CN105241465B - A kind of method of road renewal - Google Patents
A kind of method of road renewal Download PDFInfo
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- CN105241465B CN105241465B CN201510684175.3A CN201510684175A CN105241465B CN 105241465 B CN105241465 B CN 105241465B CN 201510684175 A CN201510684175 A CN 201510684175A CN 105241465 B CN105241465 B CN 105241465B
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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
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Abstract
The invention provides a kind of method of road renewal, comprise the following steps：Step a, information gathering；Step b, data prediction；Step c, the generation of trajectory；Step d, trajectory judges to sort out with road；Step e, track point set G2 acquisition；Step f, newly-increased point set G4 acquisition；Step g, trajectory D2 acquisition；Step h, road P2 generation；Step i, road P2 road axis D3 is extracted, road axis D3 is added in new added road buffer DB；Step j, topological operation is carried out between all road axis D3 and original road, the road data after being updated.The method for the road renewal that the present invention uses has the characteristics that renewal speed is fast, precision is high, real-time is good, practical.
Description
Technical field
Patent of the present invention is related to GIS-Geographic Information System and Mine Informatization technical field, especially, is related to a kind of road more
New method.
Background technology
, it is necessary to mine road information be obtained, to realize that initial stage of production is opened when surface mine carries out mining Design, produced
Adopt planning and design, the real-time positioning in production process to carrier truck and power shovel and dynamic monitoring, statistics of the delivery with ore deposit with
Analysis, and to vehicle delivery historical track playback etc., so as to the purpose for reaching design effectively with improving production management efficiency.Ore deposit
Mountain production road network structure is in quick dynamic change, and traditionally meter measuring system uses high-end GPS location equipment or whole station
The equipment such as instrument, measurement is limited to some areas, the acquisition of information cycle is long, subsequent treatment workload is big, updates not in time.In order to realize
Mine Informatization, those skilled in the art are typically using digitlization means renewal road information.
Existing update mode is broadly divided into two kinds, and the first is to draw out digitized road automatically using GPS location data
The method of road network grating map.Patent《Automatic generation method for road network grid digital map based on GPS location》To the party
Method is elaborated, and specific way is to allow Floating Car to be travelled on the road for needing to draw road network, so as to obtain required road
The Floating Car track data on road, then carries out conversion and pretreatment work accordingly to obtained track data, then by track number
According to grating image formatted data is converted to, more accurate road network grid numeral can be generated via the method for image procossing
Map.Many drawbacks be present in this method：Map vector carries out corrosion treatment generation grid digital map and easily gone wrong, and does not have
Round coordinate information is made full use of, does not account for GPS error influence；Second is to use map of navigation electronic update mode.
Second is document《Navigation road data renewal based on taxi GPS track》It is middle to utilize Floating Car collection road basis letter
Breath, first carries out map match, is matched according to existing algorithm, and reprocessing data extract required road information.This is done
Method is by the way that judgement of crossing the border, interval data judge, redundancy handles excluding gross error, but gps signal is easy in metal mine environment
It is attenuated and launches, unfavorable interference is produced to GPS location and causes fix drift, can not preferably be solved using this method
Certainly this problem.Meanwhile this method does not make full use of round trace information, the road precision of generation is low.
Therefore, it is badly in need of a kind of road update method, mine road is complicated and changeable, gps signal is easy under mine environment to solve
Shift the problem of causing GPS location to be forbidden.
The content of the invention
Present invention aims at provide the road update method that a kind of renewal speed is fast, the degree of accuracy is high, concrete technical scheme
It is as follows：
A kind of method of road renewal, comprises the following steps：
Step a, information gathering, it is specifically：The information gathering being connected with control centre is installed on all mine trucks in mine
Equipment, and the three-dimensional coordinate position of acquisition, acquisition time and mine truck numbering are passed according to the data transmission frequencies of setting
Control centre is gone back to, is stored to information gathering data storehouse；
Step b, data prediction, it is specifically：To the three-dimensional coordinate position obtained in information gathering data storehouse by step a
Information carries out Coordinate Conversion and the pretreatment operation of rejecting abnormal data, obtains track point set G1, specifically includes following step
Suddenly：
B1, tracing point all in the inquiry roads update cycle, the coordinate of the three-dimensional coordinate position of all tracing points is led to
Cross seven-parameter transformation algorithm and be transformed into specified coordinate system and obtain the position coordinates of each tracing point, to the tracing point after conversion
Position coordinates carries out rejecting pretreatment of crossing the border, and the rejecting pretreatment of crossing the border is specially：By by the position coordinates of tracing point with
The information of mining area scope is contrasted, and rejects the data not in the range of mining area；
B2, the data not being removed in b1 are carried out to mantenance data rejecting pretreatment, the mantenance data rejects pretreatment
Specifically：The position coordinates of tracing point is judged in building and is floated within the specific limits for a long time, judges now mine truck
In service mode, then the position coordinates of these tracing points is rejected；
B3, the data not being removed in b2 are segmented by car number and time interval, are specifically：Set up with when
Between be abscissa, the timed sample sequence I that longitude is ordinate, it is established that using the time as abscissa, dimension for ordinate when
Between sequence samples II；
B4, the auto-correlation coefficient for calculating timed sample sequence I, obtain autocorrelation coefficient series I；Calculate timed sample sequence
II auto-correlation coefficient, obtain autocorrelation coefficient series II；
B5, using noise hypothesis testing method examine whether autocorrelation coefficient series I and autocorrelation coefficient series II have
Noise, if so, being found out by the autocorrelation order of autocorrelation coefficient series I and the autocorrelation order of autocorrelation coefficient series II
Respective deviation point is rejected；If it is not, carrying out first time judgement, the first time judgement is specially：If auto-correlation coefficient
Sequence I and autocorrelation coefficient series II do not have noise, then judge the trend of abscissa and ordinate, if abscissa or vertical seat
Mark has rising or downward trend over time, then implements logarithmic transformation to abscissa or ordinate, form new time sequence
Arrange F=InX or F=InY；If abscissa or ordinate have the trend of concussion over time, to abscissa or ordinate
Apply the differential transformation that time lag is s, form new time series F=△ sXi=(Xi-Xi-s), wherein s is empirical value；If
Abscissa or ordinate have and have rising or downward trend and the trend for having concussion over time over time simultaneously, then
Logarithmic transformation and differential transformation are applied simultaneously to abscissa or ordinate, form new sequence F=In (Xi-Xi-s), it is then right
New sequence F carries out b4 step process, wherein：In is function of taking the logarithm, equivalent to the log that the truth of a matter is eaN functions；InX is pair
Abscissa implements logarithmic transformation；InY is to implement logarithmic transformation to ordinate；△ sXi are to apply time lag to abscissa or ordinate
For s differential transformation；Xi represents the abscissa at i moment；Xi-s represents the abscissa at i-s moment；In (Xi-Xi-s) is to horizontal seat
Mark or ordinate apply logarithmic transformation and differential transformation simultaneously；
B6, the trace information after b5 form track point set G1；
Step c, the generation of trajectory, it is specifically：According to the direction of car number, acquisition time and tracing point by track
Point set G1, which is sequentially segmented, connects into a plurality of trajectory D1；
Step d, trajectory judges to sort out with road, is specifically：Determined by the position relationship between each bar trajectory D1
Belong to the trajectory of same path；
Step e, track point set G2 acquisition, it is specifically：Direction, coordinate are passed through to all tracing points on same path
And track acquisition time carries out obtaining track point set G2 after filtering shift point processing；
Step f, newly-increased point set G4 acquisition, it is specifically：Pass through the position between existing road and track point set G2
Relation, obtain newly-increased point set G4；
Step g, trajectory D2 acquisition, it is specifically：Newly-increased point set G4 is connected into by car number and acquisition time
Trajectory D2；
Step h, road P2 generation, it is specifically：By all trajectory D2 fusions generation road P2 on same path；
Step i, road P2 road axis D3 is extracted, road axis D3 is added into new added road buffer DB
In；
Step j, topological behaviour will be carried out between all road axis D3 and original road in new added road buffer DB
Make, the road data after being updated.
In above technical scheme preferably, the generation of trajectory specifically includes following steps in the step c：
C1, the rail for obtaining according to car number data prediction in all b by step in the track road update cycle
Mark point；
C2, all tracing points obtained according to time series to c1 carry out range-azimuth analysis, certain according to tracing point
Less and on tracing point any opposite with subsequent point prescription position and following certain amount point is (general to select for change in location in time
Select 10) all tracing points are divided into different sections by the principle of orientation all same；
Each tracing point in c3, the different sections for obtaining c2 is in chronological sequence linked in sequence into curve, obtains a plurality of track
Line D1.
It is preferable in above technical scheme, entered in the step d by the way of judgement is superimposed after curve establishes buffering area
Row same path ownership judges, is specifically：D1, the buffering area that radius is 3 meters is established centered on a plurality of trajectory D1 respectively；
D2, the buffering area to each bar trajectory D1 carry out position judgment, respectively by each bar trajectory D1 if overlap proportion is less than 95%
Split and take out nonoverlapping tracing point, assert that a plurality of trajectory D1 belongs to same if overlap proportion is more than or equal to 95%
Bar road, directly judge that a plurality of trajectory D1 is not belonging to same path if non-overlapping.
Preferable in above technical scheme, the filtering shift point processing in the step e specifically includes following steps：
E1, extraction belong to the different tracks line of same path；
E2, assume direct of travel, the tracing point in e1 in all trajectories is ranked up by direct of travel；
E3, judges whether the sequence number value of the i-th tracing point is less than the total value of all tracing points, if not being then divided to undetermined
In point set, rebound e2；If then obtain the tracing point of the corresponding sequence number in remaining trajectory；
E4, the tracing point for obtaining e3 are carried out towards judgement, are regarded as qualified point if direction is in threshold value, are stored to rail
In mark point set G2；Rear three tracing points of this tracing point and other tracks in this trajectory are obtained if direction exceedes threshold value
Three tracing points on line obtain the i-th tracing point subset；
E5, the direction for judging tracing point in the i-th tracing point subset, if towards assert that the i-th tracing point is if in threshold value
Deviation point, the amendment coordinate of the i-th tracing point is further calculated by distance weighting method, the amendment coordinate of the i-th tracing point is stored
Into track point set G2, if the i-th tracing point is determined as into point to be located towards more than if threshold value, continue to click through i+1 track
Row judgement, rebound e3.
Preferable in above technical scheme, the misalignment angle that the threshold value in the e4 and e5 refers both to direction is 10 °.
Preferable in above technical scheme, the acquisition for increasing point set G4 in the step f newly is used to the foundation of existing circuit
The method of judgement is superimposed after buffering area, is specifically：Specifically：First judging the coordinate position of the tracing point in the point set G2 of track is
In the no buffering area for belonging to existing circuit and being established, if then rejecting, if it is not, then carrying out next step judgement, the next step
Judgement is specifically：Judge the previous tracing point of the tracing point coordinate position and the latter tracing point coordinate position whether
In the buffering area that existing circuit is established, if what the coordinate position of the previous tracing point of the tracing point was established in existing circuit
Buffering area is interior and the coordinate position of the latter tracing point of the tracing point is not in the buffering area that existing circuit is established, or should
The coordinate position of the previous tracing point of tracing point not in the buffering area that existing circuit is established and the tracing point the latter
The coordinate position of tracing point is in the buffering area that existing circuit is established, or the previous tracing point of the tracing point, the latter
The tracing point is then included in newly-increased point set G4 by the coordinate position of tracing point not in the range of buffering area.
In above technical scheme preferably, road P2 generation is specifically in the step h：Using buffering area additive fusion
Method by all trajectory D2 fusion generation road P2 on same road.
Preferable in above technical scheme, the topology operation in the step j is specifically to interrupt and connect topology operation.
Apply the technical scheme of the present invention, have the advantages that：1st, mining area road is updated by mine truck trace information
Road, method are simplified, and precision is high, speed is fast, real-time is good；2nd, by step b data predictions step to different on same road
The position of tracing point judged to carry out rejecting processing to the underproof gps data in part with orientation, can preferably find mistake
Data by mistake, it is possible to increase generate the precision of road, be more suitable for the situation that fix drift easily occurs in mining area；3rd, mine truck is made full use of
The trace information of contact, the track data for carrying out road generation are more comprehensive, it is possible to increase generate the precision of road；4th, to generation
Road carries out topological operation with existing road, it can be found that Topology Error existing for newly-increased road, the road of generation is more
Tally with the actual situation；5th, the position relationship between tracing point and existing road is judged using buffering area superposition, utilized in critical point
The forward and backward a number of point of the point carries out position judgment, can quickly and accurately find out the tracing point of new added road.
In addition to objects, features and advantages described above, the present invention also has other objects, features and advantages.
Below with reference to figure, the present invention is further detailed explanation.
Brief description of the drawings
The accompanying drawing for forming the part of the application is used for providing a further understanding of the present invention, schematic reality of the invention
Apply example and its illustrate to be used to explain the present invention, do not form inappropriate limitation of the present invention.In the accompanying drawings：
Fig. 1 is the flow chart of road update method in the preferred embodiment of the present invention 1；
Fig. 2 is road display figure of the preferred embodiment 1 after data processing in the present invention；
Fig. 3 is the road display figure that preferred embodiment 1 is generated by generating algorithm tracing point in the present invention.
Embodiment
Embodiments of the invention are described in detail below in conjunction with accompanying drawing, but the present invention can limit according to claim
Fixed and covering multitude of different ways is implemented.
Embodiment 1：
This implementation is automatically updated into example with Guangxi pingguo's aluminum mine road.
Early-stage preparations：Analyzed by coverage, 3 GPS Base Stations are established in mining area so that can in the gamut of mining area
Carry out more base station difference clearing；Mining area approximate range topography and geomorphology figure is collected, is specifically：A, GPS track tables of data is established, the table
In comprising the field such as car number, L, B, X, Y, acquisition time, wherein X, Y is L, B of the WGS trace informations of this day collection respectively
Coordinate Conversion is information obtained by coordinate under BJ54 Coordinate System；B, road factor kind is established, road includes road number, road generates
The fields such as time, road buffering radius, road geometry information；The buffering area of existing road is established, buffering area radius is road
Width.
It is as follows to update step：
Step a, information gathering, it is specifically：The information being connected with control centre is installed on all 28 mine trucks in mine
Collecting device (being specifically double antenna DGPS Receiver), data (can be included the three-dimensional of vehicle by the equipment by 3G network
The information such as coordinate position, car number, acquisition time) control centre is passed to, store into information gathering data storehouse.Above-mentioned data
Transmission frequency be 2 seconds (can also select according to the actual requirements as 1 second, 5 seconds, 1 minute etc.)；
Step b, data prediction, it is specifically：To the three-dimensional coordinate position obtained in information gathering data storehouse by step a
Information carries out Coordinate Conversion and the pretreatment operation of rejecting abnormal data, obtains track point set G1, the data prediction
Details as Follows：Specifically include following steps：
B1, tracing point all in the inquiry roads update cycle, the coordinate of the three-dimensional coordinate position of all tracing points is led to
Cross seven-parameter transformation algorithm and be transformed into the position coordinates that each tracing point is obtained in BJ54 Coordinate System, to the tracing point after conversion
Position coordinates carries out rejecting pretreatment of crossing the border, and the rejecting pretreatment of crossing the border is specially：By by the position coordinates of tracing point with
The information of mining area scope is contrasted, and rejects the data not in the range of mining area；
B2, the data not being removed in b1 are carried out to mantenance data rejecting pretreatment, the mantenance data rejects pretreatment
Specifically：The position coordinates of tracing point is judged in building and is floated within the specific limits for a long time, judges now mine truck
In service mode, then the position coordinates of these tracing points is rejected；
B3, by the data not being removed in b2, by car number and time interval, (this time is at intervals of empirical value, such as selects
Select -30 seconds etc. 5 seconds) it is segmented, be specifically：Set up using time series sample of the time as abscissa, longitude for ordinate
This I, it is established that using timed sample sequence II of the time as abscissa, dimension for ordinate；
B4, the auto-correlation coefficient for calculating timed sample sequence I, obtain autocorrelation coefficient series I；Calculate timed sample sequence
II auto-correlation coefficient, obtain autocorrelation coefficient series II；
B5, autocorrelation coefficient series I and auto-correlation coefficient sequence examined using Dickey-Fuller white noise verifications method
Whether row II have noise, if so, by the autocorrelation orders of autocorrelation coefficient series I and autocorrelation coefficient series II from phase
Pass exponent number is found out respective deviation point and rejected；If it is not, carrying out first time judgement, the first time judgement is specially：If
Autocorrelation coefficient series I and autocorrelation coefficient series II do not have noise, then the trend of abscissa and ordinate are judged, if horizontal
Coordinate or ordinate have rising or downward trend over time, then implement logarithmic transformation to abscissa or ordinate, are formed
New time series F=InX or F=InY；If abscissa or ordinate have the trend of concussion over time, to horizontal seat
Mark or ordinate apply the differential transformation that time lag is s, form new time series F=△ sXi=(Xi-Xi-s), and wherein s is warp
Test value；If abscissa or ordinate have over time simultaneously to be had rising or downward trend and has concussion over time
Trend, then logarithmic transformation and differential transformation are applied simultaneously to abscissa or ordinate, form new sequence F=In (Xi-Xi-
S), b4 step process then is carried out to new sequence F；
B6, the trace information after b5 form track point set G1；
Data after this step process are as shown in Figure 2；
Step c, the generation of trajectory, it is specifically：According to the direction of car number, acquisition time and tracing point by track
Point set G1, which is sequentially segmented, connects into a plurality of trajectory D1, and Details as Follows for the generation of trajectory：Specifically include following steps：
C1, the rail for obtaining according to car number data prediction in all b by step in the track road update cycle
Mark point；
C2, all tracing points obtained according to time series to c1 carry out range-azimuth analysis, certain according to tracing point
Change in location is less a little opposite with subsequent point prescription position on (being usually set in the range of 2m) and tracing point in time and connects
All tracing points are divided into different sections by the principle of certain amount of getting off point (being typically chosen 10) orientation all same；
Each tracing point in c3, the different sections for obtaining c2 is in chronological sequence linked in sequence into curve, obtains a plurality of track
Line D1；
Above-mentioned steps are necessary to ensure that the track point set after segmentation is the track once run, rather than come and go caused number
According to；
Step d, trajectory judges to sort out with road, is specifically：Determined by the position relationship between each bar trajectory D1
Belong to the trajectory of same path, same path is carried out by the way of judgement is superimposed after curve establishes buffering area in step d
Ownership judges, is specifically：D1, the buffering area that radius is 3 meters is established centered on a plurality of trajectory D1 respectively；D2, to each bar rail
Trace D1 buffering area carries out position judgment, and each bar trajectory D1 is split and taken respectively if overlap proportion is less than 95%
Go out nonoverlapping tracing point, assert that a plurality of trajectory D1 belongs to same path if overlap proportion is more than or equal to 95%, if nothing
It is overlapping, directly judge that a plurality of trajectory D1 is not belonging to same path；
Step e, track point set G2 acquisition, it is specifically：Direction, coordinate are passed through to all tracing points on same path
And track acquisition time carries out obtaining track point set G2, the specific bag of filtering shift point processing after filtering shift point processing
Include following steps：
E1, extraction belong to the different tracks line of same path；
E2, assume direct of travel, the tracing point in e1 in all trajectories is ranked up by direct of travel；
E3, judges whether the sequence number value of the i-th tracing point is less than the total value of all tracing points, if not being then divided to undetermined
In point set, rebound e2；If then obtain the tracing point of the corresponding sequence number in remaining trajectory；
E4, the tracing point for obtaining e3 are carried out towards judgement, are regarded as qualified point if direction is in threshold value, are stored to rail
In mark point set G2；Rear three tracing points of this tracing point and other tracks in this trajectory are obtained if direction exceedes threshold value
Three tracing points on line obtain the i-th tracing point subset；
E5, the direction for judging tracing point in the i-th tracing point subset, if towards assert that the i-th tracing point is if in threshold value
Deviation point, the amendment coordinate of the i-th tracing point is further calculated by distance weighting method, the amendment coordinate of the i-th tracing point is stored
Into track point set G2, if the i-th tracing point is determined as into point to be located towards more than if threshold value, continue to click through i+1 track
Row judgement, rebound e3；
Wherein, the misalignment angle that the threshold value in the e4 and e5 refers both to direction is 10 °；
Step f, newly-increased point set G4 acquisition, it is specifically：Pass through the position between existing road and track point set G2
Relation, newly-increased point set G4 is obtained, Details as Follows：First judge whether the coordinate position of the tracing point belongs to existing circuit and established
Buffering area in, if then reject (data that if necessary, can also reject this part are divided into qualified point and adjusting point, close
Lattice point is to the point completely overlapped with existing road, and adjusting point refers to and existing road has certain deviation but fallen in existing road
Point in built buffer area, adjusting point can be fused in existing road using certain modification method), if it is not, then sentencing
Whether the coordinate position of previous tracing point and the coordinate position of the latter tracing point of the disconnected tracing point are built in existing circuit
In vertical buffering area, it is specifically：If the buffering that the coordinate position of the previous tracing point of the tracing point is established in existing circuit
In area and the latter tracing point of the tracing point coordinate position not in the buffering area that existing circuit is established, or the track
Point previous tracing point coordinate position not in the buffering area that existing circuit is established and the tracing point the latter track
The coordinate position of point is in the buffering area that existing circuit is established, or the previous tracing point of the tracing point, the latter track
The tracing point is then included in newly-increased point set G4, otherwise the tracing point is included in by the coordinate position of point not in the range of buffering area
Correct point set G3；
Step g, trajectory D2 acquisition, it is specifically：Newly-increased point G4 is connected into track by car number and acquisition time
Line D2；
Step h, road P2 generation, it is specifically：Using the method for buffering area additive fusion by institute's rail on same road
Trace D2 fusion generation roads P2, road such as Fig. 3 of each tracing point generation；
Step i, road P2 road axis D3 is extracted, road axis D3 is added into new added road buffer DB
In；
Step j, Break Row and connection topology operation are entered between all road axis D3 and original road, after obtaining renewal
Road data.
The preferred embodiments of the present invention are the foregoing is only, are not intended to limit the invention, for the skill of this area
For art personnel, the present invention can have various modifications and variations.Within the spirit and principles of the invention, that is made any repaiies
Change, equivalent substitution, improvement etc., should be included in the scope of the protection.
Claims (8)
- A kind of 1. method of road renewal, it is characterised in that comprise the following steps：Step a, information gathering, it is specifically：The information collecting device being connected with control centre is installed on all mine trucks in mine, And the three-dimensional coordinate position of acquisition, acquisition time and car number are passed back in control according to the data transmission frequencies of setting The heart, store into information gathering data storehouse；Step b, data prediction, it is specifically：To the three-dimensional coordinate position information obtained in information gathering data storehouse by step a Coordinate Conversion and the pretreatment operation of rejecting abnormal data are carried out, track point set G1 is obtained, specifically includes following steps：B1, tracing point all in the inquiry roads update cycle, the coordinate of the three-dimensional coordinate position of all tracing points is passed through seven Parametric inversion algorithm, which is transformed into specified coordinate system, obtains the position coordinates of each tracing point, to the position of the tracing point after conversion Coordinate carries out rejecting pretreatment of crossing the border, and the rejecting pretreatment of crossing the border is specially：By by the position coordinates of tracing point and mining area The information of scope is contrasted, and rejects the data not in the range of mining area；B2, the data not being removed in b1 are carried out to mantenance data rejecting pretreatment, it is specific that the mantenance data rejects pretreatment It is：The position coordinates of tracing point is judged in building and is floated within the specific limits for a long time, judges that now mine truck is being tieed up State is repaiied, is then rejected the position coordinates of these tracing points；B3, the data not being removed in b2 are segmented by car number and time interval, are specifically：Set up using the time as Abscissa, the timed sample sequence I that longitude is ordinate, it is established that using time sequence of the time as abscissa, dimension for ordinate Row sample II；B4, the auto-correlation coefficient for calculating timed sample sequence I, obtain autocorrelation coefficient series I；Calculate timed sample sequence II Auto-correlation coefficient, obtain autocorrelation coefficient series II；B5, using noise hypothesis testing method examine whether autocorrelation coefficient series I and autocorrelation coefficient series II have noise, If so, found out each by the autocorrelation order of autocorrelation coefficient series I and the autocorrelation order of autocorrelation coefficient series II Deviation point rejected；If it is not, carrying out first time judgement, the first time judgement is specially：If autocorrelation coefficient series I There is no noise with autocorrelation coefficient series II, then judge the trend of abscissa and ordinate, if abscissa or ordinate with The time has rising or downward trend, then implements logarithmic transformation to abscissa or ordinate, form new time series F= InX or F=InY；If abscissa or ordinate have the trend of concussion over time, when applying to abscissa or ordinate The stagnant differential transformation for s, forms new time series F=△ sXi=(Xi-Xi-s), and wherein s is empirical value；If abscissa Or ordinate simultaneously have have over time rising or downward trend and the trend for having concussion over time, then to horizontal seat Mark or ordinate apply logarithmic transformation and differential transformation simultaneously, new sequence F=In (Xi-Xi-s) are formed, then to new sequence Arrange F and carry out b4 step process, wherein：In is function of taking the logarithm, equivalent to the log that the truth of a matter is eaN functions；InX is to abscissa Implement logarithmic transformation；InY is to implement logarithmic transformation to ordinate；△ sXi are to apply the difference that time lag is s to abscissa or ordinate Divide conversion；Xi represents the abscissa at i moment；Xi-s represents the abscissa at i-s moment；In (Xi-Xi-s) is to abscissa or vertical Coordinate applies logarithmic transformation and differential transformation simultaneously；B6, the trace information after b5 form track point set G1；Step c, the generation of trajectory, it is specifically：According to the direction of car number, acquisition time and tracing point by track point set Conjunction G1, which is sequentially segmented, connects into a plurality of trajectory D1；Step d, trajectory judges to sort out with road, is specifically：Determine that category is same by the position relationship between each bar trajectory D1 The trajectory of one road；Step e, track point set G2 acquisition, it is specifically：To all tracing points on same path by towards, coordinate and Track acquisition time carries out obtaining track point set G2 after filtering shift point processing；Step f, newly-increased point set G4 acquisition, it is specifically：By the position relationship between existing road and track point set G2, Obtain newly-increased point set G4；Step g, trajectory D2 acquisition, it is specifically：Newly-increased point set G4 is connected into track by car number and acquisition time Line D2；Step h, road P2 generation, it is specifically：By all trajectory D2 fusions generation road P2 on same path；Step i, road P2 road axis D3 is extracted, road axis D3 is added in new added road buffer DB；Step j, topological operation will be carried out between all road axis D3 and original road in new added road buffer DB, obtained Road data after to renewal.
- 2. the method for road renewal according to claim 1, it is characterised in that the generation tool of trajectory in the step c Body comprises the following steps：C1, the tracing point for obtaining according to car number data prediction in all b by step in the track road update cycle；C2, all tracing points obtained according to time series to c1 carry out range-azimuth analysis, according to tracing point certain time Interior change in location side a little opposite with subsequent point prescription position and following a number of tracing point less and on tracing point All tracing points are divided into different sections by the principle of position all same；Each tracing point in c3, the different sections for obtaining c2 is in chronological sequence linked in sequence into curve, obtains a plurality of trajectory D1.
- 3. the method for road renewal according to claim 1, it is characterised in that established and delayed using curve in the step d Rush behind area and be superimposed the mode of judgement and carry out same path ownership and judge, be specifically：D1, respectively centered on a plurality of trajectory D1 Establish the buffering area that radius is 3 meters；D2, the buffering area to each bar trajectory D1 carry out position judgment, if overlap proportion is less than Each bar trajectory D1 is split and takes out nonoverlapping tracing point by 95% respectively, if overlap proportion is more than or equal to 95% Assert that a plurality of trajectory D1 belongs to same path, directly judge that a plurality of trajectory D1 is not belonging to same road if non-overlapping Road.
- 4. the method for road renewal according to claim 1, it is characterised in that at the filtering shift point in the step e Reason specifically includes following steps：E1, extraction belong to the different tracks line of same path；E2, assume direct of travel, the tracing point in e1 in all trajectories is ranked up by direct of travel；E3, judges whether the sequence number value of the i-th tracing point is less than the total value of all tracing points, if not being then divided to point set undetermined In conjunction, rebound e2；If then obtain the tracing point of the corresponding sequence number in remaining trajectory；E4, the tracing point for obtaining e3 are carried out towards judgement, are regarded as qualified point if direction is in threshold value, are stored to tracing point In set G2；If towards obtaining in this trajectory in rear three tracing points of this tracing point and other trajectories if exceeding threshold value Three tracing points obtain the i-th tracing point subset；E5, the direction for judging tracing point in the i-th tracing point subset, if towards assert that the i-th tracing point is deviation if in threshold value Point, the amendment coordinate of the i-th tracing point is further calculated by distance weighting method, the amendment coordinate of the i-th tracing point is stored to rail In mark point set G2, if the i-th tracing point is determined as into point to be located towards more than if threshold value, continue to sentence i+1 tracing point It is disconnected, rebound e3.
- 5. the method for road renewal according to claim 4, it is characterised in that the threshold value in the e4 and e5 refers both to direction Misalignment angle be 10 °.
- 6. the method for road renewal according to claim 1, it is characterised in that increase point set G4's in the step f newly Obtain using the method for being superimposed judgement is established after buffering area to existing circuit, be specifically：First judge the rail in the point set G2 of track Whether the coordinate position of mark point belongs in the buffering area that existing circuit is established, if then rejecting, if it is not, then judging the track Point previous tracing point coordinate position and the latter tracing point coordinate position whether the buffering established in existing circuit In area, it is specifically：If the coordinate position of the previous tracing point of the tracing point is in the buffering area that existing circuit is established and is somebody's turn to do The coordinate position of the latter tracing point of tracing point is not in the buffering area that existing circuit is established, or the tracing point is previous The coordinate position of individual tracing point not in the buffering area that existing circuit is established and the latter tracing point of the tracing point coordinate Position is in the buffering area that existing circuit is established, or the previous tracing point of the tracing point, the coordinate of the latter tracing point The tracing point is then included in newly-increased point set G4 by position not in the range of buffering area.
- 7. the method for road renewal according to claim 1, it is characterised in that road P2 generation tool in the step h Body is：All trajectory D2 fusions on same road are generated by road P2 using the method for buffering area additive fusion.
- 8. the method for road renewal according to claim 1, it is characterised in that the topology operation in the step j is specific It is to interrupt and connect topology operation.
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