CN109782316A - A method of reducing Beidou positioning terminal positioning drift when vehicle stops - Google Patents
A method of reducing Beidou positioning terminal positioning drift when vehicle stops Download PDFInfo
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- CN109782316A CN109782316A CN201910175438.6A CN201910175438A CN109782316A CN 109782316 A CN109782316 A CN 109782316A CN 201910175438 A CN201910175438 A CN 201910175438A CN 109782316 A CN109782316 A CN 109782316A
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract
A method of Beidou positioning terminal positioning drift when vehicle stops is reduced, step: 1) judges related data validity；2) such as no data, new definition data are put into queue, and export；3) average speed of new definition point anchor point into queue, such as larger than setting maximum speed are calculated, is given up；Otherwise, new definition data are saved in queue；4) minimum speed is set as speed is greater than, into 5), otherwise entered 6)；5) average value of calculating speed, such as larger than setting minimum speed, vehicle is existing on the move, and stopping mark is set to vacation, exports new definition data；Otherwise, into 6)；6) speed in new definition data is set to 0, it is believed that vehicle has stopped；7) as stopping mark be it is false, into 8), otherwise enter 9)；8) stopping mark is set to very, preservation longitude and latitude is parking position, output amendment location data；9) longitude and latitude height is set as parking position, output amendment location data；Method is simple, location data is accurate.
Description
Technical field
The invention belongs to vehicle positioning technology fields, and in particular to Beidou positioning terminal positions when a kind of reduction vehicle stops
The method of drift.
Background technique
Currently, there is following two in discovery: 1) quiet in vehicle when carrying out vehicle location using Beidou positioning terminal
When only, Beidou positioning terminal output speed be not necessarily 0, thereby increases and it is possible to become it is bigger (reach 5.0 kilometers/hour with
On), meanwhile, the longitude and latitude data of terminal output also can randomly, slowly change with the time, for a long time so as to cause vehicle
When static, the track of formation is as a tangled skein of jute；
2) vehicle in the process of moving, Beidou positioning terminal output location data it is more accurate, but will appear once in a while through
Latitude speed acutely jumps, and the case where rapidly return back to correct value.
The existing method for reducing positioning drift not can solve both of these problems, especially first problem.
Summary of the invention
To overcome above-mentioned the deficiencies in the prior art, Beidou is fixed when stopping the purpose of the present invention is to provide a kind of reduction vehicle
The method of position terminal positioning drift has the characteristics that method is simple, location data is accurate, the track of formation is clearly unruffled.
To achieve the above object, the technical solution adopted by the present invention is that: a kind of reduction vehicle stop when Beidou positioning terminal
The method of positioning drift is filtered and corrects to GGA the and RMC data packet obtained from Beidou positioning terminal, including following step
It is rapid:
S1 checks whether the state instruction field in GGA data packet is that 0,0 expression positions unavailable or invalid and RMC
Whether the positioning states field in data packet is V, and V indicates invalid positioning, if the state instruction field in GGA data packet is 0
Or the positioning states field in RMC data packet is V, then terminates；Otherwise S2 is entered step；
New definition data are put into queue, and export new definition number if not having data in location data queue by S2
According to end；Otherwise, S3 is entered step；
S3 calculates the average speed of new definition point the last one anchor point into queue, if average speed is greater than setting
Maximum speed, then it is assumed that this data is illegal, gives up, and terminates；Otherwise, new definition data are saved in queue, are entered step
S4；
S4 enters step S5, otherwise enters step if the speed in new definition data is greater than setting minimum speed
S6；
S5 calculates the average value of speed in location data queue, if average speed is greater than setting minimum speed, then it is assumed that
Vehicle is existing on the move, and stopping mark is set to vacation, exports new definition data, is terminated；Otherwise, S6 is entered step；
Speed in new definition data is set to 0, it is believed that vehicle has stopped by S6；
S7 enters step S8, otherwise enters step S9 if stopping mark is vacation；
S8, it is parking position that stopping mark, which is set to the longitude and latitude really saved in new definition data, and it is revised fixed to export
Position data, terminate；
Longitude and latitude high setting in new definition data is the parking position saved before this, exports revised location data by S9,
Terminate.
The beneficial effects of the present invention are:
Compared with prior art, the present invention is positioned due to using smothing filtering technology release rate noise to from Beidou
GGA the and RMC data packet that terminal obtains is filtered and corrects, to reduce Beidou positioning terminal positioning drift, especially vehicle
Positioning drift when static, whenever getting new location data from Beidou positioning terminal, including longitude, latitude,
Highly, the fields such as speed, direction, timestamp, are filtered location data and correct, and finally obtained location data information picks
In addition to some displacement abnormal points, it is often more important that, while speed and average speed having been used to determine whether vehicle has stopped, it is right
Positioning drift has carried out effective containment under vehicle stationary state, improves the accuracy of location data.
Detailed description of the invention
Fig. 1 is flow chart of the invention.
Specific embodiment
Invention is further described in detail with reference to the accompanying drawings and examples.
Referring to Fig. 1, a method of Beidou positioning terminal positioning drift when vehicle stops being reduced, to from Beidou positioning terminal
GGA the and RMC data packet of acquisition is filtered and corrects, comprising the following steps:
S1 checks whether the state instruction field in GGA data packet is that 0,0 expression positions unavailable or invalid and RMC
Whether the positioning states field in data packet is V, and V indicates invalid positioning, if the state instruction field in GGA data packet is 0
Or the positioning states field in RMC data packet is V, then terminate；Otherwise S2 is entered step；
New definition data are put into queue if not having data in location data queue by S2, and queue length is up to 9,
And new definition data are exported, terminate；Otherwise, S3 is entered step；
S3 calculates the average speed of new definition point the last one anchor point into queue, if average speed is greater than setting
Maximum speed, setting value are 150 kilometers/hour, then it is assumed that this data is illegal, gives up, and terminates；Otherwise, by new definition data
It is saved in queue, enters step S4；
S4 enters step S5 if the speed in new definition data is greater than 3.6 kilometers/hour of minimum speed of setting, no
Then enter step S6；
S5 calculates the average value of speed in location data queue, if average speed is greater than 3.6 public affairs of setting minimum speed
In/hour, then it is assumed that vehicle is existing on the move, and stopping mark is set to vacation, exports new definition data, is terminated；Otherwise, into step
Rapid S6；
Speed in new definition data is set to 0, it is believed that vehicle has stopped by S6；
S7 enters step S8, otherwise enters step S9 if stopping mark is vacation；
S8, it is parking position that stopping mark, which is set to the longitude and latitude really saved in new definition data, and it is revised fixed to export
Position data, terminate；
Longitude and latitude high setting in new definition data is the parking position saved before this, exports revised location data by S9,
Terminate.
The following table 1 is the output result that some test cases are generated according to above-mentioned steps, wherein " input location data ", " defeated
4 elements point for including in [] (such as [109,34,35,1514736001]) of location data out " and " location data queue "
Be not longitude (unit degree), latitude (unit degree), speed (unit kilometer/hour), unix timestamp indicate positioning sampling when
It carves (unit second), 2 elements for including in [] of " stop position " respectively indicate longitude (unit degree), latitude (unit degree).
Table 1
Claims (1)
1. a kind of method for reducing Beidou positioning terminal positioning drift when vehicle stops, to the GGA obtained from Beidou positioning terminal
It is filtered and corrects with RMC data packet, which comprises the following steps:
S1 checks whether the state instruction field in GGA data packet is that 0,0 expression positions unavailable or invalid and RMC data
Whether positioning states field in packet is V, and V indicates invalid positioning, if the state instruction field in GGA data packet be 0 or
Positioning states field in RMC data packet is V, then terminates；Otherwise S2 is entered step；
New definition data are put into queue, and export new definition data if not having data in location data queue by S2, knot
Beam；Otherwise, S3 is entered step；
S3 calculates the average speed of new definition point the last one anchor point into queue, if average speed is greater than setting maximum
Speed, then it is assumed that this data is illegal, gives up, and terminates；Otherwise, new definition data are saved in queue, enter step S4；
S4 enters step S5, otherwise enters step S6 if the speed in new definition data is greater than setting minimum speed；
S5 calculates the average value of speed in location data queue, if average speed is greater than setting minimum speed, then it is assumed that vehicle
It is now on the move, stopping mark is set to vacation, exports new definition data, is terminated；Otherwise, S6 is entered step；
Speed in new definition data is set to 0, it is believed that vehicle has stopped by S6；
S7 enters step S8, otherwise enters step S9 if stopping mark is vacation；
S8, it is parking position that stopping mark, which is set to the longitude and latitude really saved in new definition data, exports revised positioning number
According to end；
Longitude and latitude high setting in new definition data is the parking position saved before this, exports revised location data by S9, knot
Beam.
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| CN110188154A (en) * | 2019-05-31 | 2019-08-30 | 北京首汽智行科技有限公司 | A kind of algorithm of the magnanimity vehicle track data based on spark |
| CN110415545A (en) * | 2019-08-02 | 2019-11-05 | 辰芯科技有限公司 | A kind of lane location method, apparatus, electronic equipment and storage medium |
| CN110406565A (en) * | 2019-08-01 | 2019-11-05 | 南京富岛信息工程有限公司 | The positioning and rectifying of Intelligent iron shoe and stolen determination method and device |
| CN110927755A (en) * | 2019-11-14 | 2020-03-27 | 深圳市麦谷科技有限公司 | Filtering method and device for vehicle drift point |
| CN111267910A (en) * | 2020-02-10 | 2020-06-12 | 西南交通大学 | Train real-time positioning method based on speed weighted filtering |
| CN112231553A (en) * | 2020-10-10 | 2021-01-15 | 北京骑胜科技有限公司 | Position determination method, position determination device, storage medium and electronic equipment |
| CN117805867A (en) * | 2024-02-29 | 2024-04-02 | 四川参盘供应链科技有限公司 | GPS drift point filtering method based on positioning points |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110188154A (en) * | 2019-05-31 | 2019-08-30 | 北京首汽智行科技有限公司 | A kind of algorithm of the magnanimity vehicle track data based on spark |
| CN110406565A (en) * | 2019-08-01 | 2019-11-05 | 南京富岛信息工程有限公司 | The positioning and rectifying of Intelligent iron shoe and stolen determination method and device |
| CN110406565B (en) * | 2019-08-01 | 2021-07-20 | 南京富岛信息工程有限公司 | Method and device for positioning, correcting and judging theft of intelligent iron shoe |
| CN110415545B (en) * | 2019-08-02 | 2020-09-29 | 辰芯科技有限公司 | Lane positioning method and device, electronic equipment and storage medium |
| CN110415545A (en) * | 2019-08-02 | 2019-11-05 | 辰芯科技有限公司 | A kind of lane location method, apparatus, electronic equipment and storage medium |
| CN110927755B (en) * | 2019-11-14 | 2021-10-15 | 深圳市麦谷科技有限公司 | Filtering method and device for vehicle drift point |
| CN110927755A (en) * | 2019-11-14 | 2020-03-27 | 深圳市麦谷科技有限公司 | Filtering method and device for vehicle drift point |
| CN111267910B (en) * | 2020-02-10 | 2021-03-26 | 西南交通大学 | Train real-time positioning method based on speed weighted filtering |
| CN111267910A (en) * | 2020-02-10 | 2020-06-12 | 西南交通大学 | Train real-time positioning method based on speed weighted filtering |
| CN112231553A (en) * | 2020-10-10 | 2021-01-15 | 北京骑胜科技有限公司 | Position determination method, position determination device, storage medium and electronic equipment |
| CN112231553B (en) * | 2020-10-10 | 2022-04-08 | 北京骑胜科技有限公司 | Position determination method, position determination device, storage medium and electronic equipment |
| CN117805867A (en) * | 2024-02-29 | 2024-04-02 | 四川参盘供应链科技有限公司 | GPS drift point filtering method based on positioning points |
| CN117805867B (en) * | 2024-02-29 | 2024-05-14 | 四川参盘供应链科技有限公司 | GPS drift point filtering method based on positioning points |
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