CN111679301B - Testing method, device, equipment and storage medium of navigation positioning module - Google Patents
Testing method, device, equipment and storage medium of navigation positioning module Download PDFInfo
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Abstract
The embodiment of the invention relates to the technical field of navigation positioning, and discloses a method, a device, equipment and a storage medium for testing a navigation positioning module. According to the invention, after the data to be analyzed provided by the navigation positioning module to be tested is obtained, the target data type identification is extracted from the data to be analyzed, the length of the data to be analyzed is determined, then the target analysis rule suitable for the current data to be analyzed can be automatically searched in the analysis rule set constructed in advance according to the two parameters, the data to be analyzed is analyzed according to the searched target analysis rule, the analysis result is obtained, the positioning performance of the navigation module to be tested is finally determined according to the obtained analysis result, and the test result aiming at the navigation positioning module to be tested is obtained.
Description
Technical Field
The embodiment of the invention relates to the technical field of navigation positioning, in particular to a method, a device, equipment and a storage medium for testing a navigation positioning module.
Background
The global satellite navigation system, also known as the global navigation satellite system (Global Navigation Satellite System, GNSS), is an air-based radio navigation positioning system that can provide all-weather 3-dimensional coordinates and velocity and time information to a user at any location on the earth's surface or near earth space. In order to ensure the positioning performance of the GNSS product, the GNSS product manufacturer tests the GNSS product, in particular by testing the GNSS module or the GNSS chip integrated in the GNSS product, before the GNSS product is put into use.
However, since NMEA (unified RTCM standard protocol) sentences corresponding to different GNSS modules are different, for example, GPGGA (positioning information), GPGSA (current satellite information), GPGSV (visible satellite information), GPRMC (recommended positioning information data format), GPVTG (ground speed information), GPGLL (geographic positioning information), and the like, and the resolution rule versions corresponding to the sentences are also different, when a tester tests a GNSS module in a GNSS product, the NMEA sentence format of data to be resolved generated by the GNSS module to be tested and the corresponding resolution rule version need to be determined in advance, which is inconvenient to operate and greatly increases the workload of the tester.
Disclosure of Invention
The embodiment of the invention aims to provide a testing method, a testing device and a storage medium for a navigation positioning module, and solves the technical problems.
In order to solve the technical problems, the embodiment of the invention provides a testing method of a navigation positioning module, which comprises the following steps:
obtaining data to be analyzed provided by a navigation positioning module to be tested, and extracting a target data type identifier from the data to be analyzed, wherein the data to be analyzed is positioning data generated in the positioning process of the navigation positioning module to be tested;
selecting a target analysis rule from a pre-constructed analysis rule set according to the target data type identifier and the length of the data to be analyzed;
analyzing the data to be analyzed according to the target analysis rule to obtain an analysis result;
and determining the positioning performance of the navigation positioning module to be tested according to the analysis result to obtain a test result aiming at the navigation positioning module to be tested.
The embodiment of the invention also provides a testing device of the navigation positioning module, which comprises:
the acquisition module is used for acquiring data to be analyzed provided by the navigation positioning module to be tested, wherein the data to be analyzed is positioning data generated in the positioning process of the navigation positioning module to be tested;
The extraction module is used for extracting a target data type identifier from the data to be analyzed;
the selecting module is used for selecting a target analysis rule from a pre-constructed analysis rule set according to the target data type identifier and the length of the data to be analyzed;
the analysis module is used for analyzing the data to be analyzed according to the target analysis rule to obtain an analysis result;
and the testing module is used for determining the positioning performance of the navigation positioning module to be tested according to the analysis result to obtain a testing result aiming at the navigation positioning module to be tested.
The embodiment of the invention also provides test equipment of the navigation positioning module, which comprises:
at least one processor; the method comprises the steps of,
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 testing a navigation positioning module as described above.
Embodiments of the present invention also provide a computer-readable storage medium storing a computer program which, when executed by a processor, implements a method of testing a navigation positioning module as described above.
Compared with the prior art, the method and the device have the advantages that after the data to be analyzed provided by the navigation positioning module to be tested is obtained, the target data type identification is extracted from the data to be analyzed, the length of the data to be analyzed is determined, then the target analysis rule suitable for the current data to be analyzed can be automatically searched in the analysis rule set constructed in advance according to the obtained two parameters, the data to be analyzed is analyzed according to the searched target analysis rule, the analysis result is obtained, the positioning performance of the navigation module to be tested is finally determined according to the obtained analysis result, the test result aiming at the navigation positioning module to be tested is obtained, and as the whole process does not need the intervention of a tester, the operation of the tester is greatly simplified, and the workload of the tester is reduced.
In addition, the extracting the target data type identifier from the data to be parsed includes:
extracting an initial data type identifier from the data to be analyzed based on a preset regular expression;
and extracting character data at a preset position from the initial data type identifier to obtain the target data type identifier.
According to the method, the initial data type identifier is extracted from the data to be analyzed by adopting the regular expression, then the character data at the preset position is extracted from the initial data type identifier to serve as the target data type identifier, so that the initial data type identifier with the same character data at the preset position can be uniformly identified by one target data type identifier, and the determined target analysis rule can analyze the data to be analyzed of one type of initial data type identifier, and achieves compatibility of different data types.
In addition, before the target parsing rule is selected in the pre-constructed parsing rule set according to the target data type identifier and the length of the data to be parsed, the method further includes:
converting the data to be analyzed into a standard analysis format corresponding to the target data type identifier to obtain standard data to be analyzed;
the selecting a target analysis rule in a pre-constructed analysis rule set according to the target data type identifier and the length of the data to be analyzed comprises the following steps:
and selecting a target analysis rule from a pre-constructed analysis rule set according to the target data type identifier and the length of the standard data to be analyzed.
According to the method, the standard analysis format corresponding to the target data type identifier is converted into the standard analysis format, so that the standard analysis data is obtained, the determined length can be ensured to have the reference value, and the finally selected target analysis rule is more suitable for the current analysis data.
In addition, before the data to be analyzed provided by the navigation positioning module to be tested is obtained, the method further comprises the following steps:
judging whether the data to be analyzed is static data to be analyzed or not, wherein the static data to be analyzed is historical positioning data generated by the navigation positioning module to be tested;
If the data to be analyzed is the static data to be analyzed, a storage path corresponding to the static data to be analyzed is obtained, and after the storage path is obtained, the step of obtaining the data to be analyzed provided by the navigation positioning module to be tested is executed according to the storage path;
if the data to be analyzed is not the static data to be analyzed, determining a communication protocol matched with the navigation positioning module to be tested, establishing communication connection with the navigation positioning module to be tested by adopting the communication protocol, and executing the step of acquiring the data to be analyzed provided by the navigation positioning module to be tested after establishing communication connection with the navigation positioning module to be tested.
According to the method, different data acquisition modes to be analyzed are set on the basis of the data source of the data to be analyzed, so that the navigation positioning module to be tested can be tested on the basis of different types of data to be analyzed.
In addition, when the data to be analyzed is not static data to be analyzed, namely dynamic data to be analyzed (real-time positioning data generated by the navigation positioning module to be tested), communication with different navigation modules to be tested can be realized by determining a communication protocol matched with the navigation positioning module to be tested and establishing communication connection with the navigation positioning module to be tested by adopting the determined communication protocol.
In addition, the determining a communication protocol matched with the navigation positioning module to be tested comprises the following steps:
obtaining the module model of the navigation positioning module to be tested;
and selecting a communication protocol matched with the navigation positioning module to be tested from a preset configuration file according to the module type.
According to the embodiment, the configuration files which are stored with the communication protocols corresponding to different module types are constructed in advance, so that when the communication protocol matched with the navigation positioning module to be tested which is required to be tested currently is determined, only the module type of the navigation positioning module to be tested is required to be obtained, and the communication protocol matched with the module type of the navigation positioning module to be tested can be quickly found out in the preset configuration files according to the obtained module type.
In addition, after the communication connection is established between the navigation positioning module to be tested and the communication protocol, the method further comprises the following steps:
according to a preset test requirement, a test instruction is sent to the navigation positioning module to be tested;
The obtaining the data to be analyzed provided by the navigation positioning module to be tested comprises the following steps:
and acquiring data to be analyzed, which is provided by the navigation positioning module to be tested and is generated aiming at the test instruction.
In order to test the navigation positioning module to be tested according to the dynamic data to be analyzed, after communication connection is established between the navigation positioning module to be tested and the navigation positioning module to be tested based on the determined communication protocol, a test instruction is sent to the navigation positioning module to be tested according to a preset test requirement, so that the acquired dynamic data to be analyzed is generated aiming at the test instruction, and the specific test of the specific function of the navigation positioning module to be tested is realized.
In addition, before determining the positioning performance of the navigation positioning module to be tested according to the analysis result and obtaining the test result aiming at the navigation positioning module to be tested, the method further comprises:
checking whether the analysis result is abnormal;
if the analysis result is not abnormal, executing the step of determining the positioning performance of the navigation positioning module to be tested according to the analysis result to obtain a test result aiming at the navigation positioning module to be tested;
And if the analysis result is abnormal, carrying out abnormal labeling on the analysis result.
According to the method and the device, the analysis result is subjected to abnormality detection, and when the analysis result is determined to be abnormal, the analysis result is subjected to abnormality labeling, so that a tester can quickly locate an abnormality cause, and the workload of the tester is further reduced.
Drawings
One or more embodiments are illustrated by way of example and not limitation in the figures of the accompanying drawings, in which like references indicate similar elements, and in which the figures do not depict a proportional limitation unless expressly stated otherwise.
FIG. 1 is a flowchart showing a method for testing a navigation positioning module according to a first embodiment of the present invention;
FIG. 2 is a flowchart showing a method for testing a navigation positioning module according to a second embodiment of the present invention;
FIG. 3 is a flowchart showing a testing method of a navigation positioning module according to a third embodiment of the present invention;
FIG. 4 is a schematic diagram of a structure of a testing device of a navigation positioning module according to a fourth embodiment of the present invention;
fig. 5 is a schematic structural diagram of a test apparatus of a navigation positioning module according to a fifth embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the embodiments of the present invention will be described in detail below with reference to the accompanying drawings. However, those of ordinary skill in the art will understand that in various embodiments of the present invention, numerous technical details have been set forth in order to provide a better understanding of the present application. However, the technical solutions claimed in the present application can be implemented without these technical details and with various changes and modifications based on the following embodiments.
The following divisions of the embodiments are for convenience of description, and should not be construed as limiting the specific embodiments of the present invention, and the embodiments may be mutually combined and referred to without contradiction.
The first embodiment of the invention relates to a testing method of a navigation positioning module, after obtaining data to be analyzed provided by the navigation positioning module to be tested, the method extracts a target data type identifier from the data to be analyzed, determines the length of the data to be analyzed, automatically searches a target analysis rule suitable for the current data to be analyzed in a pre-constructed analysis rule set according to the obtained two parameters, analyzes the data to be analyzed according to the searched target analysis rule, obtains an analysis result, and finally determines the positioning performance of the navigation module to be tested according to the obtained analysis result to obtain a testing result aiming at the navigation positioning module to be tested.
The implementation details of the testing method of the navigation positioning module according to the present embodiment are described below, and the following details are provided only for easy understanding, but are not necessary for implementing the present embodiment.
The test method of the navigation positioning module of the present embodiment is specifically applied to any terminal device capable of executing the method, such as a personal computer, a tablet computer, a smart phone, etc., which are not listed here, and the present embodiment is not limited thereto.
The specific flow of this embodiment is shown in fig. 1, and specifically includes the following steps:
Specifically, in this embodiment, the navigation positioning module to be tested is specifically a GNSS module.
It should be understood that, since the present embodiment is directed to testing a GNSS module to be tested, the data to be analyzed is specifically positioning data generated by the GNSS module to be tested in the positioning process.
Furthermore, it should be noted that, since the NMEA protocol defines a very large number of sentences, for example, sentences with the sentence ID of "$gpgga", or "$gpgsa", or "$gpgsv", or "$gprmc", or "$gpvtg", or "$gpgll", etc. (i.e., the data to be parsed in this embodiment). Moreover, since GNSS module suppliers are different, even the IDs of sentences for recording the same information are different, for example, the sentence IDs of NMEA protocols corresponding to the GNSS modules of the GPS (Global Positioning System ) type may be in the above-listed format; the ID of the corresponding different sentence of the GNSSL type is "$GNGGA", or "$GNGSA", or "$GNGSV", or "$GNRMC", or "$GNVTG", or "$GNGLL"; the IDs of different sentences corresponding to the BDS (BeiDou Navigation Satellite System, china Beidou satellite navigation system) types are "$BDGGA", or "$BDGSA", or "$BDGSV", or "$BDRMC", or "$BDVTG", or "$BDGLL". Therefore, in order to analyze the same type of sentences corresponding to different types, such as "$gpgga", "$gngga", "$bdgga" with the same analysis rule, the embodiment is specifically implemented based on the following manner when extracting the target data type identifier from the data to be analyzed:
(1) And extracting an initial data type identifier from the data to be analyzed based on a preset regular expression.
By observing the naming rules of different satellite positioning systems and the sentence IDs of each NMEA sentence by each existing GNSS module provider, it can be found that these sentence IDs have a commonality, namely, all start with the "$" symbol, and the 3 rd to 5 th bits on the right side of the "$" symbol are any one of the following: GGA, GSA, PGSV, RMC, VTG, GLL.
The 1 st and 2 nd character data on the right side of the "$" symbol will vary from one vendor of the GNSS module to another, but will be approximately between 26 letters from the character "a" to the character "Z".
Therefore, based on this rule, the following regular expression may be constructed in advance before testing the GNSS module to be tested: and [ \\$ ] [ A-Z ] {2} ([ RMC ] | [ VTG ] | [ GGA ] | [ GSA ] | [ GSV ] | [ GLL ]) {3} (+) -w {2}.
It should be noted that, the regular expression is constructed by removing carriage return characters and line feed characters according to the complete NMEA sentence of each line, and then sorting.
Furthermore, it should be understood that, in practical applications, the above regular expression may be slightly adjusted based on the expression habits of different programming languages, which is not limited in this embodiment.
Correspondingly, when the initial data type identifier is extracted from the data to be analyzed based on the regular expression, reading the data to be analyzed according to rows, then matching each row of data by using the regular expression, and taking the "$" character data as a starting character until the 5 th bit character data on the right side if the regular expression is met, wherein the character string consisting of the continuous 6-bit character data is taken as the initial data type identifier. If the regular expression is not met, judging whether the current data is the last line, if yes, ending the analysis, if not, recording the abnormality for the test personnel to analyze, and simultaneously reading the data of the next line for analysis until ending.
In addition, it should be noted that the GGA is Global Positioning System Fix Data (global positioning system fixed data); GSA is in particular DOP and Active Satellites (current satellite), GSV is in particular Satellites in View (visible satellite), RMC is in particular Recommended Minimum Specific/transfer Data (recommended minimum positioning information), VTG is in particular Track Made Good and Ground Speed (ground speed), GLL is in particular Geographic Position (geographic location).
Furthermore, it should be understood that the foregoing is merely illustrative, and the technical solution of the present embodiment is not limited in any way, and in practical application, a person skilled in the art may construct a regular expression capable of covering various existing situations or an initial data type identifier extraction rule according to a style of a sentence ID of a sentence supported by an existing NMEA protocol and a provider of a GNSS module.
(2) And extracting character data at a preset position from the initial data type identifier to obtain the target data type identifier.
Specifically, it is not difficult to find from the above description that the last 3 bits are usually actually the data type of the data to be parsed, so in this embodiment, the preset positions are specifically the 4 th bit to the 6 th bit of the initial data type identifier, which is the character data on 3 consecutive bits.
For ease of understanding, the following description is given in connection with examples:
for example, the initial data type corresponding to the data to be analyzed is identified as "$gngga", and the final determined target data type is "GGA".
For example, when the initial data type corresponding to the data to be parsed is identified as "$gpgga", the final determined target data type is still "GGA".
For example, when the initial data type corresponding to the data to be analyzed is identified as "$bdgga", the final determined target data type is still "GGA".
That is, the target data type identifier extracted in this embodiment is compatible with the definition situations of different manufacturers.
And 102, selecting a target analysis rule from a pre-constructed analysis rule set according to the target data type identifier and the length of the data to be analyzed.
Specifically, as the NMEA protocol is continuously updated and iterated, the parsing rules for parsing the data to be parsed of the various sentence IDs contained in the parsing rules also have different versions. The distinction between different versions is mainly to add new field parameters, i.e. the lengths of the data to be parsed corresponding to the different versions are different.
Therefore, in order to make the finally found target analysis rule compatible with both version and type, the embodiment specifically uses two parameters, namely, the extracted target data type identifier and the length of the data to be analyzed, as selection basis when selecting the target analysis rule from the analysis rule set.
Furthermore, it should be noted that the target parsing rule is a rule for defining and interpreting parameters of each field in the data to be parsed. Therefore, in order to facilitate rapid acquisition of the target parsing rule, the parsing rule corresponding to the to-be-parsed data of various sentence IDs contained in the existing NMEA protocol needs to be collected and sorted in advance, and is sorted and generalized, so that the parsing rule compatible with the GNSS module provided by the provider is generated, and the correspondence between the target data type identifier and the length and the parsing rule of various types of to-be-parsed data is established.
Furthermore, it should be noted that, in practical applications, the data to be resolved may include information that can be displayed circularly, such as information of different satellites, and in some cases, one data to be resolved may record information of only one satellite, and the other data to be resolved records a plurality of data, but the two data to be resolved are identical in terms of the version of the resolution rule, but different in length. Therefore, in order to ensure that the determined length has a reference value, the finally selected target analysis rule is more suitable for the current data to be analyzed, and before the step 102 is executed, the data to be analyzed can be converted into a standard analysis format corresponding to the target data type identifier, so as to obtain the standard data to be analyzed.
Correspondingly, when the target analysis rule is finally selected from the pre-constructed analysis rule set, the target analysis rule is finally selected according to the two parameters of the target data type identifier and the length of the standard data to be analyzed.
For easy understanding, this embodiment takes a statement that data to be parsed is in GSV format as an example, and description is made below:
the parsing rule corresponding to the statement in GSV format is assumed to have the following two versions:
Version 1: GSV, <1>, <2>, <3>, <4>, <5>, <6>, <7>, … <4>, <5>, <6>, <7 >. Hh < CR > < LF >
Version 2: GSV, <1>, <2>, <3>, <4>, <5>, <6>, <7>, … <4>, <5>, <6>, <7>, <8 >. Hh < CR > < LF >
For the two versions, definition and explanation of each field parameter in the parsing rule are as follows:
the field <1> total number of each star GSV statement;
the field <2> is the number of each star GSV in this sentence;
the field <3> is the total number of visible satellites for each constellation;
the field <4> pseudo-random noise PRN code, in practical application, can be understood as a satellite number, and each manufacturer of each satellite number has a difference;
field <5> satellite elevation;
field <6> satellite azimuth;
the signal-to-noise ratio of the field <7> is between 00dB and 99dB, the space is empty when no satellite is tracked, and the front 0 is transmitted;
the field <8> signal band information, such as 1 for the L1 band satellite signal and 8 for the L5 band satellite signal;
* The latter field hh is a check value, < CR > < LF > corresponds to carriage return and line feed, respectively.
In addition, in practical application, the information at <4>, <5>, <6>, <7> is circularly displayed according to each satellite, and each statement in the GSV format can display the information of at most 4 satellites, namely, the information of <4>, <5>, <6>, and <7> is a group of 4 fields, at most 4 times, and other satellite information which is not displayed is output in the statement of the next sequence.
Therefore, if the obtained sentence (data to be parsed) in GSV format is as follows:
$GPGSV，3，3，14，30，24.0，70.0，15.3，31，5.0，125.0，19.6，80，47.0，336.0，20.7，1，*4c
that is, the 4 fields of <4>, <5>, <6>, <7> appear only 3 times, so after the conversion of the prediction into the standard parsing format corresponding to the GSV data type identifier, i.e., the 4 fields of <4>, <5>, <6>, <7> appear 4 times, the standard to-be-parsed data is obtained as follows:
$GPGSV，3，3，14，30，24.0，70.0，15.3，31，5.0，125.0，19.6，80，47.0，336.0，20.7，，，，，1，*4c
by comparison, it can be found that the length of the converted standard data to be parsed satisfies the length of version 2 given above, that is, the character data at field <8> needs to be parsed.
Correspondingly, based on the target data type identifier 'GSV' and the length of standard data to be analyzed, selecting a target analysis rule from a pre-constructed analysis rule set, wherein the target analysis rule is specifically the analysis rule corresponding to the version 2, namely the analysis rule comprising the definition and the explanation of the fields from the field <1> to the field <8 >.
In addition, in practical application, the version of the selected parsing rule may be determined as follows:
firstly, grouping the sentences according to the sum, and storing the grouping into an array lineDatas;
then dividing the array length by 4, if the number of the array is 1, determining that the length of the data to be analyzed is the length of the given version 1, and if the number of the array is 2, determining that the length of the data to be analyzed is the length of the given version 2.
For ease of understanding, some of the implementation code is given below:
specifically, in practical application, the satellite number can be judged by "sCount= (len-5)/4"; the satellite information is dynamically acquired through the following codes:
for(int i＝0；i<sCount；i++){
PRN code=linedatas [4+i 4]
Satellite elevation = lineDatas [5+i 4]
Satellite azimuth = lineDatas [6+i 4]
Satellite signal to noise ratio = lineDatas [7+i 4]
}
Where sCount denotes the number of satellites and len denotes the array length.
Based on the mode, satellite information can be dynamically acquired, and whether the obtained data meets the test requirement can be judged.
Based on the judgment logic, it can be found that the length of the data to be parsed satisfies the given length of version 2, i.e. the character data at field <8> needs to be parsed.
It should be understood that the foregoing is only two specific implementations, and the technical solutions of the present embodiment are not limited in any way, and in practical applications, those skilled in the art may set the implementation manner according to needs, and the present embodiment is not limited in this way.
And step 103, analyzing the data to be analyzed according to the target analysis rule to obtain an analysis result.
For ease of understanding, the description herein will be given of the case where the data to be parsed is "$gpgsv,3, 14, 30, 24.0, 70.0, 15.3, 31,5.0, 125.0, 19.6, 80, 47.0, 336.0, 20.7,1, # 4c", and the determined target parsing rule is given above as version 2, for example:
specifically, after the analysis, the obtained analysis result is:
"$gpgsv": the data to be analyzed is GPS Satellites in View (GSV) visible satellite information;
"3": the total number of GSV sentences of the GPS star system is 3;
"3": the GSV statement is the 3 rd;
"14": the total number of visible satellites of the GPS star system is 14;
"30": the PRN code is 30;
"24.0": satellite elevation angle is 24.0;
"70.0": the satellite azimuth is 70.0;
"15.3": the signal to noise ratio is 15.3;
"31": the PRN code is 31;
"5.0": satellite elevation angle is 5.0;
"125.0": satellite azimuth is 125.0;
"19.6": the signal to noise ratio is 19.6;
"80": the PRN code is 80;
"47.0": satellite elevation angle is 47.0;
"336.0": satellite azimuth is 336.0;
"20.7": the signal to noise ratio is 20.7;
"1": the signal frequency band is an L1 frequency band satellite signal;
the "4c" check code is 4c.
It should be understood that the above is only a display format of an analysis result, and in practical applications, a person skilled in the art may set the format of the above content recorded in the analysis result according to need, which is not limited in this embodiment.
And 104, determining the positioning performance of the navigation positioning module to be tested according to the analysis result to obtain a test result aiming at the navigation positioning module to be tested.
Specifically, when determining the positioning performance of the navigation positioning module to be tested according to the analysis result to obtain the test result aiming at the navigation positioning module to be tested, the positioning performance of the navigation positioning module to be tested can be determined by comparing each item of data recorded in the analysis result with the reference information corresponding to the current navigation positioning module to be tested, so as to obtain the test result conforming to the current actual situation.
According to the method for testing the navigation positioning module, after the data to be analyzed provided by the navigation positioning module to be tested is obtained, the target data type identification is extracted from the data to be analyzed, the length of the data to be analyzed is determined, then the target analysis rule suitable for the current data to be analyzed can be automatically searched in the analysis rule set constructed in advance according to the two parameters, the data to be analyzed is analyzed according to the target analysis rule searched, the analysis result is obtained, the positioning performance of the navigation module to be tested is finally determined according to the analysis result obtained, and the test result for the navigation positioning module to be tested is obtained.
The second embodiment of the invention relates to a testing method of a navigation positioning module. The second embodiment is further improved based on the first embodiment, and the main improvements are that: before the navigation positioning module to be tested is tested, the source of the data to be analyzed required by the test needs to be determined, namely whether the data to be analyzed is dynamic data to be analyzed or static data to be analyzed.
Specifically, if it is determined that the data to be analyzed is static analysis data through judgment, step 202 is entered; if it is determined by the determination that the data to be analyzed is not static data to be analyzed, the data to be analyzed is considered to be dynamic data to be analyzed, and the process proceeds to step 203.
It should be noted that, in this embodiment, the static data to be analyzed is substantially the historical positioning data generated by the navigation positioning module to be tested, that is, the static data to be analyzed already exists when the navigation positioning module to be tested is tested.
Correspondingly, the dynamic data to be analyzed is real-time positioning data generated by the navigation positioning module to be tested, namely, in the process of testing the navigation positioning module to be tested, the positioning data generated by the navigation positioning module to be tested in real time.
Specifically, in practical applications, in order to facilitate storage and management of static data to be parsed (possibly multiple statements to be parsed), the static data to be parsed is typically recorded in a file, and then the file is stored in a designated area.
Therefore, when the storage path corresponding to the static data to be analyzed is acquired, only the storage path of the file is required to be acquired.
In addition, in practical application, the static data to be analyzed may be stored in the navigation positioning module to be tested, or may be stored in other designated devices, and may be set by a person skilled in the art according to needs, which is not limited in this embodiment.
And 203, determining a communication protocol matched with the navigation positioning module to be tested, and establishing communication connection with the navigation positioning module to be tested by adopting the communication protocol.
Specifically, because the suppliers of the navigation positioning modules to be tested are different, the navigation positioning modules to be tested with different models correspond to different communication protocols. Therefore, in order to establish a communication connection between the current navigation positioning module to be tested and the current navigation positioning module to be tested by adopting a communication protocol matched with the current navigation positioning module to be tested, so as to ensure that dynamic data to be analyzed can be obtained from the navigation positioning module to be tested, the communication protocol matched with the current navigation positioning module to be tested needs to be determined.
In order to quickly determine a communication protocol matched with a current navigation positioning module to be tested, the embodiment collects and sorts module types of the existing different navigation positioning modules to be tested and communication protocols corresponding to the navigation positioning modules to be tested of each module type before testing the navigation positioning module to be tested; and then, establishing a corresponding relation between the module model and the communication protocol, and generating a configuration file recorded with the communication protocol matched with the navigation positioning module to be tested and suitable for various module models according to the corresponding relation.
Correspondingly, when the communication protocol matched with the navigation positioning module to be tested is determined, the module model of the navigation positioning module to be tested is obtained, and then the module model is searched from a preset configuration file according to the obtained module model, so that the communication protocol matched with the navigation positioning module to be tested can be quickly and accurately searched. Because the whole process does not need the intervention of testers, under the condition of being compatible with different types of navigation positioning modules to be tested, the operation of the testers is further simplified, and the workload of the testers is reduced.
Further, after determining a communication protocol matched with the to-be-tested navigation positioning module and establishing communication connection with the to-be-tested navigation positioning module by adopting the communication protocol, in order to achieve the targeted test of the specific function of the to-be-tested navigation positioning module, a corresponding test instruction can be sent to the to-be-tested navigation positioning module according to a preset test requirement, so that the to-be-analyzed data provided by the to-be-tested navigation positioning module obtained in the step 204 is dynamic to-be-analyzed data generated aiming at the test instruction.
As to the above-mentioned test requirements according to the preset, any one or more of the following may be mentioned: time TO First Fi (TTFF) test, positioning accuracy test, sensitivity test, reacquisition Time test, interference test, multipath test, test under varying tropospheric and ionospheric conditions, etc.
Further, the TTFF test can be further refined into a TTFF test under a cold start condition, a TTFF test under a warm start condition and a TTFF test under a hot start condition; the positioning accuracy test can be further refined into a relative positioning accuracy test and an absolute positioning accuracy test, and a mobile positioning accuracy test; the sensitivity test can be further refined into a capture sensitivity test and a tracking sensitivity test.
It should be understood that the foregoing is merely illustrative, and the technical solution of the present embodiment is not limited in any way, and in practical application, a person skilled in the art may set the test requirement according to the need, and the present embodiment is not limited in this way.
It should be understood that, as described in steps 201 to 203, the data to be parsed may be static data to be parsed or dynamic data to be parsed. Therefore, specific acquisition modes can be different for different types of data to be analyzed.
Specifically, when the data to be analyzed is static data to be analyzed, the operation of obtaining the data to be analyzed provided by the navigation positioning module to be tested is executed according to a storage path of the static data to be analyzed, namely the static data to be analyzed provided by the navigation positioning module to be tested is obtained from the storage path; when the data to be analyzed is dynamic data to be analyzed, namely real-time positioning data, a corresponding test instruction is sent to the navigation positioning module to be tested according to a preset test requirement, and then the dynamic data to be analyzed aiming at the test instruction is obtained from the navigation positioning module to be tested.
Because the data to be resolved may be static data to be resolved or dynamic data to be resolved, when the initial data type identifier is extracted from the data to be resolved based on the regular expression given in the first embodiment, different processes are performed according to different data sources, and for convenience of understanding, the following description is given in detail:
specifically, if the data to be analyzed is static data to be analyzed, namely, historical data stored after the GNSS module operates, the operation of extracting the initial data type identifier is specifically as follows: reading data to be analyzed in a text format according to rows, matching each row of data by using the regular expression, and starting 'character' until the 5 th bit character data on the right side if the data accords with the regular expression, wherein a character string formed by continuous 6 bit character data is used as an initial data type identifier; if the current data does not accord with the regular expression, judging whether the current data is the last line, if so, ending the analysis, if not, recording the abnormality for the test personnel to analyze, and simultaneously reading the next line of data for analysis until ending.
If the data to be analyzed is dynamic data to be analyzed, namely positioning data uploaded by the GNSS module in real time, the operation of extracting the initial data type identifier is specifically as follows: grouping the data to be analyzed through a carriage return line feed identifier, caching the data in an array mode, enabling each element in the array to represent one line of positioning information, traversing the elements in the array, judging whether the traversed current character data accords with the regular expression rule by utilizing the regular expression, judging whether the current array element is the last element if the traversed current character data does not accord with the regular expression rule, storing the element if the traversed current character data does not accord with the regular expression rule, splicing the element with the next read data, and analyzing the received data in the analysis mode until GNSS module data output is stopped; if the current data accords with the regular expression rule, starting the "$" character until the 5 th bit character data on the right side, wherein the character string formed by the continuous 6 bit character data is used as an initial data type identifier.
And 205, selecting a target analysis rule from a pre-constructed analysis rule set according to the target data type identifier and the length of the data to be analyzed.
And step 206, analyzing the data to be analyzed according to the target analysis rule to obtain an analysis result.
And step 207, determining the positioning performance of the navigation positioning module to be tested according to the analysis result, and obtaining the test result aiming at the navigation positioning module to be tested.
It is to be noted that steps 204 to 207 in the present embodiment are substantially the same as steps 101 to 104 in the first embodiment, and will not be described herein.
Therefore, according to the testing method for the navigation positioning module to be tested, different data acquisition modes to be analyzed are set on the basis of the data source of the data to be analyzed, so that the navigation positioning module to be tested can be tested on the basis of the data to be analyzed of different types.
In addition, when the data to be analyzed is not static data to be analyzed, namely dynamic data to be analyzed (real-time positioning data generated by the navigation positioning module to be tested), communication with different navigation modules to be tested can be realized by determining a communication protocol matched with the navigation positioning module to be tested and establishing communication connection with the navigation positioning module to be tested by adopting the determined communication protocol.
The third embodiment of the invention relates to a testing method of a navigation positioning module. The third embodiment is further improved on the basis of the first embodiment, and the main improvements are that: before determining the positioning performance of the navigation positioning module to be tested according to the analysis result and obtaining the test result aiming at the navigation positioning module to be tested, the analysis result is subjected to abnormal detection, and when the analysis result is determined to be abnormal, the analysis result is subjected to abnormal labeling, so that a tester can quickly position an abnormal reason, and the workload of the tester is further reduced.
And 302, selecting a target analysis rule from a pre-constructed analysis rule set according to the target data type identifier and the length of the data to be analyzed.
And step 303, analyzing the data to be analyzed according to the target analysis rule to obtain an analysis result.
It is to be noted that steps 301 to 301 in the present embodiment are substantially the same as steps 101 to 103 in the first embodiment, and will not be described herein.
Specifically, if the analysis result is found to be abnormal by inspection, step 305 is directly performed; otherwise, step 306 is performed.
Regarding the manner of checking whether the analysis result has an abnormality, it may be specifically checked in combination with the definition and interpretation of each field parameter in the determined target analysis rule.
Still taking the data to be parsed as "$gpgsv,3, 14, 30, 24.0, 70.0, 15.3, 31,5.0, 125.0, 19.6, 80, 47.0, 336.0, 20.7,1, # 4c" as an example given in the first embodiment, the interpretation of the 4 fields of <4>, <5>, <6>, <7> according to the target parsing rule "the sentences in the GSV format can display information of at most 4 satellites" and the total number of GSV sentences of each star defined by field <1>, the number of GSV sentence of each star defined by field <2>, it is known that the total number of GPS satellites should be 12 when the GSV sentence is the third sentence, the total number of GPS satellites should be 12 when the data to be parsed is the third sentence (each GSV sentence can display information of at most 4 satellites, and the total number of satellites is at most 12 in the case of 3), but the total number of visible satellites recorded in field <3> is "14".
That is, by checking, it is found that there is an abnormality in the current analysis result.
And 305, determining the positioning performance of the navigation positioning module to be tested according to the analysis result to obtain a test result aiming at the navigation positioning module to be tested.
It is to be noted that step 305 in this embodiment is substantially the same as step 104 in the first embodiment, and will not be described here again.
And 306, carrying out exception marking on the analysis result.
Specifically, when the analysis result is marked abnormally, the field content with abnormality is marked, for example, a preset color is adopted for highlighting.
Accordingly, the content of the abnormality listed in step 304 is specific data "14" corresponding to field <3>, and the abnormal marking performed at this time may be that specific data "14" corresponding to field <3> is highlighted in yellow.
Further, after the field with the abnormality in the analysis result is marked with the abnormality, the analysis result after the abnormality marking can be directly displayed on a display interface of the test equipment for a tester to check; abnormal messages can be generated and sent to a preset address prestored by a tester.
It should be understood that the foregoing is merely illustrative, and the technical solution of the present embodiment is not limited in any way, and in practical application, those skilled in the art may set the technical solution as required, and the present embodiment is not limited in this way.
According to the method for testing the navigation positioning module, provided by the embodiment, the analysis result is subjected to anomaly detection, and when the analysis result is determined to be abnormal, the analysis result is subjected to anomaly marking, so that a tester can quickly position an anomaly reason, and the workload of the tester is further reduced.
Moreover, it should be understood that the steps in the above various method embodiments are divided, for clarity of description, and may be combined into one step or split into multiple steps when implemented, so long as they include the same logic relationship, and they are within the protection scope of this patent; it is within the scope of this patent to add insignificant modifications to the algorithm or flow or introduce insignificant designs, but not to alter the core design of its algorithm and flow.
A fourth embodiment of the present invention relates to a testing device for a navigation positioning module, as shown in fig. 4, including: an acquisition module 401, an extraction module 402, a selection module 403, an analysis module 404 and a test module 405.
The acquisition module 401 is configured to acquire data to be analyzed provided by a navigation positioning module to be tested, where the data to be analyzed is positioning data generated in a positioning process of the navigation positioning module to be tested; an extracting module 402, configured to extract a target data type identifier from the data to be parsed; a selection module 403, configured to select a target parsing rule from a pre-constructed parsing rule set according to the target data type identifier and the length of the data to be parsed; the parsing module 404 is configured to parse the data to be parsed according to the target parsing rule, so as to obtain a parsing result; and the test module 405 is configured to determine the positioning performance of the navigation positioning module to be tested according to the analysis result, and obtain a test result for the navigation positioning module to be tested.
In addition, in another example, the extracting module 402 is specifically configured to extract an initial data type identifier from the data to be parsed based on a preset regular expression; and extracting character data at a preset position from the initial data type identifier to obtain the target data type identifier.
In addition, in another example, the testing device of the navigation positioning module further comprises a standardized conversion module.
Specifically, the standardized conversion module is configured to convert the data to be analyzed into a standard analysis format corresponding to the target data type identifier, so as to obtain standard data to be analyzed.
Accordingly, after obtaining the standard data to be parsed, the selection module 403 is specifically configured to select a target parsing rule from a pre-constructed parsing rule set according to the target data type identifier and the length of the standard data to be parsed.
In addition, in another example, the testing device of the navigation positioning module further comprises a data source determining module, a path obtaining module and a communication module.
Specifically, the data source determining module is configured to determine whether the data to be parsed is static data to be parsed.
It should be noted that the static data to be analyzed is the historical positioning data generated by the navigation positioning module to be tested.
Correspondingly, when the data to be analyzed is the static data to be analyzed, the path acquisition module is used for acquiring a storage path corresponding to the static data to be analyzed; when the data to be analyzed is not the static data to be analyzed, the communication module is used for determining a communication protocol matched with the navigation positioning module to be tested, and communication connection is established between the communication protocol and the navigation positioning module to be tested.
Correspondingly, after the path obtaining module obtains the storage path, the obtaining module 401 is specifically configured to obtain, according to the storage path, data to be resolved provided by the navigation positioning module to be tested; after the communication module establishes communication connection with the navigation positioning module to be tested, the obtaining module 401 is specifically configured to obtain data to be analyzed provided by the navigation positioning module to be tested.
In addition, in another example, the communication module is specifically configured to obtain a module type of the navigation positioning module to be tested, and select, according to the module type, a communication protocol matched with the navigation positioning module to be tested from a preset configuration file.
In addition, in another example, the testing device of the navigation positioning module further comprises a testing instruction sending module.
Specifically, the test instruction sending module is configured to send a test instruction to the navigation positioning module to be tested according to a preset test requirement.
Correspondingly, the obtaining module 401 is specifically configured to obtain data to be analyzed generated for the test instruction provided by the navigation positioning module to be tested.
In addition, in another example, the testing device of the navigation positioning module further comprises an abnormality detection module and an abnormality labeling module.
Specifically, the abnormality detection module is configured to check whether the analysis result is abnormal.
Accordingly, when the analysis result is not abnormal, the test module 405 determines the positioning performance of the navigation positioning module to be tested according to the analysis result, so as to obtain the operation of aiming at the test result of the navigation positioning module to be tested; and when the analysis result is abnormal, the abnormality labeling module performs abnormality labeling on the analysis result.
It is to be understood that the present embodiment is an embodiment of an apparatus corresponding to the first, second, or third embodiment, and that the present embodiment may be implemented in cooperation with the first, second, or third embodiment. The related technical details mentioned in the first, second, or third embodiment are still valid in this embodiment, and are not described here again to reduce repetition. Accordingly, the related art details mentioned in the present embodiment can also be applied to the first, second, or third embodiment.
It should be noted that each module in this embodiment is a logic module, and in practical application, one logic unit may be one physical unit, or may be a part of one physical unit, or may be implemented by a combination of multiple physical units. In addition, in order to highlight the innovative part of the present invention, units that are not so close to solving the technical problem presented by the present invention are not introduced in the present embodiment, but this does not indicate that other units are not present in the present embodiment.
A fifth embodiment of the present invention relates to a test apparatus for a navigation positioning module, as shown in fig. 5, including at least one processor 501; and a memory 502 communicatively coupled to the at least one processor 501; the memory 502 stores instructions executable by the at least one processor 501, where the instructions are executed by the at least one processor 501, so that the at least one processor 501 can execute the method for testing the navigation positioning module described in the first, second, or third embodiment.
Where the memory 502 and the processor 501 are connected by a bus, the bus may comprise any number of interconnected buses and bridges, the buses linking together various circuits of the one or more processors 501 and the memory 502. The bus may also link together various other circuits such as peripheral devices, voltage regulators, power management circuits, etc., as are well known in the art and, therefore, will not be further described herein. The bus interface provides an interface between the bus and the transceiver. The transceiver may be one element or may be a plurality of elements, such as a plurality of receivers and transmitters, providing a means for communicating with various other apparatus over a transmission medium. The data processed by the processor is transmitted over the wireless medium via the antenna, which further receives the data and transmits the data to the processor.
The processor 501 is responsible for managing the bus and general processing and may also provide various functions including timing, peripheral interfaces, voltage regulation, power management, and other control functions. And memory 502 may be used to store data used by processor 501 in performing operations.
Those skilled in the art will appreciate that all or part of the steps in implementing the methods of the embodiments described above may be implemented by a program stored in a storage medium, where the program includes several instructions for causing a device (which may be a single-chip microcomputer, a chip or the like) or a processor (processor) to perform all or part of the steps of the methods of the embodiments described herein. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
It will be understood by those of ordinary skill in the art that the foregoing embodiments are specific embodiments in which the invention is practiced and that various changes in form and details may be made therein without departing from the spirit and scope of the invention.
Claims (9)
1. The method for testing the navigation positioning module is characterized by comprising the following steps of:
obtaining data to be analyzed provided by a navigation positioning module to be tested, and extracting a target data type identifier from the data to be analyzed, wherein the data to be analyzed is positioning data generated in the positioning process of the navigation positioning module to be tested;
selecting a target analysis rule from a pre-constructed analysis rule set according to the target data type identifier and the length of the data to be analyzed;
analyzing the data to be analyzed according to the target analysis rule to obtain an analysis result;
determining the positioning performance of the navigation positioning module to be tested according to the analysis result to obtain a test result aiming at the navigation positioning module to be tested;
the extracting the target data type identifier from the data to be analyzed includes:
extracting an initial data type identifier from the data to be analyzed based on a preset regular expression;
and extracting character data at a preset position from the initial data type identifier to obtain the target data type identifier.
2. The method for testing a navigation positioning module according to claim 1, wherein before the selecting a target parsing rule according to the target data type identifier and the length of the data to be parsed in the pre-constructed parsing rule set, the method further comprises:
Converting the data to be analyzed into a standard analysis format corresponding to the target data type identifier to obtain standard data to be analyzed;
the selecting a target analysis rule in a pre-constructed analysis rule set according to the target data type identifier and the length of the data to be analyzed comprises the following steps:
and selecting a target analysis rule from a pre-constructed analysis rule set according to the target data type identifier and the length of the standard data to be analyzed.
3. The method for testing a navigation positioning module according to claim 1, wherein before the obtaining the data to be parsed provided by the navigation positioning module to be tested, the method further comprises:
judging whether the data to be analyzed is static data to be analyzed or not, wherein the static data to be analyzed is historical positioning data generated by the navigation positioning module to be tested;
if the data to be analyzed is the static data to be analyzed, a storage path corresponding to the static data to be analyzed is obtained, and after the storage path is obtained, the step of obtaining the data to be analyzed provided by the navigation positioning module to be tested is executed according to the storage path;
if the data to be analyzed is not the static data to be analyzed, determining a communication protocol matched with the navigation positioning module to be tested, establishing communication connection with the navigation positioning module to be tested by adopting the communication protocol, and executing the step of acquiring the data to be analyzed provided by the navigation positioning module to be tested after establishing communication connection with the navigation positioning module to be tested.
4. A method of testing a navigational positioning module according to claim 3, wherein said determining a communication protocol matching said navigational positioning module to be tested comprises:
obtaining the module model of the navigation positioning module to be tested;
and selecting a communication protocol matched with the navigation positioning module to be tested from a preset configuration file according to the module type.
5. A method of testing a navigational positioning module according to claim 3, wherein after said establishing a communication connection with said navigational positioning module to be tested using said communication protocol, said method further comprises:
according to a preset test requirement, a test instruction is sent to the navigation positioning module to be tested;
the obtaining the data to be analyzed provided by the navigation positioning module to be tested comprises the following steps:
and acquiring data to be analyzed, which is provided by the navigation positioning module to be tested and is generated aiming at the test instruction.
6. The method for testing a navigation positioning module according to claim 1, wherein before determining the positioning performance of the navigation positioning module to be tested according to the analysis result, and obtaining the test result for the navigation positioning module to be tested, the method further comprises:
Checking whether the analysis result is abnormal;
if the analysis result is not abnormal, executing the step of determining the positioning performance of the navigation positioning module to be tested according to the analysis result to obtain a test result aiming at the navigation positioning module to be tested;
and if the analysis result is abnormal, carrying out abnormal labeling on the analysis result.
7. The utility model provides a testing arrangement of navigation positioning module, its characterized in that includes:
the acquisition module is used for acquiring data to be analyzed provided by the navigation positioning module to be tested, wherein the data to be analyzed is positioning data generated in the positioning process of the navigation positioning module to be tested;
the extraction module is used for extracting a target data type identifier from the data to be analyzed;
the selecting module is used for selecting a target analysis rule from a pre-constructed analysis rule set according to the target data type identifier and the length of the data to be analyzed;
the analysis module is used for analyzing the data to be analyzed according to the target analysis rule to obtain an analysis result;
the test module is used for determining the positioning performance of the navigation positioning module to be tested according to the analysis result to obtain a test result aiming at the navigation positioning module to be tested;
The extraction module is further used for extracting an initial data type identifier from the data to be analyzed based on a preset regular expression; and extracting character data at a preset position from the initial data type identifier to obtain the target data type identifier.
8. The utility model provides a test equipment of navigation positioning module, its characterized in that includes:
at least one processor; the method comprises the steps of,
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 testing a navigational positioning module according to any one of claims 1-6.
9. A computer readable storage medium storing a computer program, wherein the computer program when executed by a processor implements the method of testing a navigation positioning module according to any one of claims 1 to 6.
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