CN118151198B - A multi-Beidou terminal data verification method and system based on Hongmeng operating system - Google Patents
A multi-Beidou terminal data verification method and system based on Hongmeng operating system Download PDFInfo
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Abstract
The invention discloses a multi-Beidou terminal data verification method and system based on a HongMong operating system, wherein the method comprises the steps of forming a plurality of Beidou terminals into a Beidou positioning network, and acquiring coordinate information of a Beidou terminal measured position based on each HongMong operating system, wherein the coordinate information comprises measurement coordinates and moving average coordinates of all Beidou terminal measured positions in a time window; setting a Beidou positioning data verification model, calculating a Beidou positioning data accuracy index according to coordinate information, when the Beidou positioning data accuracy index exceeds a preset accuracy threshold, enabling the accuracy of a Beidou positioning network to reach an accuracy standard, weighting and averaging the measurement coordinates of all Beidou terminals, taking the result as final Beidou positioning data, and when the Beidou positioning data accuracy index is smaller than the preset accuracy threshold, adjusting the accuracy of each Beidou terminal, and newly acquiring the coordinate information of a measured position until the Beidou positioning data accuracy index exceeds the preset accuracy threshold.
Description
Technical Field
The invention belongs to the technical field of multi-Beidou terminal data verification, and particularly relates to a multi-Beidou terminal data verification method and system based on a hong Monte operating system.
Background
The Beidou positioning data generally comprises satellite information received by a satellite signal receiver, such as information of the position, the speed, the time and the like of the satellite, and information of the position, the time and the like of the receiver. The data can be used in the application fields of positioning, navigation, map making, navigation and the like.
The accuracy and reliability of the Beidou positioning data depends on a variety of factors including the performance of the receiver, the surrounding environment, satellite distribution, etc. In general, the Beidou positioning data can provide positioning accuracy from meter level to centimeter level, and is suitable for different application scenes, such as vehicle navigation, ship positioning, logistics tracking and the like.
However, sometimes, the Beidou positioning data of a single terminal is insufficient in accuracy, a plurality of terminals are required to correct positions, and the accuracy of the current multi-terminal cooperative positioning is low and the requirement of accurate positioning cannot be met.
Disclosure of Invention
In order to solve the technical problems, the invention provides a multi-Beidou terminal data verification method based on a hong Monte-Meng operating system, which comprises the following steps:
Forming a Beidou positioning network by a plurality of Beidou terminals, and acquiring coordinate information of the measured positions of each Beidou terminal based on a hong and Monte operating system, wherein the coordinate information comprises measurement coordinates, moving average coordinates of the measured positions of all the Beidou terminals in a time window, and a time interval between the current measurement time and the average measurement time of all the Beidou terminals;
setting a Beidou positioning data verification model, calculating a Beidou positioning data accuracy index according to the coordinate information, when the Beidou positioning data accuracy index exceeds a preset accuracy threshold, enabling the accuracy of the Beidou positioning network to reach an accuracy standard, weighting and averaging the measurement coordinates of all the Beidou terminals, and taking the result as final Beidou positioning data;
And when the accuracy index of the Beidou positioning data is smaller than a preset accuracy threshold, adjusting the accuracy of each Beidou terminal, and re-acquiring the coordinate information of the detected position until the accuracy index of the Beidou positioning data exceeds the preset accuracy threshold.
Further, the Beidou positioning data verification model comprises:
Wherein Consistency is the accuracy index of Beidou positioning data, n is the number of Beidou terminals, sigma is an adjustment factor, d i is the measurement coordinate (x i,yi) of the measured position of the ith Beidou terminal in a time window and the moving average coordinate of all the measured positions of the Beidou terminals in the time window The euclidean distance between the two,For the time interval between the current measurement time of the ith Beidou terminal and the average measurement time of all the Beidou terminals, alpha is the time interval weight, acc i is the measurement precision of the ith Beidou terminal, epsilon is a positive constant, beta is the measurement precision weight, gamma is the correlation weight, corr i is the correlation index value of the measurement coordinate (x i,yi) of the measured position of the ith Beidou terminal in a time window and the measurement coordinates of other Beidou terminals.
Further, the correlation index value corr i between the measurement coordinate (x i,yi) of the detected position of the ith Beidou terminal and the measurement coordinates of other Beidou terminals includes:
Wherein, Measurement coordinates (x i,yi) and moving average coordinates for the i th Beidou terminal measured positionCovariance in between, var (x i) is the variance of the measured coordinate abscissa x i of the ith Beidou terminal measured position, var (y i) is the variance of the measured coordinate ordinate y i of the ith Beidou terminal measured position,As moving average coordinate abscissaIs a function of the variance of (a),Is the ordinate of the moving average coordinateIs a variance of (c).
Further, measurement accuracy acc i of the ith beidou terminal includes:
G i(xi,yi,ei) is a measurement accuracy evaluation function, and e i is environmental information of the ith Beidou terminal during measurement.
Further, the measurement accuracy evaluation function g i(xi,yi,ei) includes:
wherein the moving average coordinate abscissa Moving average ordinateVar (x i) is the variance of the measurement coordinate abscissa x i of the i th Beidou terminal measured position, var (y i) is the variance of the measurement coordinate ordinate y i of the i th Beidou terminal measured position, c m is the weight of the m-th environmental information, and e m is the value of the m-th environmental information.
The invention also provides a multi-Beidou terminal data verification system based on the hong Monte operating system, which comprises the following steps:
The information acquisition module is used for forming a Beidou positioning network by a plurality of Beidou terminals and acquiring coordinate information of the detected positions of the Beidou terminals based on each Hongmon operating system, wherein the coordinate information comprises measurement coordinates, moving average coordinates of the detected positions of all the Beidou terminals in a time window, and time intervals between the current measurement time and average measurement time of all the Beidou terminals;
the setting model module is used for setting a Beidou positioning data verification model, calculating a Beidou positioning data accuracy index according to the coordinate information, when the Beidou positioning data accuracy index exceeds a preset accuracy threshold, the accuracy of the Beidou positioning network reaches an accuracy standard, weighting and averaging the measurement coordinates of all the Beidou terminals, and taking the result as final Beidou positioning data;
and the adjusting module is used for adjusting the accuracy of each Beidou terminal when the accuracy index of the Beidou positioning data is smaller than a preset accuracy threshold value, and re-acquiring the coordinate information of the detected position until the accuracy index of the Beidou positioning data exceeds the preset accuracy threshold value.
Further, the Beidou positioning data verification model comprises:
Wherein Consistency is the accuracy index of Beidou positioning data, n is the number of Beidou terminals, sigma is an adjustment factor, d i is the measurement coordinate (x i,yi) of the measured position of the ith Beidou terminal in a time window and the moving average coordinate of all the measured positions of the Beidou terminals in the time window The euclidean distance between the two,For the time interval between the current measurement time of the ith Beidou terminal and the average measurement time of all the Beidou terminals, alpha is the time interval weight, acc i is the measurement precision of the ith Beidou terminal, epsilon is a positive constant, beta is the measurement precision weight, gamma is the correlation weight, corr i is the correlation index value of the measurement coordinate (x i,yi) of the measured position of the ith Beidou terminal in a time window and the measurement coordinates of other Beidou terminals.
Further, the correlation index value corr i between the measurement coordinate (x i,yi) of the detected position of the ith Beidou terminal and the measurement coordinates of other Beidou terminals includes:
Wherein, Measurement coordinates (x i,yi) and moving average coordinates for the i th Beidou terminal measured positionCovariance in between, var (x i) is the variance of the measured coordinate abscissa x i of the ith Beidou terminal measured position, var (y i) is the variance of the measured coordinate ordinate y i of the ith Beidou terminal measured position,As moving average coordinate abscissaIs a function of the variance of (a),Is the ordinate of the moving average coordinateIs a variance of (c).
Further, measurement accuracy acc i of the ith beidou terminal includes:
G i(xi,yi,ei) is a measurement accuracy evaluation function, and e i is environmental information of the ith Beidou terminal during measurement.
Further, the measurement accuracy evaluation function g i(xi,yi,ei) includes:
wherein the moving average coordinate abscissa Moving average ordinateVar (x i) is the variance of the measurement coordinate abscissa x i of the i th Beidou terminal measured position, var (y i) is the variance of the measurement coordinate ordinate y i of the i th Beidou terminal measured position, c m is the weight of the m-th environmental information, and e m is the value of the m-th environmental information.
Compared with the prior art, the technical scheme of the invention has the following beneficial effects:
The method comprises the steps of forming a Beidou positioning network by a plurality of Beidou terminals, obtaining coordinate information of each Beidou terminal measured position based on a hong Mongolian operating system, wherein the coordinate information comprises measurement coordinates, moving average coordinates of all the Beidou terminal measured positions in a time window, time intervals between current measurement time and average measurement time of all the Beidou terminals, setting a Beidou positioning data verification model, calculating a Beidou positioning data accuracy index according to the coordinate information, when the Beidou positioning data accuracy index exceeds a preset accuracy threshold, enabling the precision of the Beidou positioning network to reach an accuracy standard, taking the measured coordinates of all the Beidou terminals as final Beidou positioning data, and when the Beidou positioning data accuracy index is smaller than the preset accuracy threshold, adjusting the accuracy of each Beidou terminal, and re-obtaining the coordinate information of the measured positions until the Beidou positioning data accuracy index exceeds the preset accuracy threshold. According to the technical scheme, the positioning network composed of the plurality of Beidou terminals based on the hong Monte operating system can be verified and corrected, so that the overall positioning accuracy is improved.
Drawings
FIG. 1 is a flow chart of the method of embodiment 1 of the present invention;
fig. 2 is a system configuration diagram of embodiment 2 of the present invention.
Detailed Description
In order to better understand the above technical solutions, the following detailed description will be given with reference to the accompanying drawings and specific embodiments.
The method provided by the invention can be implemented in a terminal environment that can include one or more of a processor, a storage medium, and a display screen. Wherein the storage medium has stored therein at least one instruction that is loaded and executed by the processor to implement the method described in the embodiments below.
The processor may include one or more processing cores. The processor connects various parts within the overall terminal using various interfaces and lines, performs various functions of the terminal and processes data by executing or executing instructions, programs, code sets, or instruction sets stored in the storage medium, and invoking data stored in the storage medium.
The storage medium may include a random access Memory (Random Access Memory, RAM) or a Read-Only Memory (ROM). The storage medium may be used to store instructions, programs, code sets, or instructions.
The display screen is used for displaying the interaction section of each application program.
All subscripts in the formula of the invention are only used for distinguishing parameters and have no practical meaning.
In addition, it will be appreciated by those skilled in the art that the structure of the terminal described above is not limiting and that the terminal may include more or fewer components, or may combine certain components, or a different arrangement of components. For example, the terminal further includes components such as a radio frequency circuit, an input unit, a sensor, an audio circuit, a power supply, and the like, which are not described herein.
Example 1
As shown in fig. 1, an embodiment of the present invention provides a multi-beidou terminal data verification method based on a hong-mo operating system, including:
Step 101, forming a Beidou positioning network by a plurality of Beidou terminals, and acquiring coordinate information of the measured positions of each Beidou terminal based on a hong Mongolian operating system, wherein the coordinate information comprises measurement coordinates, moving average coordinates of the measured positions of all the Beidou terminals in a time window, and time intervals between the current measurement time and the average measurement time of all the Beidou terminals;
Step 102, setting a Beidou positioning data verification model, calculating a Beidou positioning data accuracy index according to the coordinate information, when the Beidou positioning data accuracy index exceeds a preset accuracy threshold, enabling the accuracy of the Beidou positioning network to reach an accuracy standard, weighting and averaging the measurement coordinates of all the Beidou terminals, and taking the result as final Beidou positioning data;
Specifically, the Beidou positioning data verification model comprises:
Wherein Consistency is the accuracy index of Beidou positioning data, n is the number of Beidou terminals, sigma is an adjustment factor, d i is the measurement coordinate (x i,yi) of the measured position of the ith Beidou terminal in a time window and the moving average coordinate of all the measured positions of the Beidou terminals in the time window The euclidean distance between the two,For the time interval between the current measurement time of the ith Beidou terminal and the average measurement time of all the Beidou terminals, alpha is the time interval weight, acc i is the measurement precision of the ith Beidou terminal, epsilon is a positive constant, beta is the measurement precision weight, gamma is the correlation weight, corr i is the correlation index value of the measurement coordinate (x i,yi) of the measured position of the ith Beidou terminal in a time window and the measurement coordinates of other Beidou terminals.
Specifically, the correlation index value corr i between the measurement coordinate (x i,yi) of the detected position of the ith beidou terminal and the measurement coordinates of other beidou terminals includes:
Wherein, Measurement coordinates (x i,yi) and moving average coordinates for the i th Beidou terminal measured positionCovariance in between, var (x i) is the variance of the measured coordinate abscissa x i of the ith Beidou terminal measured position, var (y i) is the variance of the measured coordinate ordinate y i of the ith Beidou terminal measured position,As moving average coordinate abscissaIs a function of the variance of (a),Is the ordinate of the moving average coordinateIs a variance of (c).
Specifically, measurement accuracy acc i of the ith beidou terminal includes:
G i(xi,yi,ei) is a measurement accuracy evaluation function, and e i is environmental information of the ith Beidou terminal during measurement.
Specifically, the measurement accuracy evaluation function g i(xi,yi,ei) includes:
wherein the moving average coordinate abscissa Moving average ordinateVar (x i) is the variance of the measurement coordinate abscissa x i of the i th Beidou terminal measured position, var (y i) is the variance of the measurement coordinate ordinate y i of the i th Beidou terminal measured position, c m is the weight of the m-th environmental information, and e m is the value of the m-th environmental information.
And 103, when the accuracy index of the Beidou positioning data is smaller than a preset accuracy threshold, adjusting the accuracy of each Beidou terminal, and re-acquiring the coordinate information of the detected position until the accuracy index of the Beidou positioning data exceeds the preset accuracy threshold.
Example 2
As shown in fig. 2, the embodiment of the present invention further provides a multi-beidou terminal data verification system based on a hong-mo operating system, including:
The information acquisition module is used for forming a Beidou positioning network by a plurality of Beidou terminals and acquiring coordinate information of the detected positions of the Beidou terminals based on each Hongmon operating system, wherein the coordinate information comprises measurement coordinates, moving average coordinates of the detected positions of all the Beidou terminals in a time window, and time intervals between the current measurement time and average measurement time of all the Beidou terminals;
the setting model module is used for setting a Beidou positioning data verification model, calculating a Beidou positioning data accuracy index according to the coordinate information, when the Beidou positioning data accuracy index exceeds a preset accuracy threshold, the accuracy of the Beidou positioning network reaches an accuracy standard, weighting and averaging the measurement coordinates of all the Beidou terminals, and taking the result as final Beidou positioning data;
Specifically, the Beidou positioning data verification model comprises:
Wherein Consistency is the accuracy index of Beidou positioning data, n is the number of Beidou terminals, sigma is an adjustment factor, d i is the measurement coordinate (x i,yi) of the measured position of the ith Beidou terminal in a time window and the moving average coordinate of all the measured positions of the Beidou terminals in the time window The euclidean distance between the two,For the time interval between the current measurement time of the ith Beidou terminal and the average measurement time of all the Beidou terminals, alpha is the time interval weight, acc i is the measurement precision of the ith Beidou terminal, epsilon is a positive constant, beta is the measurement precision weight, gamma is the correlation weight, corr i is the correlation index value of the measurement coordinate (x i,yi) of the measured position of the ith Beidou terminal in a time window and the measurement coordinates of other Beidou terminals.
Specifically, the correlation index value corr i between the measurement coordinate (x i,yi) of the detected position of the ith beidou terminal and the measurement coordinates of other beidou terminals includes:
Wherein, Measurement coordinates (x i,yi) and moving average coordinates for the i th Beidou terminal measured positionCovariance in between, var (x i) is the variance of the measured coordinate abscissa x i of the ith Beidou terminal measured position, var (y i) is the variance of the measured coordinate ordinate y i of the ith Beidou terminal measured position,As moving average coordinate abscissaIs a function of the variance of (a),Is the ordinate of the moving average coordinateIs a variance of (c).
Specifically, measurement accuracy acc i of the ith beidou terminal includes:
G i(xi,yi,ei) is a measurement accuracy evaluation function, and e i is environmental information of the ith Beidou terminal during measurement.
Specifically, the measurement accuracy evaluation function g i(xi,yi,ei) includes:
wherein the moving average coordinate abscissa Moving average ordinateVar (x i) is the variance of the measurement coordinate abscissa x i of the i th Beidou terminal measured position, var (y i) is the variance of the measurement coordinate ordinate y i of the i th Beidou terminal measured position, c m is the weight of the m-th environmental information, and e m is the value of the m-th environmental information.
And the adjusting module is used for adjusting the accuracy of each Beidou terminal when the accuracy index of the Beidou positioning data is smaller than a preset accuracy threshold value, and re-acquiring the coordinate information of the detected position until the accuracy index of the Beidou positioning data exceeds the preset accuracy threshold value.
Example 3
The embodiment of the invention also provides a storage medium which stores a plurality of instructions for realizing the multi-Beidou terminal data verification method based on the hong Monte operating system.
Alternatively, in this embodiment, the storage medium may be located in any one of the computer terminals in the computer terminal group in the computer network, or in any one of the mobile terminals in the mobile terminal group.
Optionally, in this embodiment, the storage medium is configured to store program codes for performing the steps of forming a plurality of beidou terminals into a beidou positioning network, and obtaining coordinate information of a measured position of each beidou terminal based on a hong-mo operating system, where the coordinate information includes a measurement coordinate, a moving average coordinate of measured positions of all the beidou terminals in a time window, and a time interval between a current measurement time and an average measurement time of all the beidou terminals;
Step 102, setting a Beidou positioning data verification model, calculating a Beidou positioning data accuracy index according to the coordinate information, when the Beidou positioning data accuracy index exceeds a preset accuracy threshold, enabling the accuracy of the Beidou positioning network to reach an accuracy standard, weighting and averaging the measurement coordinates of all the Beidou terminals, and taking the result as final Beidou positioning data;
Specifically, the Beidou positioning data verification model comprises:
Wherein Consistency is the accuracy index of Beidou positioning data, n is the number of Beidou terminals, sigma is an adjustment factor, d i is the measurement coordinate (x i,yi) of the measured position of the ith Beidou terminal in a time window and the moving average coordinate of all the measured positions of the Beidou terminals in the time window The euclidean distance between the two,For the time interval between the current measurement time of the ith Beidou terminal and the average measurement time of all the Beidou terminals, alpha is the time interval weight, acc i is the measurement precision of the ith Beidou terminal, epsilon is a positive constant, beta is the measurement precision weight, gamma is the correlation weight, corr i is the correlation index value of the measurement coordinate (x i,yi) of the measured position of the ith Beidou terminal in a time window and the measurement coordinates of other Beidou terminals.
Specifically, the correlation index value corr i between the measurement coordinate (x i,yi) of the detected position of the ith beidou terminal and the measurement coordinates of other beidou terminals includes:
Wherein, Measurement coordinates (x i,yi) and moving average coordinates for the i th Beidou terminal measured positionCovariance in between, var (x i) is the variance of the measured coordinate abscissa x i of the ith Beidou terminal measured position, var (y i) is the variance of the measured coordinate ordinate y i of the ith Beidou terminal measured position,As moving average coordinate abscissaIs a function of the variance of (a),Is the ordinate of the moving average coordinateIs a variance of (c).
Specifically, measurement accuracy acc i of the ith beidou terminal includes:
G i(xi,yi,ei) is a measurement accuracy evaluation function, and e i is environmental information of the ith Beidou terminal during measurement.
Specifically, the measurement accuracy evaluation function g i(xi,yi,ei) includes:
wherein the moving average coordinate abscissa Moving average ordinateVar (x i) is the variance of the measurement coordinate abscissa x i of the i th Beidou terminal measured position, var (y i) is the variance of the measurement coordinate ordinate y i of the i th Beidou terminal measured position, c m is the weight of the m-th environmental information, and e m is the value of the m-th environmental information.
And 103, when the accuracy index of the Beidou positioning data is smaller than a preset accuracy threshold, adjusting the accuracy of each Beidou terminal, and re-acquiring the coordinate information of the detected position until the accuracy index of the Beidou positioning data exceeds the preset accuracy threshold.
Example 4
The embodiment of the invention also provides electronic equipment, which comprises a processor and a storage medium connected with the processor, wherein the storage medium stores a plurality of instructions, and the instructions can be loaded and executed by the processor so that the processor can execute a multi-Beidou terminal data verification method based on a hong Mongolian operating system.
In particular, the electronic device of the present embodiment may be a computer terminal that may include one or more processors and a storage medium.
The storage medium can be used for storing software programs and modules, such as a multi-Beidou terminal data verification method based on a hong Monte operating system in the embodiment of the invention, and the processor executes various functional applications and data processing by running the software programs and the modules stored in the storage medium corresponding to the program instructions/modules, so that the multi-Beidou terminal data verification method based on the hong Monte operating system is realized. The storage medium may include a high-speed random access storage medium, and may also include a non-volatile storage medium, such as one or more magnetic storage systems, flash memory, or other non-volatile solid-state storage medium. In some examples, the storage medium may further include a storage medium remotely located with respect to the processor, and the remote storage medium may be connected to the terminal through a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
Step 101, forming a plurality of Beidou terminals into a Beidou positioning network, and acquiring coordinate information of a measured position of each Beidou terminal based on a hong Mongolian operating system, wherein the coordinate information comprises measurement coordinates, moving average coordinates of the measured positions of all the Beidou terminals in a time window, and time intervals between current measurement time and average measurement time of all the Beidou terminals;
Step 102, setting a Beidou positioning data verification model, calculating a Beidou positioning data accuracy index according to the coordinate information, when the Beidou positioning data accuracy index exceeds a preset accuracy threshold, enabling the accuracy of the Beidou positioning network to reach an accuracy standard, weighting and averaging the measurement coordinates of all the Beidou terminals, and taking the result as final Beidou positioning data;
Specifically, the Beidou positioning data verification model comprises:
Wherein Consistency is the accuracy index of Beidou positioning data, n is the number of Beidou terminals, sigma is an adjustment factor, d i is the measurement coordinate (x i,yi) of the measured position of the ith Beidou terminal in a time window and the moving average coordinate of all the measured positions of the Beidou terminals in the time window The euclidean distance between the two,For the time interval between the current measurement time of the ith Beidou terminal and the average measurement time of all the Beidou terminals, alpha is the time interval weight, acc i is the measurement precision of the ith Beidou terminal, epsilon is a positive constant, beta is the measurement precision weight, gamma is the correlation weight, corr i is the correlation index value of the measurement coordinate (x i,yi) of the measured position of the ith Beidou terminal in a time window and the measurement coordinates of other Beidou terminals.
Specifically, the correlation index value corr i between the measurement coordinate (x i,yi) of the detected position of the ith beidou terminal and the measurement coordinates of other beidou terminals includes:
Wherein, Measurement coordinates (x i,yi) and moving average coordinates for the i th Beidou terminal measured positionCovariance in between, var (x i) is the variance of the measured coordinate abscissa x i of the ith Beidou terminal measured position, var (y i) is the variance of the measured coordinate ordinate y i of the ith Beidou terminal measured position,As moving average coordinate abscissaIs a function of the variance of (a),Is the ordinate of the moving average coordinateIs a variance of (c).
Specifically, measurement accuracy acc i of the ith beidou terminal includes:
G i(xi,yi,ei) is a measurement accuracy evaluation function, and e i is environmental information of the ith Beidou terminal during measurement.
Specifically, the measurement accuracy evaluation function g i(xi,yi,ei) includes:
wherein the moving average coordinate abscissa Moving average ordinateVar (x i) is the variance of the measurement coordinate abscissa x i of the i th Beidou terminal measured position, var (t i) is the variance of the measurement coordinate ordinate y i of the i th Beidou terminal measured position, c m is the weight of the m-th environmental information, and e m is the value of the m-th environmental information.
And 103, when the accuracy index of the Beidou positioning data is smaller than a preset accuracy threshold, adjusting the accuracy of each Beidou terminal, and re-acquiring the coordinate information of the detected position until the accuracy index of the Beidou positioning data exceeds the preset accuracy threshold.
The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
In the foregoing embodiments of the present invention, the descriptions of the embodiments are emphasized, and for a portion of this disclosure that is not described in detail in this embodiment, reference is made to the related descriptions of other embodiments.
In the embodiments provided in the present invention, it should be understood that the disclosed technology may be implemented in other manners. The system embodiments described above are merely exemplary, and for example, the division of the units is merely a logic function division, and there may be another division manner in actual implementation, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some interfaces, units or modules, or may be in electrical or other forms.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied essentially or partly in the form of a software product or all or part of the technical solution, which is stored in a storage medium, and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. The storage medium includes a usb disk, a Read-Only Memory (ROM), a random-access Memory (RAM, random Access Memory), a removable hard disk, a magnetic disk, or a compact disk, etc. which can store the program code.
It is apparent that the above examples are given by way of illustration only and are not limiting of the embodiments. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. While still being apparent from variations or modifications that may be made by those skilled in the art are within the scope of the invention.
Claims (8)
1. A multi-Beidou terminal data verification method based on a hong Monte operating system is characterized by comprising the following steps of:
Forming a Beidou positioning network by a plurality of Beidou terminals, and acquiring coordinate information of the measured positions of each Beidou terminal based on a hong and Monte operating system, wherein the coordinate information comprises measurement coordinates, moving average coordinates of the measured positions of all the Beidou terminals in a time window, and a time interval between the current measurement time and the average measurement time of all the Beidou terminals;
Setting a Beidou positioning data verification model, calculating a Beidou positioning data accuracy index according to the coordinate information, wherein when the Beidou positioning data accuracy index exceeds a preset accuracy threshold, the accuracy of the Beidou positioning network reaches an accuracy standard, all the measurement coordinates of the Beidou terminals are weighted and averaged, and the result is used as final Beidou positioning data, and the Beidou positioning data verification model comprises:
Wherein Consistency is the accuracy index of Beidou positioning data, n is the number of Beidou terminals, sigma is an adjustment factor, d i is the measurement coordinate (x i,yi) of the measured position of the ith Beidou terminal in a time window and the moving average coordinate of all the measured positions of the Beidou terminals in the time window The euclidean distance between the two,For the time interval between the current measurement time of the ith Beidou terminal and the average measurement time of all the Beidou terminals, alpha is the time interval weight, acc i is the measurement precision of the ith Beidou terminal, epsilon is a positive constant, beta is the measurement precision weight, gamma is the correlation weight, corr i is the correlation index value of the measurement coordinate (x i,yi) of the measured position of the ith Beidou terminal in a time window and the measurement coordinates of other Beidou terminals;
And when the accuracy index of the Beidou positioning data is smaller than a preset accuracy threshold, adjusting the accuracy of each Beidou terminal, and re-acquiring the coordinate information of the detected position until the accuracy index of the Beidou positioning data exceeds the preset accuracy threshold.
2. The multi-beidou terminal data verification method based on the hong-mo operating system as set forth in claim 1, wherein the correlation index value corr i of the measurement coordinates (x i,yi) of the measured position of the ith beidou terminal and the measurement coordinates of the other beidou terminals includes:
Wherein, Measurement coordinates (x i,yi) and moving average coordinates for the i th Beidou terminal measured positionCovariance in between, var (x i) is the variance of the measured coordinate abscissa x i of the ith Beidou terminal measured position, var (y i) is the variance of the measured coordinate ordinate y i of the ith Beidou terminal measured position,As moving average coordinate abscissaIs a function of the variance of (a),Is the ordinate of the moving average coordinateIs a variance of (c).
3. The multi-Beidou terminal data verification method based on the Hongmon operating system as set forth in claim 1, wherein the measurement accuracy acc i of the ith Beidou terminal comprises:
G i(xi,yi,ei) is a measurement accuracy evaluation function, and e i is environmental information of the ith Beidou terminal during measurement.
4. A multi-beidou terminal data verification method based on a hong-mo operating system as set forth in claim 3, wherein the measurement accuracy evaluation function g i(xi,yi,ei) includes:
wherein the moving average coordinate abscissa Moving average ordinateVar (x i) is the variance of the measurement coordinate abscissa x i of the i th Beidou terminal measured position, var (y i) is the variance of the measurement coordinate ordinate y i of the i th Beidou terminal measured position, c m is the weight of the m-th environmental information, and e m is the value of the m-th environmental information.
5. A multi-Beidou terminal data verification system based on a hong Monte operating system is characterized by comprising:
The information acquisition module is used for forming a Beidou positioning network by a plurality of Beidou terminals and acquiring coordinate information of the detected positions of the Beidou terminals based on each Hongmon operating system, wherein the coordinate information comprises measurement coordinates, moving average coordinates of the detected positions of all the Beidou terminals in a time window, and time intervals between the current measurement time and average measurement time of all the Beidou terminals;
The setting model module is used for setting a Beidou positioning data verification model, calculating Beidou positioning data accuracy index according to the coordinate information, when the Beidou positioning data accuracy index exceeds a preset accuracy threshold, the accuracy of the Beidou positioning network reaches an accuracy standard, all the measurement coordinates of the Beidou terminal are weighted and averaged, and the result is used as final Beidou positioning data, wherein the Beidou positioning data verification model comprises:
Wherein Consistency is the accuracy index of Beidou positioning data, n is the number of Beidou terminals, sigma is an adjustment factor, d i is the measurement coordinate (x i,yi) of the measured position of the ith Beidou terminal in a time window and the moving average coordinate of all the measured positions of the Beidou terminals in the time window The euclidean distance between the two,For the time interval between the current measurement time of the ith Beidou terminal and the average measurement time of all the Beidou terminals, alpha is the time interval weight, acc i is the measurement precision of the ith Beidou terminal, epsilon is a positive constant, beta is the measurement precision weight, gamma is the correlation weight, corr i is the correlation index value of the measurement coordinate (x i,yi) of the measured position of the ith Beidou terminal in a time window and the measurement coordinates of other Beidou terminals;
and the adjusting module is used for adjusting the accuracy of each Beidou terminal when the accuracy index of the Beidou positioning data is smaller than a preset accuracy threshold value, and re-acquiring the coordinate information of the detected position until the accuracy index of the Beidou positioning data exceeds the preset accuracy threshold value.
6. The multi-beidou terminal data verification system based on the hong-mo operation system according to claim 5, wherein the correlation index value corr i of the measurement coordinates (x i,yi) of the measured position of the ith beidou terminal and the measurement coordinates of the other beidou terminals comprises:
Wherein, Measurement coordinates (x i,yi) and moving average coordinates for the i th Beidou terminal measured positionCovariance in between, var (x i) is the variance of the measured coordinate abscissa x i of the ith Beidou terminal measured position, var (y i) is the variance of the measured coordinate ordinate y i of the ith Beidou terminal measured position,As moving average coordinate abscissaIs a function of the variance of (a),Is the ordinate of the moving average coordinateIs a variance of (c).
7. The multi-beidou terminal data verification system based on the hong-mo operating system of claim 5, wherein the measurement accuracy acc i of the ith beidou terminal comprises:
G i(xi,yi,ei) is a measurement accuracy evaluation function, and e i is environmental information of the ith Beidou terminal during measurement.
8. The multi-beidou terminal data verification system based on the hong-mo operating system of claim 7, wherein the measurement accuracy evaluation function g i(xi,yi,ei) includes:
wherein the moving average coordinate abscissa Moving average ordinateVar (x i) is the variance of the measurement coordinate abscissa x i of the i th Beidou terminal measured position, var (y i) is the variance of the measurement coordinate ordinate y i of the i th Beidou terminal measured position, c m is the weight of the m-th environmental information, and e m is the value of the m-th environmental information.
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