Test method, device and equipment of navigation positioning module and storage medium
阅读说明：本技术 导航定位模组的测试方法、装置、设备及存储介质 (Test method, device and equipment of navigation positioning module and storage medium ) 是由 李飞 于 2020-07-14 设计创作，主要内容包括：本发明实施方式涉及导航定位技术领域,公开了一种导航定位模组的测试方法、装置、设备及存储介质。本发明中,在获取到待测试导航定位模组提供的待解析数据后,通过从待解析数据中提取目标数据类型标识,以及确定待解析数据的长度,进而根据得到的这两个参数便可以自动在预先构建的解析规则集中查找适合当前待解析数据的目标解析规则,并根据查找到的目标解析规则对待解析数据进行解析,获得解析结果,最终根据得到的解析结果确定待测试导航模组的定位性能,得到针对待测试导航定位模组的测试结果,由于整个过程无需测试人员介入,从而大大简化了测试人员的操作,降低了测试人员的工作量。(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 method and the device, 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 a preset analysis rule set according to the obtained two parameters, the data to be analyzed is analyzed according to the searched target analysis rule, an analysis result is obtained, finally the positioning performance of the navigation module to be tested is determined according to the obtained analysis result, and the test result for the navigation positioning module to be tested is obtained.)
1. A test method of a navigation positioning module is characterized by comprising the following steps:
acquiring 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 in 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.
2. The method for testing a navigation positioning module according to claim 1, wherein the extracting a target data type identifier from the data to be analyzed comprises:
extracting an initial data type identifier from the data to be analyzed based on a preset regular expression;
and extracting character data of a preset position from the initial data type identifier to obtain the target data type identifier.
3. The method for testing a navigation positioning module according to claim 1 or 2, wherein before selecting a target parsing rule in a set of pre-constructed parsing rules according to the type identifier of the target data and the length of the data to be parsed, 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;
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, wherein the selecting the target analysis rule comprises the following steps:
and selecting a target analysis rule in a pre-constructed analysis rule set according to the target data type identifier and the length of the standard data to be analyzed.
4. The method for testing the navigation positioning module according to claim 1 or 2, wherein before the acquiring the data to be analyzed 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, 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, acquiring a storage path corresponding to the static data to be analyzed, and executing a step of acquiring the data to be analyzed provided by the navigation positioning module to be tested according to the storage path after the storage path is acquired;
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.
5. The method for testing the navigation positioning module set of claim 4, wherein the determining the communication protocol matching with the navigation positioning module set to be tested comprises:
acquiring the model number 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 model of the module.
6. The method for testing the navigation positioning module set of claim 4, wherein after the communication connection with the navigation positioning module set to be tested is established by using the communication protocol, the method further comprises:
sending a test instruction to the navigation positioning module to be tested according to a preset test requirement;
the acquiring of the data to be analyzed provided by the navigation positioning module to be tested includes:
and acquiring data to be analyzed, which is provided by the navigation positioning module to be tested and generated aiming at the test instruction.
7. The method for testing a navigation positioning module according to claim 1 or 2, wherein before the 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 or not;
if the analysis result is not abnormal, 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 marking on the analysis result.
8. The utility model provides a testing arrangement of navigation positioning module which 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 selection module is used for selecting a target analysis rule in a pre-established 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 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.
9. The utility model provides a test equipment of navigation positioning module which characterized in that includes:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform a method of testing a navigational positioning module according to any of claims 1 to 7.
10. A computer-readable storage medium, storing a computer program, wherein the computer program, when executed by a processor, implements the method for testing a navigation positioning module according to any one of claims 1 to 7.
Technical Field
The embodiment of the invention relates to the technical field of navigation and positioning, in particular to a method, a device, equipment and a storage medium for testing a navigation and positioning module.
Background
The Global Navigation satellite system, also called Global Navigation Satellite System (GNSS), is a space-based radio Navigation positioning system capable of providing users with all-weather 3-dimensional coordinates and speed and time information at any location on the earth's surface or in the near-earth space. In order to ensure the positioning performance of GNSS products, GNSS product manufacturers test GNSS products before the GNSS products are put into use, specifically by testing GNSS modules or GNSS chips integrated in the GNSS products.
However, because the NMEA (uniform RTCM standard protocol for GPS navigation device) statements 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 (geographical positioning information), etc., and the parsing rule versions corresponding to the statements are also different, when a tester tests a GNSS module in a GNSS product, the NMEA statement format of data to be parsed generated by the GNSS module to be tested and the corresponding parsing rule version need to be determined in advance, which not only is inconvenient to operate, but also greatly increases the workload of the tester.
Disclosure of Invention
An object of embodiments of the present invention is to provide a method, an apparatus, a device and a storage medium for testing a navigation positioning module, which solve the above technical problems.
In order to solve the above technical problem, an embodiment of the present invention provides a method for testing a navigation positioning module, including the following steps:
acquiring 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 in 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 selection module is used for selecting a target analysis rule in a pre-established 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 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 embodiment of the invention also provides a test device of the navigation positioning module, which comprises:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform a method of testing a navigational positioning module as described above.
The embodiment of the present invention further provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the computer program implements the method for testing the navigation positioning module.
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, the target analysis rule suitable for the current data to be analyzed can be automatically searched in the pre-established analysis rule set 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, and the test result for the navigation positioning module to be tested is obtained.
In addition, 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 of a preset position from the initial data type identifier to obtain the target data type identifier.
According to the embodiment, the regular expression is adopted to extract the initial data type identification from the data to be analyzed, and then the character data of the preset position is extracted from the initial data type identification to be used as the target data type identification, so that the initial data type identifications of the same character data at the preset position can be uniformly identified by one target data type identification, the determined target analysis rule can analyze the data to be analyzed of one type of initial data type identification, and the compatibility of different data types is realized.
In addition, before selecting a target parsing rule in a 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;
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, wherein the selecting the target analysis rule comprises the following steps:
and selecting a target analysis rule in 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 embodiment, the data to be analyzed is converted into the standard analysis format corresponding to the target data type identifier, so that the standard data to be analyzed is obtained, the determined length can be guaranteed to have a reference value, and the finally selected target analysis rule is more suitable for the current data to be analyzed.
In addition, before the acquiring the data to be analyzed 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, 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, acquiring a storage path corresponding to the static data to be analyzed, and executing a step of acquiring the data to be analyzed provided by the navigation positioning module to be tested according to the storage path after the storage path is acquired;
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 embodiment, different data to be analyzed obtaining modes are set based on the data source of the data to be analyzed, so that the navigation positioning module to be tested can be tested based on 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), the communication with different navigation modules to be tested can be realized by determining the 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 includes:
acquiring the model number 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 model of the module.
According to the embodiment, the configuration file in which the communication protocols corresponding to different module types are stored is pre-constructed, so that when the communication protocol matched with the navigation positioning module to be tested which needs to be tested at present is determined, the communication protocol matched with the navigation positioning module to be tested can be quickly found in the preset configuration file according to the acquired module type only by acquiring the module type of the navigation positioning module to be tested, and because no tester is required to intervene in the whole process, the operation of the tester is further simplified under the condition that different types of navigation positioning modules to be tested are compatible, and the workload of the tester is reduced.
In addition, after the communication connection is established with the navigation positioning module to be tested by adopting the communication protocol, the method further comprises the following steps:
sending a test instruction to the navigation positioning module to be tested according to a preset test requirement;
the acquiring of the data to be analyzed provided by the navigation positioning module to be tested includes:
and acquiring data to be analyzed, which is provided by the navigation positioning module to be tested and generated aiming at the test instruction.
In order to test the to-be-tested navigation positioning module according to the dynamic to-be-analyzed data, after the communication connection is established with the to-be-tested navigation positioning module based on the determined communication protocol, the test instruction is sent to the to-be-tested navigation positioning module according to the preset test requirement, so that the obtained dynamic to-be-analyzed data is generated aiming at the test instruction, and the specific test of the specific function of the to-be-tested navigation positioning module is realized.
In addition, before the determining the positioning performance of the to-be-tested navigation positioning module according to the analysis result and obtaining the test result for the to-be-tested navigation positioning module, the method further includes:
checking whether the analysis result is abnormal or not;
if the analysis result is not abnormal, 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 marking on the analysis result.
According to the embodiment, the analysis result is subjected to abnormity detection, and when the analysis result is determined to be abnormal, the analysis result is subjected to abnormity marking, so that a tester can quickly locate the reason of the abnormity, and the workload of the tester is further reduced.
Drawings
One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the figures in which like reference numerals refer to similar elements and which are not to scale unless otherwise specified.
FIG. 1 is a flowchart illustrating a method for testing a navigation positioning module according to a first embodiment of the present invention;
FIG. 2 is a flowchart illustrating a method for testing a navigation positioning module according to a second embodiment of the present invention;
FIG. 3 is a flowchart illustrating a method for testing a navigation positioning module according to a third embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a testing apparatus 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
In order to make 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, it will be appreciated by those of ordinary skill in the art that numerous technical details are set forth in order to provide a better understanding of the present application in various embodiments of the present invention. However, the technical solution claimed in the present application can be implemented without these technical details and various changes and modifications based on the following embodiments.
The following embodiments are divided for convenience of description, and should not constitute any limitation to the specific implementation of the present invention, and the embodiments may be mutually incorporated and referred to without contradiction.
The first embodiment of the invention relates to a test method of a navigation positioning module, after data to be analyzed provided by the navigation positioning module to be tested is obtained, a target data type identifier is extracted from the data to be analyzed, the length of the data to be analyzed is determined, then a target analysis rule suitable for the current data to be analyzed can be automatically found in a pre-established analysis rule set according to the obtained two parameters, the data to be analyzed is analyzed according to the found target analysis rule, an analysis result is obtained, finally the positioning performance of the navigation module to be tested is determined according to the obtained analysis result, and a test result for the navigation positioning module to be tested is obtained.
The following describes implementation details of the test method of the navigation positioning module according to the present embodiment, and the following description is only provided for easy understanding and is not necessary to implement the present embodiment.
The method for testing the navigation positioning module according to the embodiment is specifically applied to any terminal device capable of executing the method, such as a personal computer, a tablet computer, a smart phone, and the like, and is not limited thereto.
The specific flow of the present embodiment is shown in fig. 1, and specifically includes the following steps:
Specifically, the navigation positioning module to be tested in this embodiment is a GNSS module.
It should be understood that, since the present embodiment is directed to testing the 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.
In addition, it is worth mentioning that, since the NMEA protocol defines many statements, for example, statements whose statement IDs are "$ GPGGA", or "$ GPGSA", or "$ GPGSV", or "$ GPRMC", or "$ GPVTG", or "$ GPGLL" (i.e., the data to be resolved in this embodiment) are provided. Furthermore, because of different GNSS module suppliers, even the IDs of the sentences for recording the same information are different, for example, the sentence ID of the NMEA protocol corresponding to a GPS (Global Positioning System) type GNSS module may be in the above listed style; and the ID of the corresponding different statement of GNSSL type is "$ GNGGA", or "$ GNGSA", or "$ GNGSV", or "$ GNRMC", or "$ GNVTG", or "$ GNGLL"; the ID of the different sentences corresponding to the BDS (BeiDou Navigation Satellite System, chinese BeiDou Satellite Navigation System) type is "$ BDGGA", or "$ BDGSA", or "$ BDGSV", or "$ BDRMC", or "$ BDVTG", or "$ BDGLL". Therefore, in order to implement that the same type of statements corresponding to different types, such as "$ GPGGA", "$ GNGGA", and "$ BDGGA", can be parsed by using the same parsing rule, when extracting the target data type identifier from the data to be parsed, the implementation is specifically implemented based on the following manner:
(1) and extracting an initial data type identifier from the data to be analyzed based on a preset regular expression.
Through observation of the existing GNSS module suppliers on different satellite positioning system naming rules and statement IDs of NMEA statements, it can be seen that these statement IDs have a commonality, i.e. they all start with a "$" symbol, and the 3 rd to 5 th bit on the right side of the "$" symbol is any one of the following: GGA, GSA, PGSV, RMC, VTG, GLL.
The 1 st and 2 nd bit data on the right side of the "$" symbol may vary from provider to provider of the GNSS module, but are roughly between 26 letters from the "a" character to the "Z" character.
Therefore, based on this rule, before testing the GNSS module to be tested, the following regular expression may be constructed in advance: [ \\\\\ $ 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 each complete NMEA sentence and then arranging the characters.
In addition, it should be understood that, in practical applications, the regular expressions described above may be slightly adjusted based on the expression habits of different programming languages, and the present embodiment does not limit this.
Correspondingly, when the initial data type identifier is extracted from the data to be analyzed based on the regular expression, the data to be analyzed is read according to lines, then each line of data is matched by using the regular expression, if the data accords with the regular expression, the "$" character data is used as a starting character until the 5 th bit character data on the right side, and a character string formed by the continuous 6 bit character data is used as the initial data type identifier. If the 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 of the current line for a tester to analyze, and simultaneously reading the next data for analysis until ending.
In addition, it is worth mentioning that the GGA is a Global Positioning System fix data (Global Positioning System fix data); GSA is DOP and Active Satellites, GSV is Satellites in View, RMC is Recommended Minimum location information/TRANSIT Data, VTG is Track Made Good and Ground Speed, GLL is Geographic Position.
In addition, it should be understood that the above is only an example, and the technical solution of the present embodiment is not limited in any way, and in practical applications, a person skilled in the art may construct a regular expression or an initial data type identifier extraction rule that can cover various existing situations according to the style of the statement ID of the statement supported by the existing NMEA protocol and the provider that provides the GNSS module, which is not limited in this embodiment.
(2) And extracting character data of a preset position from the initial data type identifier to obtain the target data type identifier.
Specifically, it is obvious from the above description that the last 3 bits are usually the data type actually identified for the data to be parsed, and thus in this embodiment, the preset position is specifically the 4 th bit to the 6 th bit of the initial data type identifier, which is the character data on the consecutive 3 bits.
For ease of understanding, the following description is made in conjunction with the examples:
for example, if the initial data type corresponding to the data to be analyzed is identified as "$ GNGGA", the finally determined target data type is "GGA".
For example, when the initial data type corresponding to the data to be analyzed is identified as "$ GPGGA", the finally determined target data type is still "GGA".
For example, if the initial data type corresponding to the data to be analyzed is identified as "$ BDGGA", the finally determined target data type is still "GGA".
That is, the target data type identifier extracted in the present embodiment can be compatible with the definition of different manufacturers.
And 102, 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.
Specifically, as the NMEA protocol is continuously updated and iterated, different versions of the parsing rules for parsing the data to be parsed of the various statement IDs included in the NMEA protocol exist. The difference between different versions is mainly to add new field parameters, that is, the lengths of the data to be analyzed corresponding to different versions are different.
Therefore, in order to enable the finally found target analysis rule to take account of both the version and the type, in the embodiment, when the target analysis rule is selected from the analysis rule set, two parameters, namely the extracted target data type identifier and the length of the data to be analyzed, are specifically used as selection bases.
In addition, 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 obtain the target analysis rule quickly, the analysis rules corresponding to the data to be analyzed of various statements IDs included in the current NMEA protocol need to be collected and collated in advance, and the analysis rules are collated and summarized to generate the analysis rules compatible with the GNSS module that is not provided by the provider, and the correspondence between the target data type identifier and the lengths of various types of data to be analyzed and the analysis rules is established.
In addition, it should be noted that, in practical applications, the data to be parsed may include information that can be displayed in a cycle, such as information of different satellites, and in some cases, a certain piece of data to be parsed may only record information of one satellite, while another piece of data to be parsed records a plurality of pieces of data, but actually the two pieces of data to be parsed are the same for the version of the parsing rule, but have different lengths. Therefore, in order to ensure that the determined length has a reference value, so that the finally selected target parsing rule is more suitable for the current data to be parsed, before the
Correspondingly, when the target analysis rule is finally selected from the pre-constructed analysis rule set, the target analysis rule is identified according to the type of the target data and the length of the standard data to be analyzed.
For convenience of understanding, the present embodiment takes a statement that data to be analyzed is in a GSV format as an example, and the following description is made:
the parsing rule corresponding to the statement in the GSV format is assumed to have the following two versions:
version 1: GSV, <1>, <2>, <3>, <4>, <5>, <6>, <7>, … <4>, <5>, <6>, <7> h < CR > < LF >
Version 2: GSV, <1>, <2>, <3>, <4>, <5>, <6>, <7>, … <4>, <5>, <6>, <7>, <8> h < CR > < LF >
For the two versions, the definition and explanation of each field parameter in the parsing rule are as follows:
field <1> total number of galaxy GSV statements;
field <2> number of each astrological sentence GSV;
field <3> total number of visible satellites of each constellation;
the field <4> pseudo random noise PRN code can be understood as satellite number in practical application, and the numbers of all galaxy satellites have difference according to the specifications of all manufacturers;
field <5> satellite elevation;
field <6> satellite azimuth;
the field <7> signal-to-noise ratio ranges from 00dB to 99dB, the space is empty when the satellite is not tracked, and the front 0 is transmitted;
the field <8> signal band information, for example, 1 represents an L1 band satellite signal, and 8 represents an L5 band satellite signal;
the following field hh is the 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 displayed circularly according to each satellite, each GSV format sentence can display the information of 4 satellites at most, namely, 4 fields of <4>, <5>, <6>, <7> are in one group, and are displayed for 4 times at most, and other satellite information which is not displayed is output in the next sequence sentence.
Therefore, if the obtained statement (data to be parsed) in the 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> only appear 3 times, so after the prediction is converted into the standard parsing format corresponding to the GSV data type identifier, that is, the 4 fields of <4>, <5>, <6>, <7> appear 4 times, the obtained standard data to be parsed is:
$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, i.e. the character data at the field <8> needs to be parsed.
Correspondingly, based on the target data type identifier "GSV" and the length of the standard data to be analyzed, a target analysis rule is selected from the pre-constructed analysis rule set, specifically, the analysis rule corresponding to the given version 2, that is, the analysis rule including the definitions and explanations of the fields from the field <1> to the field <8 >.
In addition, in practical application, the version of the selected parsing rule may also be determined as follows:
firstly, the sentences are grouped according to the "" and "", and are stored in a plurality of groups of lineDatas;
then, dividing the array length by 4, if the length of the data to be analyzed is 1, determining that the length of the data to be analyzed is the length of the given version 1, and if the length of the data to be analyzed is 2, determining that the length of the data to be analyzed is the length of the given version 2.
For ease of understanding, part of the implementation code is given below:
specifically, in practical applications, the number of satellites can be judged by "count ═ len-5)/4"; the dynamic acquisition of satellite information is realized by the following codes:
for(int i＝0；i<sCount；i++){
PRN code [ lineDatas [4+ i 4]
Satellite elevation angle (lineDatas [5+ i 4]
Satellite azimuth [ lineDatas [6+ i 4]
Satellite signal-to-noise ratio (lineDatas [7+ i 4]
}
Wherein sCount represents the number of satellites, and len represents the length of the array.
The code segments are not difficult to find, and based on the mode, not only can satellite information be dynamically acquired, but also whether the obtained data meet the test requirements can be judged.
Based on the above determination logic, it can be found that the length of the above data to be parsed satisfies the length of the above given version 2, i.e. the character data at the field <8> needs to be parsed.
It should be understood that the above embodiments are only two specific implementations, and the technical solution of the present embodiment is not limited in any way, and in practical applications, those skilled in the art may set the implementation as needed, and the present embodiment does not limit the implementation.
And 103, analyzing the data to be analyzed according to the target analysis rule to obtain an analysis result.
For ease of understanding, the data to be resolved is "$ 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, and 4 c", and the target resolution rule determined in the above-mentioned version 2 is taken as an example, and the following description is made:
specifically, after the analysis, the obtained analysis result is:
"$ GPGSV": the data to be analyzed is GPS satellite information visible in View (GSV);
"3": the total number of GSV sentences for searching the GPS galaxy is 3;
"3": the GSV statement is item 3;
"14": the total number of visible satellites of the GPS satellite system is 14;
"30": PRN code is 30;
"24.0": the satellite elevation angle is 24.0;
"70.0": satellite azimuth 70.0;
"15.3": the signal-to-noise ratio is 15.3;
"31": the PRN code is 31;
"5.0": the satellite elevation angle is 5.0;
"125.0": satellite azimuth 125.0;
"19.6": the signal-to-noise ratio is 19.6;
"80": PRN code is 80;
"47.0": the satellite elevation angle is 47.0;
"336.0": satellite azimuth 336.0;
"20.7": the signal-to-noise ratio is 20.7;
"1": satellite signals with a signal frequency band of L1;
the "4 c" check code is 4 c.
It should be understood that the above is only one display format of the parsing result, and in practical applications, a person skilled in the art may set the format of the above-mentioned content described in the parsing result as needed, and the present embodiment does not limit this.
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 the positioning performance of the to-be-tested navigation positioning module is determined according to the analysis result so as to obtain the test result of the to-be-tested navigation positioning module, the positioning performance of the to-be-tested navigation positioning module can be determined by comparing various data recorded in the analysis result with the reference information corresponding to the current to-be-tested navigation positioning module, so that the test result meeting the current actual situation is obtained.
It is not difficult to find out through the above description that the test method of the navigation positioning module provided by the embodiment can automatically search the target analysis rule suitable for the current data to be analyzed in the pre-established analysis rule set according to the obtained two parameters by extracting the target data type identifier from the data to be analyzed and determining the length of the data to be analyzed after obtaining the data to be analyzed provided by the navigation positioning module to be tested, analyze the data to be analyzed according to the searched target analysis rule to obtain the analysis result, and finally determine the positioning performance of the navigation positioning module to be tested according to the obtained analysis result to obtain the test result for the navigation positioning module to be tested.
The second embodiment of the invention relates to a test method of a navigation positioning module. The second embodiment is further improved on the basis of the first embodiment, and the main improvement is as follows: before acquiring the data to be analyzed provided by the navigation positioning module to be tested and testing the navigation positioning module to be 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 the data to be analyzed is determined to be static analysis data by the judgment, the
It should be noted that, in this embodiment, the static data to be analyzed is substantially the historical positioning data generated by the to-be-tested navigation positioning module, that is, the static data to be analyzed already exists when the to-be-tested navigation positioning module is tested.
Correspondingly, the dynamic data to be analyzed is the real-time positioning data generated by the to-be-tested navigation positioning module, that is, the positioning data generated by the to-be-tested navigation positioning module in real time in the process of testing the to-be-tested navigation positioning module.
Specifically, in practical applications, in order to store and manage static data to be parsed (possibly a plurality of statements to be parsed), the static data to be parsed is usually 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 obtained, only the storage path of the file needs to be obtained.
In addition, in practical application, the static data to be analyzed may be stored in the navigation positioning module to be tested, or may also be stored in other designated devices, and a person skilled in the art may set the static data to be analyzed according to needs, which is not limited in this embodiment.
Specifically, because the suppliers of the to-be-tested navigation positioning modules are different, the to-be-tested navigation positioning modules of different models correspond to different communication protocols. Therefore, in order to establish a communication connection between the navigation positioning module to be tested and the current module to be tested by using a communication protocol matched with the navigation positioning module to be tested, so as to ensure that the dynamic data to be analyzed can be acquired 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 the current navigation positioning module to be tested, the embodiment collects and sorts the module types of the different existing navigation positioning modules to be tested and the communication protocols corresponding to the navigation positioning modules to be tested of each module type before testing the navigation positioning module to be tested; then, a corresponding relation between the module type and the communication protocol is established, and a configuration file which is recorded with the communication protocol which is suitable for the to-be-tested navigation positioning module of various module types to be matched is generated according to the corresponding relation.
Correspondingly, when a communication protocol matched with the navigation positioning module to be tested is determined, the communication protocol matched with the navigation positioning module to be tested can be quickly and accurately found by acquiring the module model of the navigation positioning module to be tested and then searching in a preset configuration file according to the acquired module model. Because the whole process does not need the intervention of testers, the operation of the testers is further simplified and the workload of the testers is reduced under the condition that the navigation positioning modules to be tested are compatible with different types.
Further, after determining a communication protocol matched with the to-be-tested navigation positioning module and establishing a communication connection with the to-be-tested navigation positioning module by using the communication protocol, in order to implement a targeted test on a specific function of the to-be-tested navigation positioning module, a corresponding test instruction may 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 and acquired in
With respect to what is said above, according to the preset test requirements, any one or more of the following may be given: time TO First Fi (TTFF) testing, positioning accuracy testing, sensitivity testing, reacquisition Time testing, interference testing, multipath testing, testing 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 and 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 above is only an example, and the technical solution of the present embodiment is not limited at all, and in practical applications, a person skilled in the art may set a test requirement as needed, and the present embodiment does not limit this.
It should be understood that, as can be seen from the above description of
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 the storage path of the static data to be analyzed, that is, 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, that is, real-time positioning data, it is necessary to first send a corresponding test instruction to the to-be-tested navigation positioning module according to a preset test requirement, and then obtain the dynamic data to be analyzed for the test instruction from the to-be-tested navigation positioning module.
Because the data to be analyzed may be static data to be analyzed or dynamic data to be analyzed, when the initial data type identifier is extracted from the data to be analyzed based on the regular expression in the first embodiment, different processing may be performed according to different data sources, and for convenience of understanding, the following specific description is provided:
specifically, if the data to be analyzed is static data to be analyzed, that is, historical data stored after the GNSS module is operated, the operation of extracting the initial data type identifier specifically includes: reading data to be analyzed in a text format according to lines, matching each line of data by using the regular expression, starting the "$" character until the 5 th-bit character data on the right side if the data conforms to the regular expression, and taking a character string formed by the continuous 6-bit character data as an initial data type identifier; if the data does not accord with the regular expression, judging whether the current data is the last line or not, if so, ending the analysis, if not, recording the abnormality of the current line for a tester to analyze, and simultaneously reading the next data for analysis until ending.
If the data to be analyzed is dynamic data to be analyzed, namely positioning data uploaded by the GNSS module in real time, the operation of extracting the initial data type identifier specifically comprises the following steps: grouping the data to be analyzed through the carriage return line-changing identifier, caching the data in an array mode, wherein each element in the array represents a line of positioning information, traversing the elements in the array, judging whether the traversed current character data conforms to the regular expression rule or not by using the regular expression, if not, judging whether the current array element is the last element or not, if so, storing the element, splicing the element with the next read data, and analyzing the received data in the analyzing mode until the GNSS module data output is stopped; if the current data accords with the regular expression rule, starting the "$" character until the 5 th bit character data on the right side, and using a character string formed by the continuous 6 bit character data as an initial data type identifier.
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 a test result aiming at the navigation positioning module to be tested.
It should be understood that
Therefore, according to the test method for the to-be-tested navigation positioning module, different to-be-analyzed data acquisition modes are set based on the data source of the to-be-analyzed data, so that the to-be-tested navigation positioning module can be tested based on different types of to-be-analyzed data.
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), the communication with different navigation modules to be tested can be realized by determining the 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 test method of a navigation positioning module. The third embodiment is further improved on the basis of the first embodiment, and the main improvement is as follows: and before the positioning performance of the to-be-tested navigation positioning module is determined according to the analysis result and the test result for the to-be-tested navigation positioning module is obtained, 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 marking, so that a tester can quickly locate the abnormal reason, and the workload of the tester is further reduced.
And 302, 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.
And 303, analyzing the data to be analyzed according to the target analysis rule to obtain an analysis result.
It is to be understood that
Specifically, if it is found through the inspection that there is no abnormality in the analysis result,
Regarding the way of checking whether the analysis result has an exception, the definition and interpretation of each field parameter in the determined target analysis rule may be specifically combined for checking.
Still taking the data to be resolved given in the first embodiment as "$ 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, × 4 c" as an example, according to the explanation of the 4 fields <4>, <5>, <6>, <7> in the target parsing rule, "a sentence of a GSV format can display information of 4 satellites at most", and the total number of each galaxy GSV statement defined by field <1>, the number of each galaxy present statement GSV defined by field <2>, it can be known that when the total number of the GSV sentences of the GPS galaxy is 3 and the current data to be analyzed is the third sentence, the total number of satellites visible to the GPS constellation should be 12 (each GSV statement can display information for 4 satellites at the maximum, 12 in the case of 3), but the total number of visible satellites recorded in the field <3> is "14".
That is, by checking, it is found that there is an abnormality in the current parsing result.
And 305, determining the positioning performance of the navigation positioning module to be tested according to the analysis result, and obtaining a test result aiming at the navigation positioning module to be tested.
It is to be understood that
And step 306, carrying out exception marking on the analysis result.
Specifically, when the analysis result is labeled abnormally, the field content with the abnormality is labeled, for example, highlighted by using a preset color.
Accordingly, the content listed in
Furthermore, after the abnormal field in the analysis result is abnormally labeled, the analysis result after the abnormal labeling can be directly displayed on a display interface of the test equipment for a tester to check; or generating an abnormal message and sending the abnormal message to a specified address prestored by a tester.
It should be understood that the above is only an example, and the technical solution of the present embodiment is not limited at all, and in practical applications, a person skilled in the art may set the technical solution as needed, and the present embodiment does not limit the technical solution.
Through the above description, it is not difficult to find that the test method of the navigation positioning module provided by the embodiment detects the abnormality of the analysis result, and when the analysis result is determined to be abnormal, the analysis result is subjected to abnormal labeling, so that a tester can quickly locate the reason of the abnormality, and the workload of the tester is further reduced.
In addition, it should be understood that the steps in the above various method embodiments are merely for clarity of description, and may be combined into one step or split into several steps in implementation, and all that includes the same logical relationship is within the protection scope of the present patent; it is within the scope of the patent to add insignificant modifications to the algorithms or processes or to introduce insignificant design changes to the core design without changing the algorithms or processes.
A fourth embodiment of the present invention relates to a testing apparatus for a navigation positioning module, as shown in fig. 4, including: the device comprises an
The acquiring
In addition, in another example, the extracting
In addition, in another example, the testing device of the navigation positioning module further comprises a standardization 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.
Correspondingly, after the standard data to be analyzed is obtained, the selecting
In addition, in another example, the testing device of the navigation positioning module further comprises a data source determining module, a path acquiring module and a communication module.
Specifically, the data source determining module is configured to determine whether the data to be analyzed is static data to be analyzed.
It should be noted that the static data to be analyzed is 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 obtaining module is used for obtaining a storage path corresponding to the static data to be analyzed; and 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 establishing communication connection with the navigation positioning module to be tested by adopting the communication protocol.
Correspondingly, after the path obtaining module obtains the storage path, the obtaining
In addition, in another example, the communication module is specifically configured to obtain a module model of the to-be-tested navigation positioning module, and select a communication protocol matched with the to-be-tested navigation positioning module from a preset configuration file according to the module model.
In addition, in another example, the testing device of the navigation positioning module further includes a testing instruction sending module.
Specifically, the test instruction sending module is used for sending a test instruction to the navigation positioning module to be tested according to a preset test requirement.
Correspondingly, the obtaining
In addition, in another example, the testing device of the navigation positioning module further comprises an abnormality detection module and an abnormality marking module.
Specifically, the anomaly detection module is configured to check whether the analysis result is anomalous.
Correspondingly, when the analysis result is not abnormal, the
It will be appreciated that this embodiment is an apparatus embodiment corresponding to the first, second or third embodiment and that this embodiment may be implemented in conjunction 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 repeated here for the sake of reducing repetition. Accordingly, the related-art details mentioned in the present embodiment can also be applied to the first, or second, or third embodiment.
It should be noted that each module referred to in this embodiment is a logical module, and in practical applications, one logical unit may be one physical unit, may be a part of one physical unit, and may be implemented by a combination of multiple physical units. In addition, in order to highlight the innovative part of the present invention, elements that are not so closely related to solving the technical problems proposed by the present invention are not introduced in the present embodiment, but this does not indicate that other elements are not present in the present embodiment.
The fifth embodiment of the present invention relates to a testing 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, and 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 according to the first, second, or third embodiment.
The memory 502 and the processor 501 are connected by a bus, which may include any number of interconnected buses and bridges that link one or more of the various circuits of the processor 501 and the memory 502. The bus may also link various other circuits such as peripherals, voltage regulators, power management circuits, and the like, which are well known in the art, and therefore, will not be described any further herein. A bus interface provides an interface between the bus and the transceiver. The transceiver may be one element or 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 a wireless medium via an 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 can understand that all or part of the steps in the method of the foregoing embodiments may be implemented by a program to instruct related hardware, where the program is stored in a storage medium and includes several instructions to enable a device (which may be a single chip, a chip, etc.) or a processor (processor) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and 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 for practicing the invention, and that various changes in form and details may be made therein without departing from the spirit and scope of the invention in practice.
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