CN105547322B - A kind of method that VMT Vehicle-Miles of Travel calculating is carried out using satellite location data - Google Patents
A kind of method that VMT Vehicle-Miles of Travel calculating is carried out using satellite location data Download PDFInfo
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C22/00—Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers, using pedometers
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- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
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Abstract
The invention discloses a kind of method that VMT Vehicle-Miles of Travel calculating is carried out using satellite location data.This method utilizes the satellite location data being stored in monitoring center system database, the vehicle of mileage to be counted is selected first, whole satellite location datas of the vehicle are screened according to timing statistics section, threshold value is distinguished according to the speed of setting, all satellite location datas are divided into low-speed mode and high speed pattern.Both of which is respectively adopted algorithms of different to calculate and count distance travelled.Compared to relatively having algorithm, algorithm disclosed by the invention has good anti-interference for the satellite location data noise for fix drift occurring when stopping, running at a low speed producing, can effectively eliminate the influence that these drift datas count mileage；It can be shielded at the same time with satellite location data of the pair warp and weft degree beyond zone of reasonableness, effectively improve the accuracy rate of VMT Vehicle-Miles of Travel calculating.
Description
Technical field
The invention belongs to intelligent transportation field, and in particular to one kind carries out VMT Vehicle-Miles of Travel meter using satellite location data
The method of calculation.
Background technology
The birth of global position system (such as GPS GPS dipper system) is to our daily life
Great change is brought, the coordinate position of vehicle is obtained by technique, us can be made easily to carry out some traffic
The statistical work of data, such as the distance travelled statistics of vehicle.Especially road transportation enterprises carry out safety and administration of energy conservation and
When analyzing work, VMT Vehicle-Miles of Travel is very important basic data.At present, global position system is in road transports at different levels
Enterprise includes being able to extensive use in personal user, how to make full use of the satellite location data of these magnanimity to obtain standard to calculate
True VMT Vehicle-Miles of Travel, has important value and practical significance.
At present, when being calculated using global position system and calculating vehicle travel mileage, due to global position system itself
Signal sensing error, it is not accurate enough to be likely to result in the position location current to vehicle, is commonly called as " drifting about ".Especially when being positioned
Vehicle when being in low speed or inactive state, the position of the vehicle sensed by global position system be possible to be not
The physical location of the vehicle, but be randomly dispersed in using the physical location of the vehicle as the center of circle, there is the circle of certain radius
In domain, and change is likely to occur at any time.And the way of common calculating vehicle travel mileage is that global position system is per second
The vehicle instantaneous velocity reported, which is multiplied by, calculates the mileage that vehicle in this second travels for 1 second, then will be travelled in vehicle each second
Mileage carry out cumulative drawing total distance travelled.But due to the interference of above-mentioned drift phenomenon, when vehicle be practically at it is static
During state, global position system is also possible that sensing its position is changing, and each second still may all report this
The speed of vehicle, and report information to continue to calculate and the distance travelled for the vehicle that adds up according to the false speed.It is so obvious
It will result in the statistical mistake of VMT Vehicle-Miles of Travel.
In this case, many manufacturers or method used by a user are：Speed is set to filter thresholding, it is static to avoid
When mileage accumulation.Specifically, when speed is less than a certain thresholding, the instant mileage is not accumulated, and only speed is higher than the thresholding
Ability accumulated distance.This method has the following disadvantages：A statistics starting velocity thresholding is set due to simply simple, if mistake
Filter thresholding setting is too high, then the low speed distance travelled less than the thresholding can not accumulate, can not if filtering thresholding setting is too low
Achieve the purpose that speed filters, the statistical method of such single solution for diverse problems can cause about 10% or so larger error so that
Statistics loses meaning.
It is in addition, cited existing in the patent of invention that this specification reference grant number is CN 102853845B
Some other VMT Vehicle-Miles of Travel statistical method existing for deficiency：
1st, concrete numerical value can only be checked in vehicle mileometer code-disc of getting on the car, monitoring and management to remote management center
Cause difficulty.
2nd, vehicle mileometer code-disc of getting on the car can only count current total mileage evidence, during certain section before can not seeing
Interior mileage.
3rd, vehicle mileometer code-disc of getting on the car is easy to stir the number that digital disk distorts accumulative distance travelled after being dismantled by people
Value so that administrative department can not know that the reality of vehicle adds up driving mileage data exactly.
4th, mileage statistics is stored on the car-mounted terminal of monitoring vehicle side, does not upload to mileage statistics remotely
Administrative center.
5th, contained in the positional information that the VMT Vehicle-Miles of Travel statistical requirements GPS car-mounted terminals of remote management center report
Mileage numerical value, it is impossible to which processing does not include the positional information of mileage statistics.
Cumulative errors caused by " static drift " cannot be effectively rejected when the 6th, by calculating longitude and latitude in GPS position information.
7th, mileage statistical method does not account for influence of the GPS position information data inaccuracy to computational accuracy.
In addition with a kind of vehicle mileage statistical method (application number：201210467630.0), this method is by GPS positioning
Both technology and the mode of collection speed sensor pulse combine, but need extra collection speed sensor pulse, the side of limiting
The application conditions of method.
A kind of method (application number of calculating vehicle travel mileage：200610069034.1), this method is with adjacent twice
Calculation of longitude ＆ latitude in point vehicle position information goes out the distance of adjacent two time points vehicle traveling；Calculated using compensation coefficient above-mentioned
The correction distance of adjacent two time points vehicle operating range；Above-mentioned correction distance is added in accumulative driving mileage data.Should
Compensation coefficient definition involved in method is, using by the vehicle actual measurement that largely test of repeated multiple times actual travel is drawn away from
The compensation coefficient that error with a distance from being calculated with gps data obtains.This method there are the problem of be route or travel by vehicle complexity
It is changeable, and the frequency of all types of user collection satellite location data also differs, even if substantial amounts of vehicle test can not also ensure
The versatility of compensation coefficient, and determine that the experimentation cost needed for this compensation coefficient is high, it also limit the application conditions of method.
A kind of method (application number based on wireless network and GPS position information real-time vehicle driving mileage statistics：
200810070407.6), this method is also corrected using compensation coefficient into row distance, it also requires presetting experimental condition progress
The calibration of compensation coefficient, equally existing definite compensation coefficient needs experimentation cost, and the application conditions of method have the problems such as limitation.
It is therefore it provides a kind of independent of other extension information of other modes such as speedometer and access such as pulse signal
, satellite location data is only relied on, just can be in accurate judgement be positioned state of motion of vehicle and be travelled according to judging result
Cheng Tongji, so as to reduce method of the prior art to VMT Vehicle-Miles of Travel statistical error, is just particularly important.
The content of the invention
Present invention aims at a kind of method that VMT Vehicle-Miles of Travel calculating is carried out using satellite location data is provided, with solution
Never dependent on other extension information, satellite location data is only relied on, just energy accurate judgement is positioned state of motion of vehicle and root
It is judged that result carries out distance travelled statistics, so as to reduce the technical problem of VMT Vehicle-Miles of Travel statistical error.
It is by foregoing invention purpose, the technical solution adopted in the present invention to realize：
A kind of method that VMT Vehicle-Miles of Travel calculating is carried out using satellite location data, using being stored in monitoring center system
Satellite location data record in database or vehicle-mounted satellite positioning terminal, selects the vehicle of mileage to be counted, root first
The period screens whole satellite location datas record of the vehicle according to statistics, distinguishes threshold value according to the speed of setting, is defended all
Star location data record is divided into low-speed mode and high speed pattern.Both of which is respectively adopted algorithms of different to calculate and unite
Count distance travelled.
Step 1) is as satellite positioning speed≤V in first bar satellite location data record, from first bar satellite location data
Record begins stepping through the low-speed record for the satellite positioning speed≤V for selecting all continuous adjacents, forms record set N, and wherein V is speed
Degree distinguishes threshold value；
If record strip number i≤b in step 2) record set N, b are the smallest record number threshold value manually set, then note is directly taken
Sat between the adjacent record that b-1 bars record after first record in the previous bar record and record set N of first record in record collection N
Subject distance SFace, as the accumulative mileage value S under the low-speed mode that can effectively add upIt is lowIf wherein first record in record set N
Headed by bar satellite location data record, then first record is directly taken, and if only if SFace<60/f × w, SIt is low=SIt is low+SFace；In formula, f
The times of collection per minute of the satellite location data record for counting mileage, i.e. frequency acquisition are selected for this；W is consecutive points
Range error correction value, the coordinate distance for filtering out two adjacent records exceed the situation of normal value, it is considered that terrain vehicle
Limit velocity should be no more than 100 meter per seconds=360KM/h, so w can be set to certain value such as 100.After calculating, provide
The S of this record set NIt is low；
If record strip number i in step 3) record set N>B, then：
A) from the owner record in record set N, a to the last record is sequentially calculated, calculates current record and next phase
Coordinate distance S between the adjacent record of neighbour's recordFace, and if only if SFace<60/f × w, SL=SL+SFace, terminate after calculating, obtain SL, SL
The sum of coordinate distance between effective record between all records of current record to owner record；
B) from the owner record in record set N, the record of other each bar records and owner record in addition to owner record is sequentially calculated
Between coordinate distance Soi, and if only if Soi<60/f × i × V × m, SoiFor virtual value, no person gives up Soi；In formula, m for arbitrary point away from
From error correction values, coordinate distance exceedes the situation of normal value between the record for filtering out i-th record and owner record, generally recognizes
For road vehicle with not higher than V speed continuous linear travel distance should be coordinate distance maximum, so being convenience of calculation
Meter, m choosings value is in the rounding of 2-5 sections；
C) S under current record is judgedoiValue and SLThe size of/π end values, if Soi>SL/ π, then add up under low-speed mode
Accumulative mileage value SIt is low, i.e. SIt is low=SIt is low+SL；Otherwise judge that this records vehicle and be in parking or satellite positioning signal drift
State, without the cumulative calculation of mileage value；
Step 4) is when the satellite positioning speed in first bar satellite location data record>During V, selection is begun stepping through from owner record
The satellite positioning speed of all continuous adjacents>The high speed record of V, forms record set M, then：
A) from the owner record in record set M, sequentially sat between the adjacent record of calculating current record and next adjacent record
Subject distance SFace, current record and next adjacent record according to speed calculate distance SV；
If b) SV>SFace, then have SH=SV, otherwise, if SV<SFaceWhile meet SFace<60/f × w, then have SH=SFace；
SHFor effective adjacent record mileage；
C) the accumulative mileage value S under high speed pattern is added upMiddle height, i.e. SMiddle height=SMiddle height+SH；
D) above-mentioned calculation procedure is repeated until this record set the last item records；Provide the S of this record set MMiddle height；
Whether step 5) positioning i+1 bar record, judge its satellite positioning speed≤V, if it is, i+1 bar records
As owner record, repeat the above steps 1)~step 3)；If it is not, then i+1 bar record is used as owner record, repeat the above steps
4) the last item that the whole satellite location datas record for having screened the vehicle, is recycled to until i records and completes corresponding steps
Untill calculating；
All S that each step of aforementioned process is calculated in step 6)It is lowAnd SMiddle heightCumulative summation is carried out, is finally calculated
Total kilometrage SAlways。
As described above distance S is calculated according to speedVCalculation formula be：
SV=(v1+v2)/2×t
Wherein v1、v2The respectively satellite positioning speed of current record and next adjacent record, t for current record with it is next
The satellite positioning time difference of adjacent record.
Coordinate distance S between the adjacent record as described aboveFace, other each bars records and coordinate between the record of owner record away from
From SoiCalculation formula, using spherical distance calculation formula：
D(x1, y1, x2, y2)=R × arccos [sin (x1)×sin(x2)+cos(x1)×cos(x2)×cos(y1-y2)]
Wherein x1、x2It is latitude value, y1、y2It is longitude, R is earth radius.
The invention has the advantages that VMT Vehicle-Miles of Travel meter is carried out using satellite location data using proposed by the present invention
The method of calculation, on the one hand helps remote monitoring and administration center to realize that vehicle mileage counts, and avoids live one by one check in vehicle
Journey table code-disc either relies on the extension information such as external speed without mobile units such as external other sensors or OBD, directly
Utilize the existing satellite location data of platform.On the other hand the satellite location data type supported is various, from end product product
The limitation of board and model, avoids changes terminal equipment and cost increase that monitor supervision platform is brought.In addition to satellite location data
Analysis and fault-tolerance are more comprehensive, and the frequency acquisition requirement to satellite location data is more wide in range, can effectively reduce method reality
The cost and the wireless communications traffic of saving user applied.Compared to relatively have algorithm, algorithm disclosed by the invention for because parking, it is low
The satellite location data noise that speed occurs fix drift when driving and produces has good anti-interference, can effectively eliminate these
The influence that drift data counts mileage；It can be shielded at the same time with illegal satellite location data of the pair warp and weft degree beyond zone of reasonableness
Cover, effectively improve the accuracy rate of VMT Vehicle-Miles of Travel calculating.
Brief description of the drawings
Fig. 1 is VMT Vehicle-Miles of Travel statistic algorithm flow chart.
Embodiment
Below in conjunction with the accompanying drawings and the embodiment of the present invention is described in further detail the method for the present invention.
Fig. 1 is VMT Vehicle-Miles of Travel statistical flowsheet figure, as shown in Figure 1, VMT Vehicle-Miles of Travel statistic algorithm process step is such as
Under：
1. recorded using the satellite location data being stored in monitoring center system database or vehicle-mounted satellite positioning terminal,
The vehicle of mileage to be counted is selected first, whole satellite location datas that the vehicle is screened according to timing statistics section record,
Certain operation motor bus is selected in the present embodiment 201,5/5,/28 15:03~16:Whole satellite digits of 03 this period
According to as shown in table 1,3309 satellite location datas record altogether.The speed set according to user distinguishes threshold value, in the present embodiment
Given threshold V=5.5m/s.All satellite location datas record is divided into low-speed mode and high speed pattern.To both of which
Algorithms of different is respectively adopted to calculate and count distance travelled.Detailed algorithm is as follows：
1) as satellite positioning speed≤V in first bar satellite location data record, recorded from first bar satellite location data
The low-speed record for the satellite positioning speed≤V for selecting all continuous adjacents is begun stepping through, forms record set N, wherein V is speed area
Divide threshold value；
2) if (b is the smallest record number threshold value that can manually set to record strip number i≤b, is set in the present embodiment in record set N
3), then directly to take the previous bar record of first low-speed record, (bar satellite location data records headed by such as first record, then
Directly take first record) the coordinate distance S between the adjacent record of rear b-1 bars recordFaceAs the low-speed mode that can effectively add up
Under accumulative mileage value SIt is low, and if only if SFace<60/f × w, SIt is low=SIt is low+SFace.In formula, f is selected for counting mileage for this
The times of collection per minute of satellite location data record, i.e. frequency acquisition, the frequency of data acquisition is per minute in the present embodiment
60 times, therefore f=60；W is consecutive points range error correction value, and the coordinate distance for filtering out two adjacent records exceedes normal
The situation of value, it is considered that the limit velocity of road vehicle should be no more than 100 meter per seconds=360KM/h, so in the present embodiment, w
It is set to definite value 100.After calculating, the S of this record set N is providedIt is low；
If 3) record strip number i in record set N>B, then：
A) from the owner record in record set N, a to the last record is sequentially calculated, calculates current record and next phase
Coordinate distance S between the adjacent record of neighbour's recordFace, and if only if SFace<60/f × w, SL=SL+SFace, terminate after calculating, obtain SL, SL
The sum of coordinate distance between effective record between all records of current record to owner record；
B) from the owner record in record set N, the record of other each bar records and owner record in addition to owner record is sequentially calculated
Between coordinate distance Soi, and if only if Soi<60/f × i × V × m, SoiFor virtual value, no person gives up Soi.In formula, m for arbitrary point away from
From error correction values, coordinate distance exceedes the situation of normal value between the record for filtering out i-th record and owner record, generally recognizes
For road vehicle with not higher than V speed continuous linear travel distance should be coordinate distance maximum, so being convenience of calculation
Meter, for m choosings value in 2-5 sections rounding, the present embodiment, m values are 2；
C) S under current record is judgedoiValue and SLThe size of/π end values, if Soi>SL/ π, then add up under low-speed mode
Accumulative mileage value SIt is low, i.e. SIt is low=SIt is low+SL；Otherwise judge that this records vehicle and be in parking or satellite positioning signal drift
State, without the cumulative calculation of mileage value；
4) when the satellite positioning speed in first bar satellite location data record>During V, it is all to begin stepping through selection from owner record
The satellite positioning speed of continuous adjacent>The high speed record of V, forms record set N, then：
A) from the owner record in record set N, sequentially sat between the adjacent record of calculating current record and next adjacent record
Subject distance SFace, current record and next adjacent record according to speed calculate distance SV；
If b) SV>SFace, then have SH=SV, otherwise, if SV<SFaceWhile meet SFace<60/f × w, then have SH=SFace；
SHFor effective adjacent record mileage；
C) the accumulative mileage value S under high speed pattern is added upMiddle height, i.e. SMiddle height=SMiddle height+SH；
D) above-mentioned calculation procedure is repeated until this record set the last item records；Provide the S of this record set NMiddle height；
5) i+1 bar record is positioned, whether judges its satellite positioning speed≤V, if it is, i+1 bar records conduct
Owner record, repeat the above steps 1)~step 3)；If it is not, then i+1 bar record is used as owner record, repeat the above steps 4),
Until i be recycled to screened the vehicle whole satellite location datas record the last item record and complete corresponding steps calculating
Untill；
6) all S that each step of aforementioned process is calculatedIt is lowAnd SMiddle heightCumulative summation is carried out, is obtained in finally calculating always
Journey SAlways。
Data in table 1 are inputted into Google Earth, instrument is carried using it and measures first bar and recorded on the map of last bar record
Actual distance is 12.419 kilometers.Using language programming, data in table 1 are directly remembered using adjacent satellite location data
Coordinate distance adds up the mode of summation between the record of record, calculates apart from for 15.148 kilometers.And the algorithm provided according to the present invention,
With reference to the setup parameter in the present embodiment, algorithm routine is run, it is 12.4 that the VMT Vehicle-Miles of Travel in the period, which is calculated,
Kilometer, precision has reached 99.85%, and the drift of the satellite location data for occurring in data acquisition system in table 1 situation carries out
Effectively eliminate, the mileage calculation result given by algorithm does not add up the distance value of these shift points, and while calculating effectively shields
Latitude and longitude coordinates value is covered not in the record of zone of reasonableness.Comprehensive comparison, further demonstrates the present invention and provides algorithm
Validity.
Table 1：The satellite location data record (part) gathered on a time period to sample vehicle
Claims (5)
- A kind of 1. method that VMT Vehicle-Miles of Travel calculating is carried out using satellite location data, it is characterised in that this method includes：Recorded using the satellite location data being stored in monitoring center system database or vehicle-mounted satellite positioning terminal, selected first The vehicle of mileage to be counted is selected, whole satellite location datas that the vehicle is screened according to timing statistics section record, according to setting Fixed speed distinguishes threshold value, and all satellite location datas record is divided into low-speed mode and high speed pattern；To both of which Algorithms of different is respectively adopted to calculate and count distance travelled；Step 1) is recorded as satellite positioning speed≤V in first bar satellite location data record from first bar satellite location data The low-speed record for the satellite positioning speed≤V for selecting all continuous adjacents is begun stepping through, forms record set N, wherein V is speed area Divide threshold value；If record strip number i≤b in step 2) record set N, b are the smallest record number threshold value manually set, then record set N is directly taken In first record previous bar record and record set N in first record after b-1 bars record adjacent record between coordinate away from From SFace, as the accumulative mileage value S under the low-speed mode that can effectively add upIt is lowIf wherein in record set N headed by first record Bar satellite location data records, then first record is directly taken, and if only if SFace<60/f × w, SIt is low=SIt is low+SFace；In formula, f is this The times of collection per minute that the secondary satellite location data selected for counting mileage records, i.e. frequency acquisition；W is consecutive points distance Error correction values, the coordinate distance for filtering out two adjacent records exceed the situation of normal value, after calculating, provide this note The S of record collection NIt is low；If record strip number i in step 3) record set N>B, then：A) from the owner record in record set N, a to the last record is sequentially calculated, calculates current record and next adjacent note Coordinate distance S between the adjacent record of recordFace, and if only if SFace<60/f × w, SL=SL+SFace, terminate after calculating, obtain SL, SLTo work as Before recorded the sum of coordinate distance between effective record between all records of owner record；B) from the owner record in record set N, sequentially calculate and sat in addition to owner record between the record of other each bar records and owner record Subject distance Soi, and if only if Soi<60/f × i × V × m, SoiFor virtual value, no person gives up Soi；In formula, m misses for arbitrary point distance Poor correction value, for filtering out i-th situation for recording the coordinate distance between the record of owner record and exceeding normal value；C) S under current record is judgedoiValue and SLThe size of/π end values, if Soi>SL/ π, then add up tired under low-speed mode Count mileage value SIt is low, i.e. SIt is low=SIt is low+SL；Otherwise judge that this records vehicle and be in parking or satellite positioning signal drifts like State, without the cumulative calculation of mileage value；Step 4) is when the satellite positioning speed in first bar satellite location data record>During V, it is all to begin stepping through selection from owner record The satellite positioning speed of continuous adjacent>The high speed record of V, forms record set M, then：A) from the owner record in record set M, sequentially calculate between the adjacent record of current record and next adjacent record coordinate away from From SFace, current record and next adjacent record according to speed calculate distance SV；If b) SV>SFace, then have SH=SV, otherwise, if SV<SFaceWhile meet SFace<60/f × w, then have SH=SFace；SHFor Effective adjacent record mileage；C) the accumulative mileage value S under high speed pattern is added upMiddle height, i.e. SMiddle height=SMiddle height+SH；D) above-mentioned calculation procedure is repeated until this record set the last item records；Provide the S of this record set MMiddle height；Whether step 5) positioning i+1 bar record, judge its satellite positioning speed≤V, if it is, i+1 bar records conduct Owner record, repeat the above steps 1)~step 3)；If it is not, then i+1 bar record is used as owner record, repeat the above steps 4), Until i be recycled to screened the vehicle whole satellite location datas record the last item record and complete corresponding steps calculating Untill；All S that each step of aforementioned process is calculated in step 6)It is lowAnd SMiddle heightCumulative summation is carried out, is obtained in finally calculating always Journey SAlways。
- 2. a kind of method that VMT Vehicle-Miles of Travel calculating is carried out using satellite location data according to claim 1, it is special Sign is, described to calculate distance S according to speedVCalculation formula be：SV=(v1+v2)/2×tWherein v1、v2The respectively satellite positioning speed of current record and next adjacent record, t for current record with it is next adjacent The satellite positioning time difference of record.
- 3. a kind of method that VMT Vehicle-Miles of Travel calculating is carried out using satellite location data according to claim 1, it is special Sign is, coordinate distance S between the adjacent recordFace, other each bars records and coordinate distance S between the record of owner recordoiCalculating Formula, using spherical distance calculation formula：D(x1, y1, x2, y2)=R × arccos [sin (x1)×sin(x2)+cos(x1)×cos(x2)×cos(y1-y2)]Wherein x1、x2It is latitude value, y1、y2It is longitude, R is earth radius.
- 4. a kind of method that VMT Vehicle-Miles of Travel calculating is carried out using satellite location data according to claim 1, it is special Sign is, consecutive points range error correction value w values between 100-150.
- 5. a kind of method that VMT Vehicle-Miles of Travel calculating is carried out using satellite location data according to claim 1, it is special Sign is that the arbitrary point range error correction value m choosings value is in the rounding of 2-5 sections.
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