CN103727946A - Floating car map matching data preprocessing method and system - Google Patents
Floating car map matching data preprocessing method and system Download PDFInfo
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- CN103727946A CN103727946A CN201310712862.2A CN201310712862A CN103727946A CN 103727946 A CN103727946 A CN 103727946A CN 201310712862 A CN201310712862 A CN 201310712862A CN 103727946 A CN103727946 A CN 103727946A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
- G08G1/0112—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from the vehicle, e.g. floating car data [FCD]
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Abstract
The invention relates to a floating car map matching data preprocessing method and system. The method provided by the method comprises the following steps: carrying out initialization setting on system parameters; receiving GPS (global positioning system) positioning data and data of a gyroscope and an accelerometer, extracting the GPS speed and the angular rate value of a course angle measured by the gyroscope, and calculating the difference value of the measurement value of the accelerometer and the gravity acceleration g; and judging whether the positioning is carried out for the first time, judging whether a car is static and whether the car runs slowly, and updating the positioning data according to the determined situation and the like. By adopting the method and the system which are provided by the invention, the problem that inaccurate course angle when the car runs at low speed can be solved by the GPS historic positioning data and the drifting problem generated by the GPS positioning data when the car is static can be solved, thereby improving the map matching precision and the matching performance so as to match the positioning data to a corresponding road segment correctly and perform congestion analysis, and a comprehensive positioning technical support is provided for the urban road congestion charge.
Description
Technical field
The invention belongs to intelligent transportation vehicle positioning technical field, particularly a kind of Floating Car map match data preprocessing method and system of analyzing for urban road congestion.
Background technology
Urban road traffic congestion analytical technology based on GPS Floating Car is considered to realize the important channel of advanced traffic guidance, based on GPS Floating Car DETECTION OF TRAFFIC PARAMETERS technology, as a kind of new detection mode, how improving its detection performance is current key problem.Urban road congestion analysis mainly comprises that Floating Car GPS locator data is obtained, map match, road section traffic volume state and road network block up the contents such as calculating, communications policy.
GPS (Global Positioning System is called for short GPS) provides real-time, round-the-clock and global navigation Service, and the functions such as vehicle location, travel route monitoring can be provided.Round-the-clock, the high precision having due to GPS technology and automatically measuring, has incorporated each application of the development of the national economy, national defense construction and social development.Along with the sharply increase of city vehicle recoverable amount, urban road is crowded to capacity, and traffic hazard occurs again and again, and GPS, for urban road congestion charge, will be significantly improved to the efficiency of urban road operation and the security of increase driving.
Map matching technology refers to that the GPS receiver loading by Floating Car obtains the real-time position information of vehicle, is matched in the section or traffic zone at vehicle place at that time by certain algorithm.Conventional map-matching algorithm has at present: geometric projection matching algorithm, evidence theory algorithm, probability match algorithm, Fuzzy Logic Reasoning Algorithm etc.
But existing gps satellite location technology exists the following significant error of two classes when the vehicle location, there is larger error in its course angle during low vehicle speeds first, second when static, also has larger drift.Existing map matching technology not yet takes into full account and processes the orientation problem of above-mentioned GPS, will cause map match deterioration in accuracy like this, and performance depreciation even produces wrong result.
Therefore, when Floating Car remains static or during low speed driving state, in the locator data that its GPS receiver produces, the error of course angle is larger, if do not carry out pre-service, when calculating, map match will make matching precision or performance reduce, even produce wrong matching result, thereby produce wrong result in carrying out congestion in road analysis.For this reason, need to propose a kind of data preprocessing method, can revise locator data, improve positioning precision, thereby when map match, improve matching precision and matching performance, correctly carry out congestion in road calculating.
Summary of the invention
For the defect existing in prior art, the object of this invention is to provide a kind of Floating Car map match data preprocessing method and system of analyzing for urban road congestion.The method and system can utilize GPS historical location data to solve vehicle inaccurate problem of course angle when low speed driving, and the drifting problem that GPS locator data produces during stationary vehicle, thereby improve the precision of map match and the performance of coupling, to can correctly locator data be matched on corresponding section and carry out jamming analysis, for urban road congestion charge provides comprehensive location technology support.
For reaching above object, the technical solution used in the present invention is that a kind of Floating Car map match data preprocessing method, comprises the following steps:
Step 2, reception GPS locator data, gyroscope and accelerometer data, and extract GPS speed V_GPS, the angular speed value G_Ang of the course angle of gyroscope survey, the difference Acc of calculating acceleration measuring value and gravity acceleration g;
Step 4, judge that whether vehicle is static, if so, maintain locator data constant, otherwise return to step 2;
Further, in step 1, systematic parameter being carried out to initialization setting also comprises:
1) gyroscope null value thresholding G_Static is set;
2) acceleration null value thresholding Acc_Static is set;
3) the static threshold value V_Static of setting speed;
4) setting speed slow door limit value V_Low;
5) distance threshold value S_Lmt is set, during for low vehicle speeds, recalculates course angle.
Further,
1) described gyroscope null value thresholding G_Staticy is 0.03-0.07 degree/second;
2) described acceleration null value thresholding Acc_Static is 0.2-0.9m/s
2;
3) the static threshold value V_Static of described speed is 0-1.8km/h;
4) described speed slow door limit value V_Low is 20-40km/h;
5) described distance threshold value S_Lmt is 25-35m.
It is further again,
1) described gyroscope null value thresholding G_Staticy was 0.05 degree/second;
2) described acceleration null value thresholding Acc_Static is 0.6m/s
2;
3) the static threshold value V_Static of described speed is 1km/h;
4) described speed slow door limit value V_Low is 30km/h;
5) described distance threshold value S_Lmt is 30m.
Further, in step 4, judge that the method whether vehicle is static is: when the angular speed of the course angle of gyroscope output is lower than null value thresholding G_Static value, and the numerical value of accelerometer output and the difference of gravity acceleration g are during lower than acceleration null value thresholding Acc_Static value, and the velocity amplitude of GPS receiver output during lower than the static threshold value V_Static of speed, judges that vehicle remains static.
Further, in step 5, judge that the method whether vehicle is travelling is at a slow speed:
(1) take out article one locator data in buffer memory, the distance of establishing this position and current position location is S1, if S1< distance threshold value S_Lmt, jump procedure (4);
(2) take out the second locator data in buffer memory, the distance of establishing this position and current position location is S2, if S2< distance threshold value S_Lmt, jump procedure (4);
(3) carry out following loop statement:
For?i=1to?Len_Cache-1
BL_Cache(i)=BL_Cache(i+1)
End
(4) length of buffer zone adds 1, even Len_Cache=Len_Cache+1;
(5) judge whether V_GPS<V_Low sets up, if set up, illustrate that vehicle travels at a slow speed.
A Floating Car map match data pretreatment, comprises pretreatment module, the GPS locating module, the velograph that are connected with pretreatment module, and map datum module and gyroscope, described pretreatment module comprises with lower device:
Apparatus for initializing, for systematic parameter being carried out to initialization setting, comprise arranging data buffer area BL_Cache, historical through, latitude for depositing, set buffer storage length Len_Cache=1;
Data receiver and extraction element, for receiving GPS locator data, gyroscope and accelerometer data, and extract GPS speed V_GPS, the angular speed value G_Ang of the course angle of gyroscope survey, the difference Acc of calculating acceleration measuring value and gravity acceleration g;
Judgment means one, for judging whether it is to locate first, if locate first, upgrades locator data, and current locator data assignment, to BL_Cache (Len_Cache), is finished to pre-service, otherwise continue subsequent step, processes;
Judgment means two, for judging that whether vehicle is static, if so, maintains locator data constant, otherwise return data receives and extraction element continues to receive and extract related data;
Judgment means three, be used for judging whether vehicle travels at a slow speed, if, take out that article one in buffer memory records BL_Cache (1) and the last item records BL_Cache (Len_Cache), and utilize the longitude and latitude of BL_Cache (1) and BL_Cache (Len_Cache) storage to recalculate course angle, otherwise, locator data upgraded, current locator data (longitude and latitude) assignment, to BL_Cache (Len_Cache), is finished to pre-service.
Effect of the present invention is: adopt method and system of the present invention, can solve the orientation problem of two aspects, first, can solve Floating Car inaccurate problem of course angle when low speed driving.The problem of the drift that in the time of second can solving stationary vehicle, GPS locator data produces.Thereby improve the precision of map match and the performance of coupling, to can correctly locator data be matched on corresponding section and carry out jamming analysis, for urban road congestion charge provides comprehensive location technology support.
Accompanying drawing explanation
Fig. 1 is the process flow diagram of the method for the invention;
Fig. 2 is the process flow diagram of the method for the invention embodiment;
Fig. 3 is the structural drawing of system embodiment of the present invention.
Embodiment
Below in conjunction with the drawings and specific embodiments, the invention will be further described.
As shown in Figure 1, a kind of Floating Car map match data preprocessing method of analyzing for urban road congestion, comprises the following steps:
S1, step 1: systematic parameter is carried out to initialization setting;
S2, step 2: receive GPS locator data, gyroscope and accelerometer data, and extract GPS speed V_GPS, the angular speed value G_Ang of the course angle of gyroscope survey, the difference Acc of calculating acceleration measuring value and gravity acceleration g;
S3, step 3: judge whether it is to locate first, if locate first, upgrade locator data, current locator data (longitude and latitude) assignment, to BL_Cache (Len_Cache), is finished to pre-service, process otherwise continue subsequent step;
S4, step 4: judge that whether vehicle is static, if so, maintain locator data constant, otherwise return to step 2;
S5, step 5: judge whether vehicle travels at a slow speed, if, take out that article one in buffer memory records BL_Cache (1) and the last item records BL_Cache (Len_Cache), and utilize the longitude and latitude of BL_Cache (1) and BL_Cache (Len_Cache) storage to recalculate course angle, otherwise, locator data upgraded, current locator data (longitude and latitude) assignment, to BL_Cache (Len_Cache), is finished to pre-service.
As shown in Figure 2, in the present embodiment, a kind of Floating Car map match data preprocessing method of analyzing for urban road congestion, specifically comprises the following steps.
Step 1: systematic parameter is carried out to following initialization setting:
1) gyroscope null value thresholding G_Static is set, when the angular speed of the course angle of gyroscope output is during lower than this threshold value, judges that vehicle remains static;
2) acceleration null value thresholding Acc_Static is set, when the numerical value of accelerometer output and the difference Acc of gravity acceleration g are during lower than this threshold value, judges that vehicle remains static;
3) the static threshold value V_Static of setting speed, when the velocity amplitude of GPS receiver output is during lower than this threshold value, judges that vehicle remains static;
4) setting speed slow door limit value V_Low, when the velocity amplitude of GPS receiver output is during lower than this threshold value, thinks that vehicle is in slow running state, and now, the course angle of GPS receiver output has larger deviation, need to process;
5) distance threshold value S_Lmt is set, during for low vehicle speeds, recalculates course angle.
6) data buffer area BL_Cache is set, historical through, latitude for depositing.
7) set buffer storage length Len_Cache=1.
Step 2: receive GPS locator data, gyroscope and accelerometer data, and extract GPS speed V_GPS, the course angle rate value G_Ang of gyroscope survey, the difference Acc of calculating acceleration measuring value and gravity acceleration g;
Step 3: judge whether it is to locate first? if locate first, jump procedure 11.
Step 4: judgement G_Ang<G_Static, and Acc<Acc_Static, and V_GPS<V_Static? if above condition all meets, illustrate and stationary vehicle maintain locator data constant.Return to step 2 and continue to receive GPS locator data.
Step 5: take out article one locator data in buffer memory, the distance of establishing this position and current position location is S1, if S1<S_Lmt, jump procedure eight.
Step 6: take out the second locator data in buffer memory, the distance of establishing this position and current position location is S2, if S2<S_Lmt, jump procedure eight.
Step 7: carry out following loop statement:
For?i=1to?Len_Cache-1
BL_Cache(i)=BL_Cache(i+1)
End
Step 8: the length of buffer zone adds 1, even Len_Cache=Len_Cache+ 1.
Step 9: judge whether V_GPS<V_Low sets up, if set up, illustrate that vehicle travels at a slow speed, jump procedure ten, otherwise, jump procedure 11.
Step 10: the article one in taking-up buffer memory records BL_Cache (1) and the last item records BL_Cache (Len_Cache), and utilize the longitude and latitude of BL_Cache (1) and BL_Cache (Len_Cache) storage to recalculate course angle.
Step 11: upgrade locator data, by current locator data (longitude and latitude) assignment to BL_Cache (Len_Cache).
Step 12: finish, after pre-service, to carry out map match MM (Map Matching).
Conventionally, in step 1, each systematic parameter is carried out to following initialization setting:
1) described gyroscope null value thresholding G_Staticy is 0.03-0.07 degree/second;
2) described acceleration null value thresholding Acc_Static is 0.2-0.9m/s
2;
3) the static threshold value V_Static of described speed is 0-1.8km/h;
4) described speed slow door limit value V_Low is 20-40km/h;
5) described distance threshold value S_Lmt is 25-35m.
Preferably, in the present embodiment, in step 1, each systematic parameter is carried out to following initialization setting:
1) described gyroscope null value thresholding G_Staticy was 0.05 degree/second;
2) described acceleration null value thresholding Acc_Static is 0.6m/s
2;
3) the static threshold value V_Static of described speed is 1km/h;
4) described speed slow door limit value V_Low is 30km/h;
5) described distance threshold value S_Lmt is 30m.
As shown in Figure 3, a kind of Floating Car map match data pretreatment of analyzing for urban road congestion, comprise pretreatment module 1, the GPS locating module 2 being connected with pretreatment module 1, velograph 3, map datum module 4 and gyroscope 5, described pretreatment module 1 comprises with lower device:
Apparatus for initializing 11, for systematic parameter being carried out to initialization setting, comprise arranging data buffer area BL_Cache, historical through, latitude for depositing, set buffer storage length Len_Cache=1;
Data receiver and extraction element 12, for receiving GPS locator data, gyroscope and accelerometer data, and extract GPS speed V_GPS, the angular speed value G_Ang of the course angle of gyroscope survey, the difference Acc of calculating acceleration measuring value and gravity acceleration g;
Judgment means 1, for judging whether it is to locate first, if locate first, upgrades locator data, and current locator data assignment, to BL_Cache (Len_Cache), is finished to pre-service, otherwise continue subsequent step, processes;
Judgment means 2 14, for judging that whether vehicle is static, if so, maintains locator data constant, otherwise return data receives and extraction element continues to receive and extract related data;
Judgment means 3 15, be used for judging whether vehicle travels at a slow speed, if, take out that article one in buffer memory records BL_Cache (1) and the last item records BL_Cache (Len_Cache), and utilize the longitude and latitude of BL_Cache (1) and BL_Cache (Len_Cache) storage to recalculate course angle, otherwise, locator data upgraded, current locator data (longitude and latitude) assignment, to BL_Cache (Len_Cache), is finished to pre-service.
According to above-described embodiment, can find out that method and system of the present invention have utilized GPS historical location data to solve vehicle inaccurate problem of course angle when low speed driving, and the drifting problem that GPS locator data produces during stationary vehicle, thereby improve the precision of map match and the performance of coupling, to can correctly locator data be matched on corresponding section and carry out jamming analysis, for urban road congestion charge provides comprehensive location technology support.
It will be understood by those skilled in the art that method and system of the present invention is not limited to the embodiment described in embodiment, specific descriptions are above just in order to explain object of the present invention, not for limiting the present invention.Those skilled in the art's technical scheme according to the present invention draws other embodiment, belongs to equally technological innovation scope of the present invention, and protection scope of the present invention is limited by claim and equivalent thereof.
Claims (10)
1. a Floating Car map match data preprocessing method, comprises the following steps:
Step 1, systematic parameter is carried out to initialization setting, comprise data buffer area BL_Cache is set, historical through, latitude for depositing, set buffer storage length Len_Cache=1;
Step 2, reception GPS locator data, gyroscope and accelerometer data, and extract GPS speed V_GPS, the angular speed value G_Ang of the course angle of gyroscope survey, the difference Acc of calculating acceleration measuring value and gravity acceleration g;
Step 3, judge whether it is to locate first, if locator data is upgraded in location first, current locator data assignment, to BL_Cache (Len_Cache), is finished to pre-service, otherwise continue subsequent step, process;
Step 4, judge that whether vehicle is static, if so, maintain locator data constant, otherwise return to step 2;
Step 5, judge whether vehicle travels at a slow speed, if, take out that article one in buffer memory records BL_Cache (1) and the last item records BL_Cache (Len_Cache), and utilize the longitude and latitude of BL_Cache (1) and BL_Cache (Len_Cache) storage to recalculate course angle, otherwise, upgrade locator data, current locator data assignment, to BL_Cache (Len_Cache), is finished to pre-service.
2. a kind of Floating Car map match data preprocessing method as claimed in claim 1, is characterized in that, in step 1, systematic parameter is carried out to initialization setting and also comprises:
1) gyroscope null value thresholding G_Static is set;
2) acceleration null value thresholding Acc_Static is set;
3) the static threshold value V_Static of setting speed;
4) setting speed slow door limit value V_Low;
5) distance threshold value S_Lmt is set, during for low vehicle speeds, recalculates course angle.
3. a kind of Floating Car map match data preprocessing method as claimed in claim 2, it is characterized in that, in step 4, judge that the method whether vehicle is static is: when the angular speed of the course angle of gyroscope output is lower than null value thresholding G_Static value, and the numerical value of accelerometer output and the difference of gravity acceleration g are during lower than acceleration null value thresholding Acc_Static value, and the velocity amplitude of GPS receiver output during lower than the static threshold value V_Static of speed, judges that vehicle remains static.
4. a kind of Floating Car map match data preprocessing method as claimed in claim 2, is characterized in that, in step 5, judges that the method whether vehicle is travelling is at a slow speed:
(1) take out article one locator data in buffer memory, the distance of establishing this position and current position location is S1, if S1< distance threshold value S_Lmt, jump procedure (4);
(2) take out the second locator data in buffer memory, the distance of establishing this position and current position location is S2, if S2< distance threshold value S_Lmt, jump procedure (4);
(3) carry out following loop statement:
For?i=1to?Len_Cache-1
BL_Cache(i)=BL_Cache(i+1)
End
(4) length of buffer zone adds 1, even Len_Cache=Len_Cache+1;
(5) judge whether V_GPS<V_Low sets up, if set up, illustrate that vehicle travels at a slow speed.
5. a kind of Floating Car map match data preprocessing method as claimed in claim 2, is characterized in that,
1) described gyroscope null value thresholding G_Staticy is 0.03-0.07 degree/second;
2) described acceleration null value thresholding Acc_Static is 0.2-0.9m/s
2;
3) the static threshold value V_Static of described speed is 0-1.8km/h;
4) described speed slow door limit value V_Low is 20-40km/h;
5) described distance threshold value S_Lmt is 25-35m.
6. a kind of Floating Car map match data preprocessing method as claimed in claim 5, is characterized in that,
1) described gyroscope null value thresholding G_Staticy was 0.05 degree/second;
2) described acceleration null value thresholding Acc_Static is 0.6m/s
2;
3) the static threshold value V_Static of described speed is 1km/h;
4) described speed slow door limit value V_Low is 30km/h;
5) described distance threshold value S_Lmt is 30m.
7. a Floating Car map match data pretreatment, comprises pretreatment module, and the GPS cover half piece, velograph, map datum mould and the gyroscope that are connected with pretreatment module, is characterized in that, described pretreatment module comprises with lower device:
Apparatus for initializing, for systematic parameter being carried out to initialization setting, comprise arranging data buffer area BL_Cache, historical through, latitude for depositing, set buffer storage length Len_Cache=1;
Data receiver and extraction element, for receiving GPS locator data, gyroscope and accelerometer data, and extract GPS speed V_GPS, the angular speed value G_Ang of the course angle of gyroscope survey, the difference Acc of calculating acceleration measuring value and gravity acceleration g;
Judgment means one, for judging whether it is to locate first, if locate first, upgrades locator data, and current locator data assignment, to BL_Cache (Len_Cache), is finished to pre-service, otherwise continue subsequent step, processes;
Judgment means two, for judging that whether vehicle is static, if so, maintains locator data constant, otherwise return data receives and extraction element continues to receive and extract related data;
Judgment means three, be used for judging whether vehicle travels at a slow speed, if, take out that article one in buffer memory records BL_Cache (1) and the last item records BL_Cache (Len_Cache), and utilize the longitude and latitude of BL_Cache (1) and BL_Cache (Len_Cache) storage to recalculate course angle, otherwise, locator data upgraded, current locator data assignment, to BL_Cache (Len_Cache), is finished to pre-service.
8. a kind of Floating Car map match data pretreatment as claimed in claim 7, is characterized in that, apparatus for initializing carries out initialization setting to systematic parameter and also comprises:
1) gyroscope null value thresholding G_Static is set;
2) acceleration null value thresholding Acc_Static is set;
3) the static threshold value V_Static of setting speed;
4) setting speed slow door limit value V_Low;
5) distance threshold value S_Lmt is set, during for low vehicle speeds, recalculates course angle.
9. a kind of Floating Car map match data pretreatment as claimed in claim 8, it is characterized in that, judgment means two judges that the method whether vehicle is static is: when the angular speed of the course angle of gyroscope output is lower than null value thresholding G_Static value, and the numerical value of accelerometer output and the difference of gravity acceleration g are during lower than acceleration null value thresholding Acc_Static value, and the velocity amplitude of GPS receiver output during lower than the static threshold value V_Static of speed, judges that vehicle remains static.
10. a kind of Floating Car map match data pretreatment as claimed in claim 8 or 9, is characterized in that, judgment means three judges that the method whether vehicle is travelling is at a slow speed:
(1) take out article one locator data in buffer memory, the distance of establishing this position and current position location is S1, if S1< distance threshold value S_Lmt, jump procedure (4);
(2) take out the second locator data in buffer memory, the distance of establishing this position and current position location is S2, if S2< distance threshold value S_Lmt, jump procedure (4);
(3) carry out following loop statement:
For?i=1to?Len_Cache-1
BL_Cache(i)=BL_Cache(i+1)
End
(4) length of buffer zone adds 1, even Len_Cache=Len_Cache+1;
(5) judge whether V_GPS<V_Low sets up, if set up, illustrate that vehicle travels at a slow speed.
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| CN201310712862.2A CN103727946B (en) | 2013-12-20 | 2013-12-20 | A kind of Floating Car map match data preprocessing method and system |
| PCT/CN2014/082064 WO2015090051A1 (en) | 2013-12-20 | 2014-07-11 | Data pre-processing method and system for map matching of floating vehicle |
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| WO2015090051A1 (en) * | 2013-12-20 | 2015-06-25 | 北京握奇智能科技有限公司 | Data pre-processing method and system for map matching of floating vehicle |
| CN106548652A (en) * | 2015-09-18 | 2017-03-29 | 南京亚士德科技有限公司 | Vehicle monitoring system and vehicle monitoring method |
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| CN112378400A (en) * | 2020-10-30 | 2021-02-19 | 湖南航天机电设备与特种材料研究所 | Dual-antenna GNSS assisted strapdown inertial navigation integrated navigation method |
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Also Published As
| Publication number | Publication date |
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| CN103727946B (en) | 2016-06-01 |
| WO2015090051A1 (en) | 2015-06-25 |
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