CN109031372A - A method of automatically extracting vehicle line key point from satellite location data - Google Patents
A method of automatically extracting vehicle line key point from satellite location data Download PDFInfo
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- CN109031372A CN109031372A CN201810582027.4A CN201810582027A CN109031372A CN 109031372 A CN109031372 A CN 109031372A CN 201810582027 A CN201810582027 A CN 201810582027A CN 109031372 A CN109031372 A CN 109031372A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/40—Correcting position, velocity or attitude
- G01S19/41—Differential correction, e.g. DGPS [differential GPS]
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Abstract
The method that the present invention relates to a kind of to automatically extract vehicle line key point from satellite location data, method includes the following steps: step 1, acquisition track data, GNSS location receiver is installed on vehicle face, vehicle is travelled along pre-determined route, location receiver receives satellite-signal and exports location data, these data are stored；Step 2, the beginning and end for determining route determine track data content to be processed according to beginning and end；Key point in step 3, calculating vehicle line, is sequentially connected the piecewise linear approximation that each key point forms the vehicle line.Compared with prior art, the present invention has many advantages, such as to reduce amount of storage, accelerates to check speed.
Description
Technical field
The present invention relates to location datas to extract key point field, mentions automatically from satellite location data more particularly, to one kind
The method for taking vehicle line key point.
Background technique
Formal online with Beidou satellite navigation system, satellite navigation service is more more and more universal, and the current whole world is led
Navigate positioning satellite GNSS share GPS, GLONASS, Beidou, the big system of Galileo four, there are also partial region grade navigation system,
The increase of navigation satellite quantity, the promotion of performance, so that satellite coverage is wider, navigator fix becomes more convenient, positioning
Precision constantly promoted, further promote the application of Technique of Satellite Navigation and Positioning.Current all kinds of steamers, motor vehicles, aircraft
The equal vehicles, are provided with global position system, can position oneself current position in real time, while can recorde history row
Sail track.The driving trace of non-volatile recording can generally occupy very big memory space, and exist largely when equipment is static
Resetting data.How to store, the use of these vehicle line data is a problem.
When making the electronic map of route, high-precision positioning device is mounted in the mobile devices such as vehicle, according to
Route is travelled, and the data of route can be collected, and in order to improve acquisition precision, high-frequency positioning is usually used and sets
It is standby, such as the positioning device of 10Hz, i.e. 10 satellite sites of output per second, the positioning device of 50Hz, 50 satellites of output per second
Anchor point.High speed acquisition anchor point can guarantee to travel even if equipment with very high speed, and positioning interval is also smaller.For example,
High-speed rail is travelled with 350 kilometers/hour of speed per hour of speed, acquires locating point data using the positioning device of 50Hz, then two neighboring
The distance of anchor point is not more than 2 meters.Calculation method: 50=1.94 meters of 350 ÷, 3.6 ÷.It is adopted using the positioning device of 10Hz
When collecting track data then point-to-point transmission every not exceeding 1.94*5=9.72 meters.Also assume that 50Hz equipment records a hour, then
Record point has 3600*50=18000 point, and after being extracted using this method, can be used at 100~300 points can describe this traveling
Route.Greatly reduce call data storage.
In the driving trace of making apparatus, more concerns are that at different times, load bearing equipment is worked as in the position of equipment
When static, it will a large amount of duplicate location datas are generated, memory space is wasted, extract track using this method, it can be static
When location data all neglect, only save movement when track.Simultaneously according to driving trace, equipment traveling can be substantially calculated
Distance.It can be by the method for setting largest interval distance, to guarantee the continuity of track.
Summary of the invention
It is an object of the present invention to overcome the above-mentioned drawbacks of the prior art and provide one kind from satellite digit
The method of vehicle line key point is automatically extracted in.
The purpose of the present invention can be achieved through the following technical solutions:
A method of automatically extracting vehicle line key point from satellite location data, method includes the following steps:
GNSS location receiver is installed on vehicle face by step 1, acquisition track data, and vehicle is travelled along pre-determined route,
Location receiver receives satellite-signal and exports location data, these data are stored；
Step 2, the beginning and end for determining route determine track data content to be processed according to beginning and end；
Step 3, calculate vehicle line in key point, be sequentially connected each key point formed the vehicle line broken line it is close
Seemingly.
Preferably, the key point includes: that route starting point O, the serial terminal E of routine calculation centre preservation and route are whole
Point T.
Preferably, the beginning and end of the route requires or travels rail according to route design data, Map Design
The mark beginning and ending time determines.
Preferably, in the step 3 key point calculating process specifically includes the following steps:
Step 3.1 assumes that the beginning and end of route forms P1 by a series of point, and P2, P3 ... Pn, wherein P1 is known as line
The starting point O, Pn on road are known as the terminal T of route, and it is n that route, which is always counted, and each point includes latitude and longitude information or XY coordinate letter
Breath；
Step 3.2, the parameter for setting routine calculation, the largest interval of the peak excursion distance dmax including permission and permission
Distance Lmax；
Step 3.3, since starting point O, select P1 for zequin S, be designated as is under the point, select thirdly P3 be meter
Terminal E is calculated, is designated as ie under the point；
Step 3.4 forms straight line SE with starting point S and terminal E two o'clock line, calculates the equation Ax+By+C of the straight line
=0, the distance between S point and E point L on the straight line are calculated using range formula, wherein A, B, C are the coefficient of linear equation, x, y
For latitude and longitude coordinates or rectangular coordinate system coordinate；
After step 3.5, selected starting point S and terminal E, the point between S and E is known as intermediate point, is every since Pis+1 point
One intermediate point Pi calculates the distance d that point arrives straight line, the i.e. projector distance of Pi point to straight line SE, and calculation formula isWherein XPi, YPiFor the coordinate value of Pi point, i is the number of intermediate point, is < i < ie；
Step 3.6 judges calculated result:
If a, L > Lmax, Pie point cannot function as route key point, using Pie-1 as route key point, then calculate
Starting point S is updated to Pie-1 point, calculates terminal E and is updated to Pie+1 point；
If b, d > dmax, Pie point cannot function as route key point, using Pie-1 as route key point, then calculate
Starting point S is updated to Pie-1 point, calculates terminal E and is updated to Pie+1 point；
If c, L ﹤ Lmax and d ﹤ dmax, Pie is saved as into serial terminal, terminal E is calculated and is updated to Pie+1 point, calculate
Starting point S is constant, repeats step 3.4~step 3.6；
Step 3.7, when route calculating terminal E update when, it is first determined whether reach route terminal T, if reach line
Road terminal T, then calculating process terminates.
Preferably, the parameter value of the step 3.2 is bigger, and the keypoint quantity extracted is fewer, while route is close
It can be reduced like degree, error increases；The parameter value is smaller, and the keypoint quantity of extraction is more, the degree of approximation of route
It is higher
Preferably, the key point of extraction, which can be used for driving trace, indicates to indicate with line characteristics, and the difference of the two is
Driving trace, which tends to equidistant key point, indicates track, and the curved portion key point that line characteristics tend to route is close
Collection, straight line portion key point are sparse.It is generally exactly that every 100 meters (Lmax) point indicated is driving trace；And curve
Section key point is especially intensive, and what straightway only had beginning and end is exactly that line characteristics indicate.Straightway can exceed that 100 meters,
200 meters even longer.The crucial points of curved section depend on deviation value dmax, and dmax is smaller, and key points are more, and dmax is got over
Greatly, crucial points are fewer.
Preferably, the precision of location receiver and output frequency influence the degree of approximation of vehicle line, fixed using RTK difference
The High-precision high-frequency rate output receiver of position can be improved the degree of approximation of route；Or when of less demanding, using general precision
Low output frequency receiver.
Compared with prior art, the invention has the following advantages that
1, high speed acquisition anchor point can guarantee to travel even if equipment with very high speed, and positioning interval is also smaller, makes
At the result is that locating point data is relatively more, after being extracted using this method, can be used at 100~300 points can describe this line
Sail route.Greatly reduce call data storage.
2, in the driving trace of making apparatus, more concerns are the positions of equipment at different times, when carrying is set
When standby static, it will a large amount of duplicate location datas are generated, memory space is wasted, extract track using this method, it can be quiet
Location data when only all neglects, and only saves track when movement.
3, the present invention can substantially calculate the distance of equipment traveling simultaneously according to driving trace, can be maximum by setting
The method of spacing distance, to guarantee the continuity of track.
Detailed description of the invention
Fig. 1 is routine calculation schematic diagram of the invention；
Fig. 2 is overall calculation flow chart of the invention；
Fig. 3 is schematic diagram of calculation result of the invention.
Specific embodiment
The technical scheme in the embodiments of the invention will be clearly and completely described below, it is clear that described implementation
Example is a part of the embodiments of the present invention, rather than whole embodiments.Based on the embodiments of the present invention, ordinary skill
Personnel's every other embodiment obtained without making creative work all should belong to the model that the present invention protects
It encloses.
It is as depicted in figs. 1 and 2:
Step 1 assumes that this section of vehicle line shares 8 points, and P1, P2 ... P8, then P1 is known as route starting point O, P8 and is known as line
Road terminal T.Route is always counted as Pcnt=8；
Step 2, the parameter for setting routine calculation, such as it is arranged dMax=1 meters of peak excursion distance of permission, permission is most
Lmax=200 meters of large-spacing distance；
Step 3, since starting point O, select P1 for zequin S, P3 be calculate terminal, i.e. is=1, ie=3.
Equation Ax+By+C=0 where step 4, calculating SE straight line, calculates the distance L between SE；
The distance d of step 5, calculating intermediate point P2 point to straight line SE.
Step 6 judges calculated result:
A, whether the length L of route SE is greater than the Lmax value of setting, i.e., whether is greater than 200 meters, if it is greater than 200 meters, then
P3 point cannot function as route key point, and using P2 as route key point, then zequin S is updated to P2 point, calculate terminal E more
Newly arrive P4 point.
B, the length L of route SE is less than the Lmax value of setting, but the deviation value d value that P2 point calculates is greater than setting
Threshold value dmax, then P3 point cannot function as route key point, and using P2 as route key point, then zequin S is updated to P2 point,
Terminal E is calculated to update to P4 point.
C, the length L of route SE is less than the Lmax value of setting, and P2 point calculates dmax value of the deviation value d again smaller than setting,
Then using P4 point as terminal E is calculated, zequin S is constant, repeats step S4~S6.
Step 7, when route calculating terminal E update when, it is first determined whether reach route terminal T.If reaching route
Terminal T, then calculating process terminates.
By route starting point O, point composed by the serial terminal E saved among routine calculation, route terminal T, referred to as
The key point of route contains the key message of route, can represent whole route.Each point is connected to one with drawing software
It rises, referred to as the piecewise linear approximation of vehicle line.Each stain therein is known as the key point of route.
When making the electronic map of route, high-precision positioning device is mounted in the mobile devices such as vehicle, according to
Route is travelled, and the data of route can be collected, and in order to improve acquisition precision, high-frequency positioning is usually used and sets
It is standby, such as the positioning device of 10Hz, i.e. 10 satellite sites of output per second, the positioning device of 50Hz, 50 satellites of output per second
Anchor point.High speed acquisition anchor point can guarantee to travel even if equipment with very high speed, and positioning interval is also smaller, caused by
The result is that locating point data is relatively more.For example, high-speed rail is travelled with 350 kilometers/hour of speed per hour of speed, set using the positioning of 50Hz
Standby acquisition locating point data, then the distance of two neighboring anchor point is not more than 2 meters.Calculation method: 350 ÷, 3.6 ÷ 50=
1.94 rice.When acquiring track data using the positioning device of 10Hz then point-to-point transmission every not exceeding 1.94*5=9.72 meters.Equally
Assuming that 50Hz equipment records a hour, then recording a little has 3600*50=18000 point, after being extracted using this method, can be used
100~300 points can describe this vehicle line.Greatly reduce call data storage.
As shown in figure 3, passing through above method processing result, this section of total line length 2.7km, sampling for a vehicle line
It counts 4400 points, after being extracted using algorithm, key point number is 27 points, it can be seen that in figure at the straight line of big section, key point ratio
Less, turning key point compares comparatively dense.Compared to original points, compression efficiency 27/4400=0.6%.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can readily occur in various equivalent modifications or replace
It changes, these modifications or substitutions should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with right
It is required that protection scope subject to.
Claims (7)
1. a kind of method for automatically extracting vehicle line key point from satellite location data, which is characterized in that this method includes
Following steps:
GNSS location receiver is installed on vehicle face by step 1, acquisition track data, and vehicle is travelled along pre-determined route, positioning
Receiver receives satellite-signal and exports location data, these data are stored；
Step 2, the beginning and end for determining route determine track data content to be processed according to beginning and end；
Key point in step 3, calculating vehicle line, is sequentially connected the piecewise linear approximation that each key point forms the vehicle line.
2. a kind of method that vehicle line key point is automatically extracted from satellite location data according to claim 1,
It is characterized in that, the key point includes: the serial terminal E and route terminal T of route starting point O, the preservation of routine calculation centre.
3. a kind of method that vehicle line key point is automatically extracted from satellite location data according to claim 1,
It is characterized in that, the beginning and end of the route is according to route design data, Map Design requirement or driving trace start-stop
Time determines.
4. a kind of method that vehicle line key point is automatically extracted from satellite location data according to claim 2,
Be characterized in that, in the step 3 key point calculating process specifically includes the following steps:
Step 3.1 assumes that the beginning and end of route forms P1 by a series of point, and P2, P3 ... Pn, wherein P1 is known as route
Starting point O, Pn are known as the terminal T of route, and it is n that route, which is always counted, and each point includes latitude and longitude information or XY coordinate information；
Step 3.2, the parameter for setting routine calculation, the largest interval distance of the peak excursion distance dmax including permission and permission
Lmax；
Step 3.3, since starting point O, select P1 for zequin S, be designated as is under the point, select thirdly P3 be calculate eventually
Point E is designated as ie under the point；
Step 3.4 forms straight line SE with starting point S and terminal E two o'clock line, calculates the equation Ax+By+C=0 of the straight line,
The distance between S point and E point L on the straight line are calculated using range formula, wherein A, B, C are the coefficient of linear equation, and x, y are warp
Latitude coordinate or rectangular coordinate system coordinate；
After step 3.5, selected starting point S and terminal E, the point between S and E is known as intermediate point, is each since Pis+1 point
Intermediate point Pi calculates the distance d that point arrives straight line, the i.e. projector distance of Pi point to straight line SE, and calculation formula is
Wherein XPi, YPiFor the coordinate value of Pi point, i is the number of intermediate point, is < i < ie；
Step 3.6 judges calculated result:
If a, L > Lmax, Pie point cannot function as route key point, using Pie-1 as route key point, then zequin
S is updated to Pie-1 point, calculates terminal E and is updated to Pie+1 point；
If b, d > dmax, Pie point cannot function as route key point, using Pie-1 as route key point, then zequin
S is updated to Pie-1 point, calculates terminal E and is updated to Pie+1 point；
If c, L ﹤ Lmax and d ﹤ dmax, Pie is saved as into serial terminal, terminal E is calculated and is updated to Pie+1 point, zequin S
It is constant, repeat step 3.4~step 3.6；
Step 3.7, when the calculating terminal E of route updates, it is first determined whether route terminal T is reached, if it is whole to reach route
Point T, then calculating process terminates.
5. a kind of method that vehicle line key point is automatically extracted from satellite location data according to claim 4,
It is characterized in that, the parameter value of the step 3.2 is bigger, and the keypoint quantity extracted is fewer, while the degree of approximation of route
It can reduce, error increases；The parameter value is smaller, and the keypoint quantity of extraction is more, and the degree of approximation of route is higher.
6. a kind of method that vehicle line key point is automatically extracted from satellite location data according to shown in claim 5,
It is characterized in that, the key point of extraction, which can be used for driving trace, to be indicated to indicate with line characteristics, and the difference of the two is to travel rail
Mark, which tends to equidistant key point, indicates track, and the curved portion key point that line characteristics tend to route is intensive, straight line
Partial key point is sparse.
7. any described one kind automatically extracts vehicle line key point from satellite location data according to claim 1~6
Method, which is characterized in that the precision and output frequency of location receiver influence the degree of approximation of vehicle line, poor using RTK
The degree of approximation for dividing the High-precision high-frequency rate output receiver of positioning to can be improved route；Or when of less demanding, using general
The receiver of the low output frequency of precision.
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| CN109917430A (en) * | 2019-04-03 | 2019-06-21 | 安徽中科智能感知产业技术研究院有限责任公司 | A kind of satellite positioning track drift method for correcting error based on smooth trajectory algorithm |
| CN110111568A (en) * | 2019-04-30 | 2019-08-09 | 重庆长安汽车股份有限公司 | Adaptive route characteristic point dynamic extracting method and computer readable storage medium |
| CN113715872A (en) * | 2021-06-25 | 2021-11-30 | 上海富欣智能交通控制有限公司 | Rail transit train real-time position conversion method, storage medium and system |
| CN115859129A (en) * | 2023-02-27 | 2023-03-28 | 南昌工程学院 | Vehicle driving track similarity measurement method and system based on sparse satellite positioning |
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