结合电子地图的卫星导航动态定位轨迹测试方法研究

在使用卫星导航模拟器测试导航终端动态定位精度时，测试场景一般为在坐标系内用运动方程简单描述的直线或圆周曲线运动，存在测试轨迹缺乏随机性、不规则性的问题，与终端实际应用不符；且定位轨迹与电子地图不匹配。本文提出依据电子地图中具体道路，随机在道路上连续选取坐标点规划轨迹，用导出的轨迹坐标点插入变化的速度、高程，制作模拟器动态场景对终端进行测试。通过制作实际道路动态测试场景对接收机终端进行了测试，测试结果表明：可以用带有随机坐标点的不规则道路轨迹测试场景评估导航终端动态定位精度，终端在急转弯情况下动态定位偏差较大，通过在电子地图上导入标准轨迹与终端轨迹，可以匹配道路直观显示动态定位轨迹偏差。本方法可应用于车载导航仪、可穿戴产品等结合电子地图应用的卫星导航终端动态定位测试。

Research on test method of satellite navigation dynamic positioning track combined with electronic map

When using the satellite navigation simulator to test the dynamic positioning accuracy of the navigation terminals, the test scene is generally a straight line or circular curve motion simply described by the motion equation in the coordinate system. There are problems of lacking randomness and irregularity in the test track, which is inconsistent with the actual application of the terminals, and the positioning track does not match the electronic map. This paper proposes to randomly and continuously select coordinate points on the road to plan the track according to the specific road in the electronic map, insert the changing speed and elevation with the derived track coordinate points, and create a dynamic scene of the simulator to test the terminals. The receiver terminal is tested by making an actual road dynamic test scene. The test results show that the dynamic positioning accuracy of the navigation terminal can be evaluated by using the irregular road track test scene with random coordinate points. The dynamic positioning deviation of the terminal is relatively large in a tight turn. By importing the standard track and the terminal track on the electronic map, the dynamic positioning track deviation can be visually displayed by matching the road. This method can be applied to dynamic positioning test of satellite navigation terminals combined with electronic map application, such as vehicle navigation instrument and wearable products.