CN102213767A - Positioning control method for closed region of vehicle-mounted GPS (Global Positioning System) - Google Patents
Positioning control method for closed region of vehicle-mounted GPS (Global Positioning System) Download PDFInfo
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- CN102213767A CN102213767A CN2011100885482A CN201110088548A CN102213767A CN 102213767 A CN102213767 A CN 102213767A CN 2011100885482 A CN2011100885482 A CN 2011100885482A CN 201110088548 A CN201110088548 A CN 201110088548A CN 102213767 A CN102213767 A CN 102213767A
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Abstract
The invention relates to a positioning control method for the closed region of a vehicle-mounted GPS (Global Positioning System), wherein the closed region is a polygon. The positioning control method provided by the invention comprises the following steps: (1) the convex hulls of the polygon are established; (2) the circumscribed rectangle with the minimum area of the polygon is established; (3) the positioning judgment courses are as follows: 3.1) judging whether the current point is in the circumscribed rectangle with the minimum area or not; if the point is outside the circumscribed rectangle with the minimum area, judging that the current point is not in the closed region; if the point is in the circumscribed rectangle with the minimum area, carrying out the next step; and 3.2) judging whether the point is in the simple polygon or not. The positioning control method provided by the invention has the advantages that the computation is simplified; the speed is high; and the occupation of the closed region of the vehicle-mounted GPS on CPU (Central Processing Unit) resources is greatly reduced.
Description
Technical field
The present invention relates to the vehicle GPS control technology, especially a kind of position control method of closed region.
Background technology
In recent years, the GPS monitoring technique has obtained general utilization in every profession and trade, and the vehicle GPS watch-dog has also obtained far-reaching development in various traffic transport industries.In the driving training industry, management unit needs area monitoring to vehicle, has stipulated that vehicle can only be in an enclosed areas, enters the zone or leaves this zone and will report to the police.Therefore whether equipment need be according to the current GPS longitude and latitude, judge in the closed region.In real work, usually suppose that the closed region is a simple polygon, so problem can sum up in the point that determining apparatus is whether in simple polygon.Equipment all will refresh the Current GPS longitude and latitude p.s., also need p.s. according to current GPS longitude and latitude judgment device whether in the closed region, this bring white elephant also will for the CPU of equipment.
Summary of the invention
Slow for calculation of complex, the speed of the position control method that overcomes existing vehicle GPS closed region, as to take a large amount of cpu resources deficiency, the invention provides a kind of simplify calculatings, speed soon, significantly reduce the position control method of the vehicle GPS closed region that takies cpu resource.
The technical solution adopted for the present invention to solve the technical problems is:
The position control method of a kind of vehicle GPS closed region, described closed region are polygon, and described position control method may further comprise the steps:
(1) make up described polygonal convex closure, step is:
1.1) choose in having a few y coordinate minimum a bit as basic point p
0If having the y coordinate of a plurality of points all is minimum value, then choose a bit of x coordinate minimum; The vector that constitutes according to other each point p and basic point then
Sort with the angle of x axle is ascending, obtain p
1, p
2..., if the situation of identical angle is arranged, then choose and basic point distance point far away;
1.2) with p
0, p
1, p
2... add storehouse S, as the initial value of storehouse;
1.3) if the stack top of storehouse is B, the point before the stack top is A, adds a new some C, calculate
With
Cross product whether greater than 0, if greater than 0, then new some C added storehouse; As not being, then B is deleted, C is added storehouse;
1.4) execution in step 1.3 repeatedly), all be scanned up to all points; The point that keeps in the storehouse is exactly the summit of convex closure;
(2) make up described polygonal minimum area boundary rectangle, step is:
2.1) to choose in the convex closure limit be that the center rotation makes this limit be parallel to the coordinate transverse axis as playing initial line and this convex closure being chosen the left end point on limit, calculates and preserve the coordinate of its minimum binding rectangle, the numbering and the anglec of rotation thereof on this limit.
2.2) other limit of select progressively, according to 2.1) method calculate and preserve the table of its minimum binding rectangle, the numbering and the anglec of rotation thereof on this limit;
2.3) area of the minimum binding of gained rectangle relatively, wherein, the area reckling is that the center retrograde rotation is the minimum area boundary rectangle of being asked by the anglec of rotation of its record with the left end point on this limit;
(3) the location determination process is as follows:
3.1) judge that current point whether in described minimum area boundary rectangle, outside the minimum area boundary rectangle, judges that current point is not in described closed region as fruit dot; In the minimum area boundary rectangle, enter next step as fruit dot;
3.2) whether judging point in simple polygon.
Further, described step 3.2) comprise following substep:
3.2.1) set counter count=0 earlier, be end points with equipment loca to be positioned, make ray L from left to right;
3.2.2) choose a polygonal limit, whether watching focus is on this limit.On the limit, then direct decision-point is in polygon as fruit dot; No longer on the limit, then enter next step as fruit dot;
3.2.3) judge whether this limit is parallel to transverse axis, if parallel, then directly ignore this limit, choose next bar limit, repeating step 3.3.2); If uneven words then enter next step;
3.3.4) judge that whether intersect with ray on this limit, if non-intersect, then chooses next bar limit repeating step 3.2.2); If intersect, and intersection point is not the lower extreme point on this limit, then counter count=count+1;
3.3.5) chosen after all limits, judge whether counter count is even number, if odd number, then judging point is in polygon; If count is an even number, then judging point is outside polygon.
Further again, described step 3.1) in, judge that whether current point in the process of described minimum area boundary rectangle is: suppose that current point is P, minimum area boundary rectangle summit is respectively P according to order counterclockwise
1, P
2, P
3, P
4, if satisfy condition between the each point
And
Wherein,
For from a P
1To the vector of a P,
For from a P
1To a P
4Vector,
For from a P
2To the vector of a P,
For from a P
2To a P
3Vector,
For from a P
2To the vector of a P,
For from a P
2To a P
1Vector,
For from a P
3To the vector of a P,
For from a P
3To a P
4Vector, symbol " * " is the cross product operational symbol of vector, the dot product operator of symbol " " expression vector, then decision-point otherwise is judged outside the minimum area boundary rectangle in the minimum area boundary rectangle.
Technical conceive of the present invention is: make a reasonably hypothesis earlier: the renewal frequency of supposition closed region is low-down.This hypothesis is reasonably, tallies with the actual situation.The simple polygon that this means the closed region defined can frequently not change.The technical solution adopted for the present invention to solve the technical problems is: make up convex closure on the basis of simple polygon, make up rectangle again on convex closure.This means that rectangle comprises convex closure, convex closure comprises simple polygon again.The time complexity that makes up number of vertex and be the polygonal convex closure of n is O (nlogn), is that (time complexity of the minimum area boundary rectangle of the convex closure of m≤n) is O (m to m and make up number of vertex
2).
When judging, whether first decision-point (equipment) is in rectangle.Not in rectangle, then decidable equipment is outside the closed region as fruit dot; As fruit dot in rectangle, then by general method decision-point whether in simple polygon.In order to reduce the CPU calculating pressure, the location determination in the gamut is divided into comprises the outer judgement of polygonal minimum rectangle and the judgement two parts in the minimum rectangle.When waiting to declare a little outside rectangle, required time complexity is O (1), and the time complexity of traditional method is O (n); When waiting to declare a little in rectangle, required time complexity is O (n), and is identical with traditional method.Like this when GPS outside rectangle, judgement speed is faster than original, low many of computation complexity; When GPS in polygon, computing velocity and complexity and original the same (whether only many somes the calculating of the judgement in rectangle, can ignore).So just reduced the operand of whole judgement, good effect has been arranged for the system that often needs double counting.
Beneficial effect of the present invention mainly shows: simplify to calculate, speed is fast, significantly reduce and take cpu resource.
Description of drawings
Fig. 1 is the process flow diagram that the position control method of vehicle GPS closed region makes up the minimum boundary rectangle program of polygon.
Fig. 2 is the process flow diagram of the position control method location determination program of vehicle GPS closed region.
Fig. 3 is the process flow diagram that makes up the convex closure subroutine.
Fig. 4 is the process flow diagram that makes up the minimum area boundary rectangle subroutine of convex closure.
Fig. 5 is the whether process flow diagram of the subroutine in simple polygon of judging point.
Embodiment
Below in conjunction with accompanying drawing the present invention is further described.
With reference to Fig. 1～Fig. 5, the position control method of a kind of vehicle GPS closed region, described closed region is a polygon, described position control method may further comprise the steps:
(1) make up described polygonal convex closure, step is:
1.1) choose in having a few y coordinate minimum a bit as basic point p
0If having the y coordinate of a plurality of points all is minimum value, then choose a bit of x coordinate minimum; The vector that constitutes according to other each point p and basic point then
Sort with the angle of x axle is ascending, obtain p
1, p
2..., if the situation of identical angle is arranged, then choose and basic point distance point far away;
1.2) with p
0, p
1, p
2... add storehouse S, as the initial value of storehouse;
1.3) if the stack top of storehouse is B, the point before the stack top is A, adds a new some C, calculate
With
Cross product whether greater than 0, if greater than 0, then new some C added storehouse; As not being, then B is deleted, C is added storehouse;
1.4) execution in step 1.3 repeatedly), all be scanned up to all points; The point that keeps in the storehouse is exactly the summit of convex closure;
(2) make up described polygonal minimum area boundary rectangle, step is:
2.1) to choose in the convex closure limit be that the center rotation makes this limit be parallel to the coordinate transverse axis as playing initial line and this convex closure being chosen the left end point on limit, calculates and preserve the coordinate of its minimum binding rectangle, the numbering and the anglec of rotation thereof on this limit.
2.2) other limit of select progressively, according to 2.1) method calculate and preserve the table of its minimum binding rectangle, the numbering and the anglec of rotation thereof on this limit;
2.3) area of the minimum binding of gained rectangle relatively, wherein, the area reckling is that the center retrograde rotation is the minimum area boundary rectangle of being asked by the anglec of rotation of its record with the left end point on this limit;
(3) the location determination process is as follows:
3.1) judge that current point is whether in described minimum area boundary rectangle; Outside the minimum area boundary rectangle, judge that current point is not in described closed region as fruit dot; In the minimum area boundary rectangle, enter next step as fruit dot;
3.2) whether judging point in simple polygon.
Fig. 1 is the process flow diagram of the program of the polygonal minimum area boundary rectangle of structure of the present invention.Before judging that a point is whether in the closed region, at first obtain the coordinate on each summit of simple polygon (closed region just), utilize the Graham scanning method according to these summits, make up the convex closure that comprises simple polygon, obtained the coordinate on each summit of convex closure; On the basis of convex closure, find the solution the minimum area boundary rectangle of convex closure.
Fig. 2 is the process flow diagram of location determination program of the present invention.The present invention was divided into for two steps with deterministic process.Whether the first step, first judging point be in polygonal minimum area boundary rectangle.Outside rectangle, then need not to do second step as fruit dot, directly can decision-point outside simple polygon; Whether in rectangle, then can't learn a little also needed for second step judged in simple polygon as fruit dot.In second step, whether judging point is in simple polygon.
Because rectangle also is a kind of simple polygon, so in essence, the first step of above-mentioned deterministic process and second step are the same in fact, all are whether judging point is in simple polygon.But rectangle is special simple polygon, and its structure is very simple, regular, and the judging point simple polygon that the calculated amount in rectangle is more general is much lower.Suppose that current point is P, the rectangle summit is according to being respectively P counterclockwise in proper order
1, P
2, P
3, P
4, if satisfy condition between the each point
And
Wherein,
For from a P
1To the vector of a P,
For from a P
1To a P
4Vector,
For from a P
2To the vector of a P,
For from a P
2To a P
3Vector,
For from a P
2To the vector of a P,
For from a P
2To a P
1Vector,
For from a P
3To the vector of a P,
For from a P
3To a P
4Vector, symbol " * " is the cross product operational symbol of vector, the dot product operator of symbol " " expression vector, then decision-point otherwise is judged outside rectangle in rectangle.With only needing the deterministic process in a step to be divided into for two steps originally, reduce to a great extent and judge required calculated amount.
Fig. 3 is the process flow diagram of structure convex closure subroutine of the present invention.The present invention utilizes the Graham scanning method to make up the convex closure of a simple polygon, and step is:
(1) choose in having a few y coordinate minimum a bit as basic point p
0If having the y coordinate of a plurality of points all is minimum value, then choose a bit of x coordinate minimum.The vector that constitutes according to other each point p and basic point then
Sort with the angle of x axle is ascending.If the situation of identical angle is arranged, then to choose and basic point distance point far away, other point is not considered.
(2) with p
0, p
1, p
2Add storehouse S, as the initial value of storehouse.
(3) if the stack top of storehouse is B, the point before the stack top is A.Add a new some C, calculate
With
Cross product whether greater than 0.If greater than 0, then new some C added storehouse; As not being, then B is deleted, C is added storehouse.
(4) carry out repeatedly the upward step, all be scanned up to all points.At this moment the point that keeps in the storehouse is exactly the summit of convex closure.
Fig. 4 is the process flow diagram of the minimum area boundary rectangle subroutine of structure simple polygon of the present invention.Polygon minimum area boundary rectangle has two character, first character is that the minimum area boundary rectangle of any one polygonal minimum area boundary rectangle and its convex closure is of equal value, while the minimum area boundary rectangle that second character is convex closure has the convex closure of process at least.Obtained the algorithm of arbitrary polygon minimum area boundary rectangle according to these two character:
(1) calculates polygonal minimum convex closure.
(2) choosing in the convex closure limit is that the center rotation makes this limit be parallel to the coordinate transverse axis as playing initial line and this convex closure being chosen the left end point on limit, calculates and preserve the coordinate of its minimum binding rectangle, the numbering and the anglec of rotation thereof on this limit.
(3) area of its minimum binding rectangle, the numbering and the anglec of rotation thereof on this limit are calculated and preserved in other limit of select progressively according to the method in second step.
(4) area of the minimum binding of gained rectangle relatively, wherein the area reckling is that the center retrograde rotation is the minimum area boundary rectangle of being asked by the anglec of rotation of its record with the left end point on this limit.
Fig. 5 is the whether process flow diagram of the subroutine in simple polygon of judging point of the present invention.In the present invention, the method for judgement is a rays method, and step is:
(1) setting counter count=0 earlier, is end points with the equipment loca, makes ray L from left to right.
(2) choose a polygonal limit, whether watching focus is on this limit.On the limit, then direct decision-point is in polygon as fruit dot; No longer on the limit, then carry out next step as fruit dot.
(3) judge whether this limit is parallel to transverse axis.If parallel, then directly ignore this limit, choose next bar limit, repeating step (2); If uneven words are then carried out next step.
(4) judge whether this limit intersects with ray.If non-intersect, then choose next bar limit repeating step (2); If intersect, and intersection point is not the lower extreme point on this limit, then counter count=count+1.
(5) chosen after all limits, judged whether counter count is even number.If odd number, but then judging point in polygon; If count is an even number, then judging point is outside polygon.
Claims (3)
1. the position control method of a vehicle GPS closed region, described closed region is a polygon, it is characterized in that: described position control method may further comprise the steps:
(1) make up described polygonal convex closure, step is:
1.1) choose in having a few y coordinate minimum a bit as basic point p0, if having the y coordinate of a plurality of points all be minimum value, then choose a bit of x coordinate minimum; The vector that constitutes according to other each point p and basic point then
Sort with the angle of x axle is ascending, obtain p1, p2 ..., if the situation of identical angle is arranged, then choose and basic point distance point far away;
1.2) with p0, p1, p2 ... add storehouse S, as the initial value of storehouse;
1.3) if the stack top of storehouse is B, the point before the stack top is A, adds a new some C, calculate
With
Cross product whether greater than 0, if greater than 0, then new some C added storehouse; As not being, then B is deleted, C is added storehouse;
1.4) execution in step 1.3 repeatedly), all be scanned up to all points; The point that keeps in the storehouse is exactly the summit of convex closure;
(2) make up described polygonal minimum area boundary rectangle, step is:
2.1) to choose in the convex closure limit be that the center rotation makes this limit be parallel to the coordinate transverse axis as playing initial line and this convex closure being chosen the left end point on limit, calculates and preserve the coordinate of its minimum binding rectangle, the numbering and the anglec of rotation thereof on this limit.
2.2) other limit of select progressively, according to 2.1) method calculate and preserve the table of its minimum binding rectangle, the numbering and the anglec of rotation thereof on this limit;
2.3) area of the minimum binding of gained rectangle relatively, wherein, the area reckling is that the center retrograde rotation is the minimum area boundary rectangle of being asked by the anglec of rotation of its record with the left end point on this limit;
(3) the location determination process is as follows:
3.1) judge that current point whether in described minimum area boundary rectangle, outside the minimum area boundary rectangle, judges that current point is not in described closed region as fruit dot; In the minimum area boundary rectangle, enter next step as fruit dot;
3.2) whether judging point in simple polygon.
2. the position control method of a kind of vehicle GPS as claimed in claim 1 closed region is characterized in that: described step 3.2) comprise following substep:
3.2.1) set counter count=0 earlier, be end points with equipment loca to be positioned, make ray L from left to right;
3.2.2) choose a polygonal limit, whether watching focus is on this limit.On the limit, then direct decision-point is in polygon as fruit dot; No longer on the limit, then enter next step as fruit dot;
3.2.3) judge whether this limit is parallel to transverse axis, if parallel, then directly ignore this limit, choose next bar limit, repeating step 3.3.2); If uneven words then enter next step;
3.3.4) judge that whether intersect with ray on this limit, if non-intersect, then chooses next bar limit repeating step 3.2.2); If intersect, and intersection point is not the lower extreme point on this limit, then counter count=count+1;
3.3.5) chosen after all limits, judge whether counter count is even number, if odd number, then judging point is in polygon; If count is an even number, then judging point is outside polygon.
3. the position control method of a kind of vehicle GPS as claimed in claim 1 or 2 closed region, it is characterized in that: described step 3.1), judge that whether current point in the process of described minimum area boundary rectangle is: suppose that current point is P, minimum area boundary rectangle summit is respectively P according to order counterclockwise
1, P
2, P
3, P
4, if satisfy condition between the each point
And
Wherein,
For from a P
1To the vector of a P,
For from a P
1To the vector of a P4,
For from a P
2To the vector of a P,
For from a P
2To a P
3Vector,
For from a P
2To the vector of a P,
For from a P
2To a P
1Vector,
For from a P
3To the vector of a P,
For from a P
3To a P
4Vector, symbol " * " is the cross product operational symbol of vector, the dot product operator of symbol " " expression vector, then decision-point otherwise is judged outside the minimum area boundary rectangle in the minimum area boundary rectangle.
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| CN103377585A (en) * | 2012-04-25 | 2013-10-30 | 腾讯科技（深圳）有限公司 | Method for locating administrative division based on longitude and latitude |
| CN104575081A (en) * | 2014-12-08 | 2015-04-29 | 深圳市广和通实业发展有限公司 | Method for detecting entrance of vehicle into polygonal electronic fence region |
| GB2520713A (en) * | 2013-11-28 | 2015-06-03 | Lauco Trading Ltd | Position determination |
| CN104851096A (en) * | 2015-05-19 | 2015-08-19 | 浪潮通信信息系统有限公司 | Method for rapidly judging position relation between points and polygon in GIS application |
| CN106157612A (en) * | 2015-04-26 | 2016-11-23 | 石立公 | A kind of method of detection vehicle place based on satellite fix road area |
| CN107886536A (en) * | 2016-09-26 | 2018-04-06 | 比亚迪股份有限公司 | Drive recorder localization method, device and drive recorder |
| CN109738908A (en) * | 2018-12-18 | 2019-05-10 | 歌尔股份有限公司 | Alarm method, apparatus and system based on laser radar |
| CN111220943A (en) * | 2019-12-04 | 2020-06-02 | 湖南三一智能控制设备有限公司 | Positioning method, positioning system, computer-readable storage medium and vehicle |
| CN114022378A (en) * | 2021-11-04 | 2022-02-08 | 中天智能装备有限公司 | Copper strip shielding layer overlapping rate detection method based on vision |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103377585A (en) * | 2012-04-25 | 2013-10-30 | 腾讯科技（深圳）有限公司 | Method for locating administrative division based on longitude and latitude |
| GB2520713A (en) * | 2013-11-28 | 2015-06-03 | Lauco Trading Ltd | Position determination |
| CN104575081A (en) * | 2014-12-08 | 2015-04-29 | 深圳市广和通实业发展有限公司 | Method for detecting entrance of vehicle into polygonal electronic fence region |
| CN104575081B (en) * | 2014-12-08 | 2018-01-09 | 深圳市广和通无线股份有限公司 | Vehicle enters the detection method in polygon fence region |
| CN106157612A (en) * | 2015-04-26 | 2016-11-23 | 石立公 | A kind of method of detection vehicle place based on satellite fix road area |
| CN106157612B (en) * | 2015-04-26 | 2020-09-11 | 贵阳欧比特宇航科技有限公司 | Method for detecting road area where vehicle is located based on satellite positioning |
| CN104851096A (en) * | 2015-05-19 | 2015-08-19 | 浪潮通信信息系统有限公司 | Method for rapidly judging position relation between points and polygon in GIS application |
| CN107886536A (en) * | 2016-09-26 | 2018-04-06 | 比亚迪股份有限公司 | Drive recorder localization method, device and drive recorder |
| CN109738908A (en) * | 2018-12-18 | 2019-05-10 | 歌尔股份有限公司 | Alarm method, apparatus and system based on laser radar |
| CN111220943A (en) * | 2019-12-04 | 2020-06-02 | 湖南三一智能控制设备有限公司 | Positioning method, positioning system, computer-readable storage medium and vehicle |
| CN114022378A (en) * | 2021-11-04 | 2022-02-08 | 中天智能装备有限公司 | Copper strip shielding layer overlapping rate detection method based on vision |
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Application publication date: 20111012 |