CN103093608B - Filtering method and system of high-frequency global position system (GPS) data - Google Patents
Filtering method and system of high-frequency global position system (GPS) data Download PDFInfo
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- CN103093608B CN103093608B CN201110337197.4A CN201110337197A CN103093608B CN 103093608 B CN103093608 B CN 103093608B CN 201110337197 A CN201110337197 A CN 201110337197A CN 103093608 B CN103093608 B CN 103093608B
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Abstract
The invention discloses a filtering method and a system of high-frequency global position system (GPS) data, and belongs to the technical field of intelligent traffic. The filtering method of the high-frequency GPS data comprises steps as below: Step A: receiving GPS data, analyzing identifications of a vehicle, obtaining interval identification number id1 which a GPS record belongs to according to sampling time of the GPS record; Step B: according to the identifications of the vehicle, inquiring the newest interval identification number id2 which the GPS record adopted by the vehicle belongs to, if id1 is not equal to id2, the GPS record with the identification number of id1 is submitted to a function circuit diagram (FCD) for processing, at the same time the newest identification number which the GPS record belongs to is updated to be id1, and step A is carried out, otherwise, the GPS record with the identification number of id1 is discarded, and the step A is carried out. The filtering system of the high-frequency GPS data comprises a GPS filtering module, a GPS data storing module and a GPS data reading module. The filtering method and the system of high-frequency GPS data achieve filtering of the high-frequency GPS data and are capable of enabling the filtering process to be reproduced.
Description
Technical field
The present invention relates to technical field of intelligent traffic, particularly a kind of filter method of high frequency gps data and system.
Background technology
At intelligent transportation field, real-time dynamic information service can provide efficiently feasible traffic guidance and trip planning information for Public Traveling, communications and transportation etc., thus reaches and save time, reduce costs and the object such as low-carbon environment-friendly.Floating Car (FCD, Floating Car Data) technology is one of technological means obtaining real-time traffic information of road in intelligent transportation system, it utilizes location technology, wireless communication technology and the information processing technology, realize the GPS position information to driving vehicle on road, the collection of the traffic parameters such as instantaneous travel speed and direction, again in conjunction with urban road network data, map match is carried out to the traffic parameter gathered, the calculating such as path culculating and traffic information fusion, form the transport information of reflection Real-time Road jam situation, for vehicle supervision department and the public provide dynamic traffic control and induced service.
The data source that in current city, Floating Car adopts is taxi, and in order to dispatch the needs with security, metropolitan taxi is generally equipped with GPS positioning equipment.It is the technical schematic diagram of Floating Car shown in Fig. 1, the locating information of vehicle is uploaded to vehicle command scheduling center by wireless communication timing, the vehicle location information received is real-time transmitted to Floating Car computing center by dispatching center again, after processing enter receives data, carry out processing and generating traffic information.
Along with the development of wireless communication technology and the reduction of communications cost, the upload frequencies of taxi GPS locating information has the trend (the taxi data source had at present reached 10 seconds even shorter upload interval) improved gradually, this has greatly catered to the needs of taxi dispatching commander and safety and protection monitoring, but brings certain negative effect to Floating Car information processing.
According to floating car technology principle, by by adjacent two GPS Point matching on city road network, infers the track that between two GPS, vehicle travels, finally generation vehicle between two GPS points by way of the traffic information of road.General uploading than better suited adjacent two GPS is spaced apart 30 seconds ~ 1 minute.If it is too short that GPS uploads interval, except consuming a large amount of computational resources, the distance travelled due to vehicle is shorter, the speed of a motor vehicle change calculated also can be caused violent, extremely unstable; If it is long that GPS uploads interval, the distance that vehicle travels is long, causes certain difficulty to path culculating, and not easily catches the change of the speed of a motor vehicle on section, local.Therefore, the GPS point for upper frequency is uploaded, and can filter in computation process to GPS point according to certain time interval, and the subset of the GPS point after filtration participates in Floating Car and calculates.
The filtration of GPS must be carried out in units of vehicle, otherwise it is many to there will be the information that the vehicle filtering that has falls, and the situation that the information that some vehicle filterings fall is few, can not meet actual needs.Filter in units of vehicle, gps data must be carried out resolving and carry out storing and inquiring about according to vehicle, this needs to consume certain computational resource.
In GPS transmitting procedure, GPS is filtered, three local selections can be had to dispose filtering module, as shown in Figure 2:
One, at vehicle command scheduling center (filtering module A): the gps data of command scheduling central store and forwarding is the most original record, carries out GPS filtration at command scheduling center, can produce following problem: 1. cause the imperfect of data source; 2. owing to consuming a large amount of computational resources in filter process, the delay of forwarding data is caused; The demand of 3. filtering is not that commander dispatching center is necessary.
, there is raw data equally and preserve problem that is imperfect and forward delay in two, gps data receiving system (filtering module B): place filters in gps data receiving system.
Three, FCD disposal system (filtering module C): filter in FCD processing procedure, because FCD processing procedure calculates in units of vehicle, so carry out filtering natural facility, there is not data delay and the incomplete problem of data (complete gps data stores while reception) simultaneously yet.
Therefore, general the third scheme that adopts carries out data filtering.
In existing gps data filter method, mainly the bolting house in setting data source is divided into T (unit is second), and for uploading too short gps data source, interval, according to bolting house every optionally processing GPS record, concrete grammar is:
For vehicle C after system starts
k, k ∈ [0, K], if its up-to-date adopted i-th GPS is recorded as g
ki, the gps time of corresponding up-to-date process is T
k=t
ki, for some records afterwards, be set to g
ki(j > i), has:
(1) if t
kj-t
ki< T, then g
kjbe not processed;
(2) if t
kj-t
kit, then g
kjprocessed, set new up-to-date process gps time is T simultaneously
k=t
kj.
As shown in Figure 3, to upload interval 10 seconds, bolting house was example every 30 seconds, and within 1 minute, have 6 GPS points and upload, from A point, 10 seconds, B and A interval, so be abandoned; 20 seconds, C and A interval, is abandoned; 30 seconds, D and A interval, is used, the like.Hollow triangle is abandoned, and solid triangle is adopted.
The problem of this filter method is: because choosing of GPS point has uncertainty, makes the 1st processed point choose very crucial, directly determines which point in follow-up GPS sequence and is selected, which some abandoned.FCD disposal system is continuous service at server end, so for a car, its first processed point, from the time has no way of looking for, so also cannot reproduce computation process completely, causes very large inconvenience to analytical work.
Summary of the invention
In view of this, the object of the present invention is to provide a kind of filter method and system of high frequency gps data, while realizing the filtration of high frequency gps data, can also filter process be reproduced.
The invention provides a kind of filter method of high frequency gps data, comprising:
A, reception gps data, parse vehicles identifications, and obtain the spacing identification id belonging to this GPS record according to the sampling instant of GPS record
1;
B, according to described vehicles identifications, inquire about the up-to-date employing of this vehicle GPS record belonging to spacing identification id
2if, id
1≠ id
2, be then id by described spacing identification number
1gPS record submit FCD process to, the GPS of up-to-date for this vehicle employing is recorded affiliated spacing identification number simultaneously and is updated to id
1, perform steps A; Otherwise abandoning described spacing identification number is id
1gPS record, perform steps A.
Present invention also offers a kind of filtering system implementing described high frequency gps data filter method, comprising:
Gps data filtering module, is arranged at the front end of FCD processing module, for receiving the gps data of real-time Transmission, filters according to described filter method, and the data after filtering are submitted to FCD processing module;
Gps data memory module, for receiving the gps data of described real-time Transmission, is stored as GPS archive data;
Gps data read module, for when needs reproduce filter process, reads described GPS archive data, exports to described gps data filtering module and filter after changing into data stream.
The present invention is directed to the shortcoming that current Floating Car high frequency GPS filter method cannot reproduce computation process, propose a kind of new gps data filter method, by arranging clear and definite filtering rule, no matter the method is for real-time gps data, or the gps data that historical storage is got off, can know which bar GPS is used, which bar GPS is abandoned, and can reproduce computation process; Meanwhile, reach according to the time interval choose GPS record object.
Accompanying drawing explanation
Fig. 1 is the technical schematic diagram of Floating Car in prior art;
Fig. 2 is that in prior art, GPS filtering module disposes schematic diagram;
Fig. 3 is the filter method schematic diagram of gps data in prior art;
The filtering system schematic diagram of the high frequency gps data that Fig. 4 provides for the embodiment of the present invention;
The filter method process flow diagram of the high frequency gps data that Fig. 5 provides for the embodiment of the present invention;
The filter method schematic diagram of the high frequency gps data that Fig. 6 provides for the embodiment of the present invention.
Embodiment
For making the object, technical solutions and advantages of the present invention clearly, below in conjunction with accompanying drawing, the present invention is described in further detail.
The embodiment of the present invention cannot reproduce the shortcoming of computation process for current Floating Car high frequency GPS filter method, propose a kind of new gps data filter method, by arranging clear and definite filtering rule, no matter the method is for real-time gps data, or the gps data that historical storage is got off, can know which bar GPS is used, which bar GPS is abandoned, and can reproduce computation process; Meanwhile, reach according to the time interval choose GPS record object.
Be the filtering system schematic diagram of the high frequency gps data that the embodiment of the present invention provides shown in Fig. 4, this system, on the conventional Floating Car framework basis shown in Fig. 1, adds several functional module, specifically comprises:
Gps data filtering module.In real-time computation process, gps data is by real-time Transmission to gps data filtering module, and the data after filtration are sent to FCD processing module.
Gps data memory module, gps data, by while real-time Transmission, is stored as GPS archive data, and this module completes data and stores.
Gps data read module, when needs reproduce calculating sifting process, then by GPS read module, GPS archive data is read, export (simulating GPS real time data) after changing into data stream to gps data filtering module, and then FCD calculating is carried out to the data after filtering.
When needs reproduce filter process, because the GPS archive data of preserving in gps data memory module is identical with the order of its real-time Transmission, so when its be converted into data stream export to gps data filtering module filter time, the result of filtration is also identical.
Based on above system, the filter method of the high frequency gps data that the embodiment of the present invention provides as shown in Figure 5, comprises the following steps:
Step 501, carry out initialization to high frequency gps data filtering system, set up overall storage area in systems in which, for each car, No. ID, interval belonging to the GPS record of the up-to-date employing of this vehicle of storage, is initially set to-1.Described overall storage area, refers in system and can set up a Hash table, preserves affiliated No. ID, the interval of GPS record of the up-to-date employing of this vehicle of vehicle ID and correspondence thereof.
Step 502, reception gps data, resolve gps data, parse GPS vehicle ID, and calculate No. ID, interval belonging to this record according to GPS sampling instant, be designated as id
1.
Every bar GPS in the gps data received records in (GPS point), comprise this GPS record belonging to the sampling instant (date Hour Minute Second) of vehicle ID, GPS record, and the information such as GPS speed, direction.
In the present embodiment, arrange GPS bolting house and be divided into T, interval every whole day being divided into 24*3600/T according to bolting house, primary screening is carried out in each interval.In order to different bolting houses every distinguishing, each bolting house every with and other bolting house distinguish every No. ID not identical, interval.Be spaced apart example with shown in Fig. 3 30 seconds, whole day have 24*3600/30=2880 bolting house every.Then No. ID, 00:00:00 ~ 00:00:30 interval is that 1,00:00:30 ~ No. ID, 00:01:00 interval is 2, and the rest may be inferred, and No. ID, 23:59:30 ~ 24:00:00 interval is 2880.
The method calculating No. ID, interval residing for every bar GPS record is: set the sampling instant of GPS as hh-mm-ss, bolting house is divided into T, then the computing method at No. ID, interval are:
id＝(3600*hh+60*mm+ss)/T+1
Step 503, according to vehicle ID, the GPS inquiring about the up-to-date employing of this vehicle in overall storage area records No. ID, the interval at place, is designated as id
2if, id
1≠ id
2, then FCD processing module is submitted in this GPS record, the GPS simultaneously upgrading the up-to-date employing of this vehicle records No. ID, the interval at place for id
1, perform step 502; Otherwise, abandon this GPS record, perform step 502.
Interval ID id belonging to the GPS record that the Article 1 of this vehicle is resolved out
1can not-1 be equaled, so this record is bound to first to become the GPS record of up-to-date employing, and submit to FCD processing module.
The GPS record of every this vehicle of bar parsed afterwards, No. ID, the interval that the GPS of No. ID, its interval and up-to-date employing records compares by capital, as long as different, this record will be adopted, submit FCD processing module to, and belonging to being recorded by the GPS of up-to-date employing, No. ID, interval is updated to No. ID, interval belonging to this record.
For Fig. 6, according to preceding method based on bolting house after whole day being divided into 24*3600/T interval, for a car, choose the 1st article of recording processing in each interval.Upload and be spaced apart 10 seconds, bolting house is divided into 30 seconds, and time domain is interval every being divided into several according to bolting house.A is the 1st the 1st article of interval record, is used; B is the 2nd the 1st article of interval record, is used; C and D is the 2nd the 2nd and the 3rd article of interval record, is abandoned; The interval of back processes after the same method, and its GPS filter effect is consistent with existing method.
Division methods due to interval is clear and definite, so choosing of the 1st article of record is also clear and definite in interval, no matter for the GSP data stream forwarded in real time, or for the gps data (the gps data order of historical storage is consistent with real-time GPS data stream) of historical storage, thus the reproduction of computation process can be realized easily.
In figure 6, the B point at the A point that first interval is chosen and second interval is separated by and is only had 10 seconds, but this situation only occurs in first incomplete situation of interval data.From second interval, the interval of all gps datas was chosen in strict accordance with 30 seconds.
In existing Floating Car application, computation process can be caused to reproduce the filter algorithm of high frequency gps data stream.The embodiment of the present invention proposes the more rational GPS filter algorithm of one, makes the screening of GPS relevant to the sampling time of GPS, to be so no matter real-time GPS data, or the gps data of history, and which bar is used, and it is clearly defined which bar is abandoned.Under the prerequisite reaching same GPS filter effect, also can realize the reproduction of FCD computation process.
In a word, the foregoing is only preferred embodiment of the present invention, be not intended to limit protection scope of the present invention.
Claims (5)
1. a filter method for high frequency gps data, is characterized in that, described method comprises:
Set up the overall storage area of gps data, for each car, spacing identification number belonging to being recorded by the GPS of the up-to-date employing of this vehicle stored, is initially set to-1;
A, reception gps data, parse vehicles identifications, and obtain the spacing identification id belonging to this GPS record according to the sampling instant of GPS record
1;
B, according to described vehicles identifications, inquire about the up-to-date employing of this vehicle GPS record belonging to spacing identification id
2if, id
1≠ id
2, be then id by described spacing identification number
1gPS record submit FCD process to, the GPS of up-to-date for this vehicle employing is recorded affiliated spacing identification number simultaneously and is updated to id
1, perform steps A; Otherwise abandoning described spacing identification number is id
1gPS record, perform steps A.
2. the filter method of high frequency gps data according to claim 1, is characterized in that, the step of the overall storage area of described foundation is specially:
Set up a Hash table, preserve the affiliated spacing identification number of GPS record of the up-to-date employing of this vehicle of vehicles identifications and correspondence thereof.
3. the filter method of high frequency gps data according to claim 1, is characterized in that, in the gps data received, every bar GPS record comprise this GPS record belonging to vehicles identifications and the sampling instant of GPS record.
4. the filter method of high frequency gps data as claimed in any of claims 1 to 3, is characterized in that, the described sampling instant according to GPS record obtains spacing identification id
1step specifically comprise:
The bolting house arranging GPS record is divided into T, and unit is second, and interval every whole day being divided into 24*3600/T according to bolting house, primary screening is carried out in each interval, with distinguishing with spacing identification number not identical between other screening area between each screening area;
The sampling instant arranging GPS record is hh-mm-ss, and bolting house is divided into T, then spacing identification number is: id=(3600*hh+60*mm+ss)/T+1.
5. implement the claims a filtering system for the high frequency gps data filter method described in 1, it is characterized in that, described system comprises:
Gps data filtering module, for receiving the gps data of real-time Transmission, filters according to method described in claim 1, and the data after filtering are sent to FCD processing module;
Gps data memory module, for receiving the gps data of described real-time Transmission, is stored as GPS archive data;
Gps data read module, for when needs reproduce filter process, reads described GPS archive data, exports to described gps data filtering module and filter after changing into data stream.
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| CN106600958B (en) * | 2016-11-29 | 2019-05-17 | 北京掌行通信息技术有限公司 | Dynamic road condition expression and device |
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| CN102201166A (en) * | 2010-03-23 | 2011-09-28 | 日电（中国）有限公司 | Preprocessing apparatus for floating car data and method thereof |
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| WO2009067267A1 (en) * | 2007-11-25 | 2009-05-28 | Mantovani Jose R B | Navigation data acquisition and signal post-processing |
| CN101807343A (en) * | 2010-01-08 | 2010-08-18 | 北京世纪高通科技有限公司 | Processing method and processing system based on floating car traffic information |
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