CN100542330C - Mobile object's position update method based on transportation network and GPS - Google Patents
Mobile object's position update method based on transportation network and GPS Download PDFInfo
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Abstract
Can follow the tracks of mobile object past and present position in order to make central server, the invention provides a kind of mobile object's position update method based on traffic route network and GPS: mobile object utilizes GPS equipment constantly to record its up-to-date operational factor, by with the coupling of traffic network, wherein longitude and latitude position and bearing data are converted to data representation format based on road network, then according to " principle of inertia ", the operation vector of submitting to when more current operation vector and previous position are upgraded, and judge the condition that the position is upgraded, have only when mobile object no longer keeps the inertia operation rule just to the current operation vector of central server report.In addition, the present invention also upgrades the position at the intersection and optimizes, and makes mobile object at most only carry out a position in the zone, intersection and upgrades.Compare with existing location updating method, this method can reduce communication frequency under the prerequisite that guarantees processing accuracy, improve data processing efficiency.
Description
Technical field
The present invention relates in the mobile computing field mobile individual subject and report information such as self-position, speed, direction to central server, and make central server can all-the-way tracking move object in the past and the method for current location.
Background technology
In time more than ten years in the past, the mobile computing technology has obtained development at full speed.Increasing application requirements manages the dynamic position of mobile object (for example automobile, aircraft, steamer, mobile subscriber etc.), and a key problem that wherein needs to solve is exactly the latest position information how central server can obtain mobile object efficiently, accurately and timely.The position follow-up mechanism is normally installed certain positioning equipment (as global position system GPS) on mobile object, by wireless communication interface and certain location updating method, each move object constantly to central server report in, information such as speed, direction, central server can carry out unified monitoring, management and inquiry to mobile object after receiving these information.
Existing mobile object's position update method mainly comprises three major types: based on the method for Fixed Time Interval, based on the method at fixed space interval and based on the method for moving vector.Based on Fixed Time Interval or based on fixed space method at interval all be every a regular time at interval or a fixing range ability, mobile object is just to location update message of central server transmission.The major advantage of these two class methods is to realize simply, but is difficult to determine the rational time or apart from spacing value.If it is too big that spacing value is provided with, the underfrequency that will cause the position to be upgraded, mobile like this object is carrying out between twice location information report, might cross over complicated road network, only according to two data points, central server can't be determined concrete travel route, has therefore influenced the precision of handling; If it is too little that spacing value is provided with, the frequency that will cause the position to be upgraded is too high, thereby has increased communication and calculation cost, and too much redundant data will influence the efficient of central server deal with data simultaneously.
Based on the up-to-date operation vector of the normally more mobile object of method of operation vector and the operation vector of last report, if satisfy certain change condition then trigger a position and upgrade.The operation vector mainly comprises operational factors such as position, speed, direction.By these parameters, system can calculate the position of mobile object at current time.When mobile object does not roughly just need to carry out the position renewal when the operation vector of submitting to last time travels; On the contrary, if thereby the running status of mobile object taken place to change cause its actual position deviation original operation vector just need carry out the position renewal.With compare the cost that can dip and upgrade based on the method for operation vector, and have position tracking precision preferably based on the location updating method of Fixed Time Interval or space interval.But the method for present most of position-based vectors all adopts the method based on the Euclidean space when expression operation vector, promptly directly with (X, Y) parametric form on the geographical coordinate is represented, will trigger frequent position like this and upgrade when mobile object changes direction.
In order further to improve the efficient based on the location updating method of operation vector, people study the mobile object's position update method based on transportation network in recent years.Representational achievement comprises the network limited mobile object's position update method that the mobile object's position update method and professor Jensen of Denmark Aalborg university based on road network of Chicago branch school professor Wolfson of American I llinois university proposition propose.Wherein, the method for Wolfson only judges the offset condition when trigger position upgrades, and trigger position upgrades in time when mobile object is transformed into an other road, has therefore influenced the precision that follow the tracks of the position; The method of Jensen need be carried out preliminary treatment to a large amount of historical GPS daily record datas, so that will connect into long made-up road than short road section.Because made-up road is different from the nature road, thereby brought inconvenience for the expression and the processing of inquiry.In addition, above-mentioned two kinds of common major defects of method are that cost not being upgraded in the position that reduces the intersection carries out particular processing.In the large-and-medium size cities of China, the intersection is very crowded usually, and little vehicle can be without several loitering and directly passing through of taking turns.All above-mentioned methods based on the operation vector all can cause producing repeatedly unnecessary position in the intersection to be upgraded, thereby has increased the cost of communication and calculating.
By above-mentioned analysis as can be seen, almost present all location updating methods all do not take into full account the reciprocation relation between mobile object and the transportation network, be difficult to overcome the contradiction between processing accuracy and communication cost and the treatment effeciency, thereby brought difficulty for the management of mobile object.
Summary of the invention
At the above-mentioned existing existing problem and shortage of mobile object's position update method, the objective of the invention is to propose a kind ofly can under the prerequisite that guarantees certain processing accuracy, reduce number of communications as far as possible, and improve the mobile object's position update method of treatment effeciency.
To achieve these goals, the technical solution adopted in the present invention is:
The first step: need follow the tracks of at each GPS positioning equipment and wireless telecommunications system are installed on the mobile object of its position, and be equipped with the actual traffic road network data.
Wherein, traffic route network data class is similar to an electronic chart, can obtain by the GIS map is carried out data conversion treatment, and it comprises the information of every road in the transportation network and the information of each intersection.Wherein the information of road comprises: the geographical geometry of the sign of road, road, the length of road; The information of intersection comprises: the switching of traffic flow relation in the regional extent at the sign at crossing, the geographical position at crossing, crossing, the road that the crossing connected, the crossing.
The sign of road is road ID, represents that with the combination of letter, numeral or letter and numeral have 5 roads in the Traffic Net as shown in Figure 1, road corresponding ID is respectively r1, r2, r3, r4, r5 usually.The geographical geometry of every road represents that with a broken line promptly every road is all described by some spots, the shape that the broken line that these points are in turn connected to form has promptly been portrayed road.
The sign of intersection is identical with the expression mode of road ID, and its geographical position represents that with its latitude and longitude coordinates the road of its connection is represented with the set of road ID.For example: in Fig. 1,, have 8 intersections, respectively with j1, j2.....j8 representative with little box indicating intersection; Intersection j2 linking-up road r1, r2, r3, so the road of its connection is set { r1, r2, r3}; In like manner, the road of intersection j3 connection is set { r2, r5}.In addition, represent switching relation between the traffic flow on each bar road that this intersection connects with a data structure such as matrix (connection matrix that is called the intersection), traffic flow is represented with the ID of road and the combination of sign, "+" expression is from the traffic flow of road origin-to-destination, and whether the traffic flow of "-" expression from the road terminal point to starting point represents to allow mobile object to switch to a certain traffic flow (being called " leaving stream ") of leaving the intersection from a certain traffic flow (being called " entering stream ") that enters the intersection with different numerical value or symbol.Fig. 2 has provided the example of the connection matrix of intersection j3.In Fig. 2, road r2 is two-way road, so it has two traffic flows, r2+ and r2-; Road r5 is one way access and has only a traffic flow r5-.These three traffic flows can have 9 kinds of different combinations in connection matrix, and value 1 this intersection of expression of matrix element allows mobile object to switch to " leaving stream " from correspondence " entering stream " through this intersection, and 0 expression does not allow.
Second step: mobile individual subject is in the process of operation, and constantly that GPS is measured operational factor (as position, speed, direction etc.) is mated with above-mentioned traffic route network data, thereby obtains the operation vector in road network.The form of operation vector is: (t, (and rid, pos), v, fd), wherein t represents the pairing time of this operation vector; (rid, pos) the mobile object of expression is engraved in the position (face step 2 is explained as follows) in the road network when t; V represents that mobile object is in the t speed of service constantly; Fd represents the traffic flow direction (seeing step 2) under the mobile object.The result that to mate and previous position are upgraded the operation vector submitted to and are compared then, when the variation between the two meets some requirements, just need send new operation vector to central server, carry out a position and upgrade, idiographic flow comprises the following steps: as shown in Figure 5
Position that step 2. records above-mentioned GPS and bearing data and actual traffic road network mate, obtain the relative data of mobile object in transportation network, promptly the network site (rid, pos) and road traffic flow path direction fd, wherein, rid is the sign of the road at mobile object place; Pos is the relative position of mobile object in road rid.If the length of every road is 1, then 0≤pos≤1 can be represented in any one position among the road rid with a real number pos; Fd is the traffic direction of mobile object in road rid, is moved to terminal point by the starting point of road rid with "+" expression, and "-" expression is moved to starting point by terminal point, i.e. fd ∈ {+,-}.
Concrete computational process is as follows:
● calculate corresponding rid: because every road all portrayed by a broken line, by calculate (X, Y) which bar broken line is coordinate points be positioned on, can draw road corresponding ID, i.e. the rid value;
● calculate corresponding pos: for two end points of each bar road in the transportation network, can set the little end of X coordinate figure is starting point, and an other end is a terminal point; When the X of two end points coordinate equated, setting the little end of Y coordinate figure was starting point, and an other end is a terminal point.The pos value of definition starting point is 0, and the pos value of terminal point is 1, (X, Y) distance of coordinate points to starting point along road is the corresponding pos value of this coordinate points with the ratio of the length of this road, and apparently, the span of pos is between 0 and 1, i.e. pos ∈ [0,1].
● calculate the traffic flow direction fd under the mobile object: relatively measured mobile object traffic direction of GPS and road rid be in the trend at pos place, if traffic direction towards the road terminal point, then fd is "+"; If traffic direction is towards the road starting point, then fd is "-".
Through after the above-mentioned conversion, can obtain mobile object the operation vector of current time (t, (and rid, pos), v, fd).
Step 3. moves the operation vector that sends to server when the operation vector of object after with above-mentioned conversion upgrades with its last position and compares, and investigates two and moves vectors and whether satisfy certain position update condition.If satisfy following any condition, just need to central server send current operation vector (be t, (and rid, pos), v, fd); Otherwise do not send current operation vector, and change step 1. and carry out the next round processing to central server.Operation vector data when mobile object will be preserved the renewal of last position all the time.
Specifically, the present invention investigates the variation of following three kinds of operation vectors:
(1) variation has taken place in rid: the road at place when promptly the road at this current place of mobile object is different from the renewal of last position, and promptly mobile object runs to an other road from a road;
(2) rid does not change, but variation has taken place the traffic direction fd of mobile object, and perhaps bigger variation has taken place speed of service v: promptly the traffic direction of this mobile object is become negative direction or become positive direction by negative direction by positive direction; Perhaps traffic direction does not have change, and the speed when still the present speed of this mobile object upgrades with last position is compared, and its deviation has surpassed the threshold values ψ (for example, 10 kilometers/hour) of an appointment;
(3) above-described variation does not all take place for rid and v, but variation has taken place for the current location and the predicted position of this mobile object: promptly the current location of mobile object (is designated as (rid, pos
Now)) (be designated as (rid, pos with the position of predicting according to the previous position lastest imformation
Evl)) compare, range deviation has surpassed the threshold values ξ (for example 500 meters) of an appointment.
Wherein, pos
EvlComputational methods as follows: the operation vector when establishing this and moving the object previous position and upgrade is (t
o, (rid
o, pos
o), v
o, fd
o), road rid
oLength be len, the current time is t
Now, then
According to pos
EvlAnd pos
Now, the range deviation that can obtain between predicted position and the physical location is
| pos
Evl-pos
Now| * len (formula 2)
If this value is greater than ξ then trigger position and upgrade.
When judging above-mentioned three kinds of position update condition, the special circumstances that need be in the zone, intersection to the current location of mobile object are handled.Because in the actual traffic road network, the intersection is a regional extent (can specify a zone radius γ for each intersection in the transportation network data), very frequent variation may take place in the operation vector of mobile object in this zone, but actual offset is also little, so there is no need all location updating messages are all sent to server in the zone, intersection.Concrete measure is: a) when mobile object is in the zone, intersection, be considered as it still in original travels down, thereby guaranteed that mobile object does not change route/location update (seeing above-mentioned Rule of judgment (1)) in the zone, intersection; B) when mobile object is arranged in the zone, crossing, if any one variation of description in above (2), (3) has taken place in its operation vector, check at first then whether this mobile object sent location updating message one time to server in the regional extent of current intersection, if sent, then no longer send current operation vector, otherwise will send up-to-date operation vector to server.Said method has guaranteed that mobile object at most only sends location updating message one time in the zone, crossing, as shown in Figure 3.
The 3rd step: central server receives after the location update message that mobile object sends, and will move vector additional (append) accordingly in the mobile object space-time track of correspondence.Each space-time track that moves object is moved by this that one group of operation vector that object submits to forms, describes its complete running, therefore can provide mobile object is gone over and the inquiry of the continuous dynamic position of current time, as shown in Figure 4.
The present invention is based on that " principle of inertia " realize, promptly system postulation move object will be along current road, continue a period of time of advancing with roughly stable speed.In case being false, this assumed condition reports once up-to-date position data to central server.According to said method, when central server does not obtain the latest position lastest imformation of a mobile object, can think that then it still is similar to the original speed operation of maintenance on original road, and its current location can estimate approx by the last location updating message (comprising position, speed, direction and time), and prediction deviation is in the allowed band of appointment.
From position tracking precision, the present invention can guarantee the accuracy of the data of being gathered from following several respects: a) mobile object at any one time the road at place can pass through that the data of being gathered are unique to be determined; B) the mobile object position at any time data that can pass through to be gathered are carried out accurate Calculation, and the error of calculation inevitable less than set apart from threshold values; C) mobile object speed at any time can obtain by this operation vector of gathering constantly, and error is inevitable less than the speed threshold values of setting.
In addition, because the location updating method that the present invention proposes has been considered the relation between mobile object and the road network, so mobile object does not need periodically report position information, central server also can be determined the position that mobile object is put at any time more exactly by Predicting Technique, thereby under the prerequisite that guarantees the data acquisition precision, reduce data acquiring frequency, reduced communication cost.Especially, the present invention upgrades the position of crossing intersection part and has carried out special processing, makes mobile object that a position at most only take place in the zone, intersection and upgrades, thereby reduced the cost that the position is upgraded.
At last, when this position method for expressing based on road network that the present invention adopts has avoided central server to carry out data processing from (X, Y) coordinate position of form is to the mapping between the concrete road, the complexity of data processing when having reduced query processing.
The above analysis is compared with existing location updating method based on the fixed cycle, and the present invention reduces number of communications under the prerequisite that guarantees data processing precision, improve efficiency of query.The present invention can be applied on the mobile object data collecting device, continues to follow the tracks of the position of mobile object, and using for management, inquiry and the position associated class of mobile object provides initial data.
Description of drawings
Fig. 1 is the running orbit schematic diagram of traffic route network and a mobile object in the example 1.
Among Fig. 2, being that the traffic flow switching of intersection j3 in the traffic route network of example 1 concern schematic diagram (a), (b) is the connection matrix of correspondence.
Fig. 3 is the special processing schematic diagram that mobile object's position is updated in the intersection in the example 2.
Fig. 4 is that server generates the schematic diagram that this moves the space-time track (right side) of object according to the location update message of mobile object in the example 1.
Fig. 5 is the flow chart of mobile object's position update method of the present invention.
Embodiment
Below in conjunction with accompanying drawing, further specify the present invention by example, but the scope that does not limit the present invention in any way.Example 1:
Running orbit with a traffic route network shown in Figure 1 and a mobile object m1 is an example, and the mobile object trajectory that server generated is represented with data (operation vector) in the left frame among Fig. 4.Broken line among Fig. 1 is represented road, has 5 roads, and road corresponding ID is respectively r1, r2, r3, r4, r5; Little box indicating intersection has 8 crossings, respectively with j1, j2.....j8 representative; Pos1, pos2......pos5 represent mobile object m1 moment t1, t2 ... the position of t5 (wherein t5 is a current time), five-pointed star is illustrated in and has carried out the position renewal this moment.
Suppose constantly at t1, the operation vector of mobile object m1 be (t1, (and r4, pos1), 55,-).At t2 constantly, mobile object m1 utilizes GPS equipment to obtain its running status, and wherein position coordinates is (96,57), and speed is 54 kilometers/hour, and traffic direction is a positive direction, be+.According to traffic route network data, coordinate position (96 as can be known, 57) be positioned on the road r2, obtain length and starting point and the terminal point coordinate of r2 then from traffic route network data, can obtain corresponding pos value according to coordinate transformation method (seeing the step 2 in second step) and be pos2, then m1 is (t2 at the operation vector of moment t2, (r2, pos2), 54 ,+).Because m1 run on the new road r2 from road r4, thus this moment will with current operation vector (t2, (and r2, pos2), 54 ,+) send to server.
Mobile object m1 continues operation, if t3 constantly its operation vector be (t3, (r2, pos3), 30 ,+), show m1 still along original road r2 operation, the speed of service when still upgrading with previous position is compared, and bigger variation has taken place present speed, the threshold speed (being made as 10 kilometers/hour) that has promptly exceeded appointment, so this moment will to central server report current operation vector (t3, (and r2, pos3), 30 ,+).
Similarly, if mobile object m1 at t4 operation vector constantly be (t4, (and r2, pos4), 38, +), then represent m1 still along original road operation, and the variation of its speed of service is little, (promptly 10 kilometers/hour) promptly do not exceed a prescribed threshold value, but operation vector data when upgrading according to previous position and formula (1) estimate its current location and are (r4, pos4 '), calculate according to formula (2) then and know that this puts current physical location (r4, pos4) distance is 1000 meters, has exceeded the distance threshold (being made as 500 meters) of appointment, so also need this moment to the current operation vector (t4 of central server report, (r2, pos4), 38 ,+).
Mobile object m1 continues to move ahead along road r2, if at its operation vector of current time (being the t5 moment) is (t5, (r2, pos5), 40, +), passed crossing j2 though then represent m1, but still along original road r2 operation, and the variation of its speed of service is little, promptly do not exceed a prescribed threshold value (being made as 10 kilometers/hour), the current location that estimates in addition and the deviation of physical location do not surpass the distance threshold (being made as 500 meters) of appointment, so do not need this moment to the current operation vector of central server report.
Example 2:
Give one example again below, the special processing that the present invention upgrades the position of intersection is described.As shown in Figure 3, the zone, intersection of road r1 and r2 is that the radius of dotted line delineation is the border circular areas of γ.Mobile object mo1 passes through the intersection and runs to road r1 from road r2, when it has just entered the zone, intersection, carried out a position and upgraded (seeing " renewal of last position " among Fig. 3), owing in the zone, intersection, only allow to send at most a location update message, after this, when it is in the intersection, even satisfy the condition that other positions are upgraded, also no longer send location updating message (seeing the five-pointed star of white background black surround among Fig. 3), rolled the zone, intersection away from until it and just sent once new location updating message (seeing " new position is upgraded " among Fig. 3).
In Fig. 3, when passing the intersection, passes through smoothly mobile object mo2 with speed more stably, because it still travels on original path, and deviation all do not take place in speed and distance, therefore do not need to trigger any position and upgrades.In fact, if mobile object is roughly advanced reposefully along a road, can cross over a plurality of intersections and do not trigger any position and upgrade.Therefore generally speaking, the present invention has communication preferably and calculated performance.
Claims (6)
1. mobile object's position update method, at first, move installation GPS positioning equipment and wireless telecommunications system on the object at each, and outfit actual traffic road network data, described traffic route network packet contains the sign of every road in the transportation network, geographical geometry and length, and the switching relation of traffic flow in the regional extent at the sign of each intersection, geographical position, crossing, road that the crossing connected, crossing; Mobile individual subject is in running, according to the following step 1)～3) precedence circulation carry out, and to central server report self-position lastest imformation:
1) utilize GPS equipment constantly to record current operational factor, comprise current time t, current longitude and latitude position (X, Y), present speed v and current direction;
2) position that GPS is recorded and bearing data and actual traffic road network data mate, obtain the relative data of mobile object in transportation network, be network site (rid, pos) and road traffic flow path direction fd, thus obtain mobile object current operation vector (t, (rid, pos), v, fd), wherein: rid is the sign of mobile object place road; Pos is the relative position of mobile object in road rid, and fd is mobile object affiliated traffic flow direction in road rid;
3) will be through step 2) the current operation vector of the conversion operation vector that sends to server when upgrading with its previous position compares, and at first judges whether to have taken place one of following three kinds of situations:
A.rid changes;
B.rid not to become, but fd change or the v speed when upgrading with previous position compares, and its deviation has surpassed the threshold values of an appointment;
C.rid, fd and v do not have change, but current location (rid, pos
Now) position (rid, the pos of operation vector prediction when upgrading according to previous position
Evl) compare, range deviation has surpassed the threshold values of an appointment; If above-mentioned three kinds of situations all do not take place, then do not send current operation vector to central server; If above-mentioned situation a has taken place, then directly send current operation vector to central server; If above-mentioned situation b or c have taken place, judge whether again that then current location is in the regional extent of intersection and previous position is upgraded also in this zone, be then not send current operation vector, otherwise send to central server;
When mobile individual subject in running, according to above-mentioned steps 1)～3) precedence circulation carry out and after central server report self-position lastest imformation, central server receives the operation vector that mobile object sends, and central server will move vector and append in the corresponding mobile object space-time track.
2. mobile object's position update method according to claim 1, it is characterized in that: in described traffic route network data, set in two end points of every road one and be starting point, another is a terminal point, the pos value of definition starting point is 0, the pos value of terminal point is 1, then in described step 2) at first by calculating longitude and latitude position (X, any Y) be positioned on the bar road, obtain the rid value, calculating location (X then, Y) distance to starting point obtains the corresponding pos value in this position, pos ∈ [0,1] with the ratio of the length of this road.
3. mobile object's position update method according to claim 2 is characterized in that: for every road, when the X of two end points coordinate not simultaneously, setting the little end points of X coordinate figure is starting point, an other end is a terminal point; When the X of two end points coordinate equated, setting the little end of Y coordinate figure was starting point, and an other end is a terminal point.
4. mobile object's position update method according to claim 2, it is characterized in that: mobile object in road rid under traffic flow direction fd ∈+,-, wherein: "+" expression is moved to terminal point by the starting point of road rid, and "-" expression is moved to starting point by terminal point.
5. mobile object's position update method according to claim 4 is characterized in that: under described c situation, the operation vector when establishing the previous position renewal is (t
o, (rid
o, pos
o), v
o, fd
o), road rid
oLength be len, the current time is t
Now, then:
According to pos
EvlAnd pos
Now, the range deviation that can obtain between predicted position and the physical location is
|pos
evl-pos
now|×len。
6. mobile object's position update method according to claim 1 is characterized in that: be that in traffic route network data each intersection specifies a zone radius γ, the regional extent at this crossing refers to the zone with the distance≤γ at center, intersection.
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| CN109862521A (en) * | 2019-01-31 | 2019-06-07 | 湖北省基础地理信息中心（湖北省北斗卫星导航应用技术研究院） | A kind of position data road network real-time matching calculation method and system |
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