level receiver is correct;

If all are correct, execute step S3;

Specifically, the communication device is placed so that the base station receiver and the high-level receiver can communicate. Specifically, the data transmission module is placed so that the base station receiver can send differential data to the high-level receiver. The specific structure diagram is shown in Figure 3. ;

Save and check base station receiver observation data;

Save and check the observation data of the receiver under test;

save and review high-level receiver observations;

Save and check the differential data type advertised by the base station receiver to the high-level receiver;

Save and check the single-point positioning results of the receiver under test and the RTK positioning results of the high-level receiver;

When executing path planning, choose a time period with less traffic, and plan a route over the track and field, as shown in Figure 4;

The flying states of the UAV are designed as climb, straight flight, curve flight and landing;

S4. Receive a first positioning result obtained by performing single-point positioning calculation by the receiver to be tested and a second positioning result obtained by performing RTK calculation by the high-level receiver according to the differential data. According to the first positioning result The result and the second positioning result determine the dynamic single-point positioning accuracy of the receiver under test;

The determining the dynamic single-point positioning accuracy of the receiver under test according to the first positioning result and the second positioning result includes:

Eliminate floating-point solutions and single-point solutions from the second positioning result, and retain fixed solutions;

Determine the RTK accuracy of the receiver under test according to the fixed solution in the first positioning result and the second positioning result, that is, take the fixed solution of high-level receiving RTK positioning from all the obtained positioning results as the benchmark for single-point positioning accuracy evaluation value, take the single-point positioning result of the receiver to be tested and the RTK fixed solution of the high-level receiver for analysis and evaluation;

Specifically, the first positioning result and the second positioning result are respectively converted into the positioning data of the station center coordinate system, and the first station center coordinate system positioning result and the second station center coordinate system positioning result are obtained;

The coordinates of the positioning result calculated by the RTK algorithm and the single-point positioning algorithm are the geocentric fixed coordinate system, including the space Cartesian coordinate system XYZ and the geodetic coordinate system BLH, and the coordinate system conversion formula between it and the station center coordinate system (ENU) is as follows:

In the formula, XYZ is the coordinate of the positioning result in the space rectangular coordinate system, BLH is the coordinate of the positioning result in the geodetic coordinate system, N is the radius of curvature of the ellipsoid surface, e is the first eccentricity of the ellipsoid, ENU is the coordinates of the positioning result in the station center coordinate system;

Determine the difference between the positioning result of the first station center coordinate system and the positioning result of the second station center coordinate system, that is, calculate the single-point positioning result of the receiver to be tested in each epoch and the RTK fixed solution of the high-level receiver in the station center coordinate system The difference in each direction is calculated as follows:

In the formula, ΔE _i , ΔN _i , ΔU _i are the differences between the positioning results of the i-th receiver under test and the comparison receiver in the directions E, N, and U (i=1, 2,...,n); E _i,a ,N _i,a ,U _i,a are the components of the positioning result of the i-th receiver under test in the E, N, and U directions; E _i,b ,N _i,b ,U _i,b are The components of the positioning result of the i-th high-level receiver in the E, N, and U directions;

According to the difference, determine the average value of the difference in each direction of the positioning results of the receiver under test and the high-level receiver in the station center coordinate system, and the calculation formula is as follows:

为待测接收机和高等级接收机定位结果在E、N、U方向分量上差值的平均值；In the formula,

is the average value of the difference in the E, N, U direction components of the positioning results of the receiver under test and the high-level receiver;

The standard deviation of the single-point positioning error of the receiver under test is determined according to the difference and the average value of the difference, and the calculation formula is as follows:

In the formula, σ _E , σ _N , σ _U are the standard deviation of the difference between the receiver under test and the comparison receiver in the directions E, N, and U;

The dynamic single-point positioning accuracy of the receiver under test is determined according to the average value of the differences and the standard deviation, and the calculation formula is as follows:

In the formula, M _E , M _N , and M _U are the positioning accuracy of the single-point positioning result of the receiver under test in the E, N, and U direction components.

Embodiment 2

The above positioning accuracy test method was applied to a specific scene, and the small UAV airborne experiment was carried out on the track and field on the south side of Minjiang University, in which the UAV flying speed was 8m/s and the flying height was about 80 meters. , the flight time is about 20 minutes. The precise location of the base station is known during the test, and the distance between the base station and the mobile station is better than 300 meters. The base station receiver supports multi-frequency and multi-mode data collection and transmission. On the small UAV, a receiver to be tested and a high-level receiver are connected to a helical antenna through a power divider. The receiver to be tested is used for dynamic single Point positioning solution, high-level receiver is used for RTK solution. The single-point positioning result of the receiver under test in each epoch is compared with the RTK positioning result (fixed solution) of the high-level receiver of the corresponding epoch, and the dynamic single-point positioning accuracy of the receiver under test is obtained.

During the experiment, the small UAV equipped with the receiver flies according to four motion states of climbing, straight flight, curved flight and landing. The distribution of the difference between the receiver under test and the high-level receiver in the E, N, and U coordinate components under the four states is shown in Figures 4, 5, 6, and 7, respectively. Calculate the accuracy of the difference between the single-frequency receiver to be tested and the high-level multi-frequency receiver in the E, N, U coordinate components and in the horizontal (Horizontal, H) and three-dimensional (3D) directions in the four states respectively. degree (standard deviation) and accuracy, as shown in Table 1. It can be seen from the test results that the dynamic single-point positioning accuracy of the receiver under test is better than 5m.

Table 1 Statistics (1σ) of dynamic single-point positioning accuracy of the receiver under test under four motion states

Embodiment 3

Please refer to FIG. 2 , a test terminal 1 for dynamic single-point positioning accuracy includes a memory 2, a processor 3 and a computer program stored in the memory 2 and running on the processor 3, and the processor 3 executes The computer program implements each step in the first embodiment.

To sum up, the present invention provides a method and terminal for testing the accuracy of dynamic single-point positioning. The single-point positioning receiver to be tested and the RTK receiver used for comparison are installed on the same moving carrier, and the The differential data is forwarded to the RTK receiver, and the positioning result of the single-point positioning receiver to be tested is compared with the positioning result calculated by the RTK receiver based on the differential data of the base station, so as to determine the accuracy of the dynamic single-point positioning of the receiver under test. ; Only one certified RTK receiver is needed to complete the test, which minimizes the test cost, and can be tested in a real dynamic environment according to the satellite signal actually received by the receiver, with high test accuracy; at the same time It can save all kinds of data in the testing process, and provide data support for problem finding and algorithm optimization in the process of positioning algorithm research and development.

The above descriptions are only examples of the present invention, and are not intended to limit the scope of the present invention. Any equivalent transformations made by using the contents of the description and drawings of the present invention, or directly or indirectly applied in related technical fields, are similarly included in the within the scope of patent protection of the present invention.

Claims (10)

1. A test method for dynamic single-point positioning accuracy is characterized by comprising the following steps:

s1, installing a base station receiver and determining the accurate position of the base station receiver;

s2, mounting a receiver to be tested and a high-grade receiver on the motion carrier, wherein the receiver to be tested is a single-point positioning receiver, and the high-grade receiver is an RTK receiver;

s3, controlling the mobile carrier to move according to a preset planned path, receiving differential data sent by the base station receiver in the moving process of the mobile carrier, and forwarding the differential data to a high-level receiver;

and S4, receiving a first positioning result obtained by the receiver to be tested through single-point positioning calculation and a second positioning result obtained by the high-level receiver through RTK calculation according to the differential data, and determining the dynamic single-point positioning accuracy of the receiver to be tested according to the first positioning result and the second positioning result.

2. The method for testing the dynamic single-point positioning accuracy as recited in claim 1, wherein the step S1 further comprises:

configuring a data acquisition type and a differential data type of the base station receiver;

the step S2 further includes:

configuring the sampling interval and the cut-off height angle of the receiver to be tested and the high-grade receiver;

configuring the observed quantity and ephemeris output type of the receiver to be tested and the high-grade receiver;

and configuring the single-point positioning resolving parameters of the receiver to be tested and the RTK resolving parameters of the high-grade receiver.

3. The method as claimed in claim 1, wherein the steps S2 and S3 further include:

checking whether the configurations of the base station receiver, the receiver to be tested and the high-level receiver are correct or not;

checking whether a communication link between the base station receiver and a high level receiver is correct;

if both are correct, step S3 is executed.

4. The method as claimed in claim 1, wherein the step S4 of determining the dynamic standalone positioning accuracy of the receiver under test according to the first positioning result and the second positioning result includes:

removing floating point solutions and single point solutions from the second positioning result, and reserving fixed solutions;

and determining the dynamic single-point positioning precision of the receiver to be detected according to the fixed solution in the first positioning result and the second positioning result.

5. The method as claimed in claim 1 or 4, wherein the step S4 of determining the dynamic standalone positioning accuracy of the receiver under test according to the first positioning result and the second positioning result includes:

respectively converting the first positioning result and the second positioning result into the positioning data of the station center coordinate system to obtain a first station center coordinate system positioning result and a second station center coordinate system positioning result;

determining a difference value between the positioning result of the first station center coordinate system and the positioning result of the second station center coordinate system;

determining the average value of the difference values of the positioning results of the receiver to be tested and the high-grade receiver in each direction in the station center coordinate system according to the difference values;

determining the standard deviation of the single-point positioning error of the receiver to be detected according to the difference value and the average value of the difference values;

and determining the dynamic single-point positioning precision of the receiver to be detected according to the average value of the difference values and the standard deviation.

6. A test terminal for dynamic single point positioning accuracy, comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor executes the computer program to perform the following steps:

s1, determining the accurate position of the installed base station receiver;

s2, controlling a motion carrier to move according to a preset planning path, wherein a receiver to be tested and a high-grade receiver are installed on the motion carrier, the receiver to be tested is a single-point positioning receiver, and the high-grade receiver is an RTK receiver;

s3, receiving the differential data sent by the base station receiver in the moving process of the moving carrier, and forwarding the differential data to the high-level receiver;

and S4, receiving a first positioning result obtained by the receiver to be tested through single-point positioning calculation and a second positioning result obtained by the high-level receiver through RTK calculation according to the differential data, and determining the dynamic single-point positioning accuracy of the receiver to be tested according to the first positioning result and the second positioning result.

7. The dynamic single point positioning accuracy testing terminal of claim 6, wherein the step S1 further comprises:

configuring a data acquisition type and a differential data type of the base station receiver;

the step S2 is preceded by:

configuring the sampling interval and the cut-off height angle of the receiver to be tested and the high-grade receiver;

configuring the observed quantity and ephemeris output type of the receiver to be tested and the high-grade receiver;

and configuring the single-point positioning resolving parameters of the receiver to be tested and the RTK resolving parameters of the high-grade receiver.

8. The terminal for testing the dynamic single point positioning accuracy of claim 6, wherein the step S2 is preceded by the steps of:

checking whether the configurations of the base station receiver, the receiver to be tested and the high-level receiver are correct or not;

checking whether a communication link between the base station receiver and a high level receiver is correct;

if both are correct, step S2 is executed.

9. The terminal for testing dynamic standalone positioning accuracy of claim 6, wherein the determining the dynamic standalone positioning accuracy of the receiver under test according to the first positioning result and the second positioning result in step S4 includes:

removing floating point solutions and single point solutions from the second positioning result, and reserving fixed solutions;

and determining the dynamic single-point positioning precision of the receiver to be detected according to the fixed solution in the first positioning result and the second positioning result.

10. The terminal for testing dynamic standalone positioning accuracy of claim 6 or 9, wherein the determining the dynamic standalone positioning accuracy of the receiver under test according to the first positioning result and the second positioning result in step S4 includes:

respectively converting the first positioning result and the second positioning result into the positioning data of the station center coordinate system to obtain a first station center coordinate system positioning result and a second station center coordinate system positioning result;

determining a difference value between the positioning result of the first station center coordinate system and the positioning result of the second station center coordinate system;

determining the average value of the difference values of the positioning results of the receiver to be tested and the high-grade receiver in each direction in the station center coordinate system according to the difference values;

determining the standard deviation of the single-point positioning error of the receiver to be detected according to the difference value and the average value of the difference values;

and determining the dynamic single-point positioning precision of the receiver to be detected according to the average value of the difference values and the standard deviation.

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