CN115639578A - Beidou navigation positioning monitoring processing method and system - Google Patents
Beidou navigation positioning monitoring processing method and system Download PDFInfo
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Abstract
The invention provides a Beidou navigation, positioning, monitoring and processing method and a Beidou navigation, positioning and monitoring system, and relates to the technical field of navigation and positioning. In the invention, a candidate navigation path set corresponding to navigation request information is screened from target map data according to the navigation request information corresponding to the mobile terminal equipment. And under the condition that at least one candidate navigation path exists in the candidate navigation path set, carrying out movement monitoring on the mobile terminal equipment so as to output a target movement path formed by the mobile terminal equipment between a navigation starting point position and a navigation end point position corresponding to the navigation request information. And updating the candidate navigation path set according to the target moving path so as to output a new candidate navigation path set corresponding to the navigation starting position and the navigation end position. Based on the method, the problem of poor convenience in updating the navigation path in the prior art can be solved.
Description
Technical Field
The invention relates to the technical field of navigation and positioning, in particular to a Beidou navigation, positioning, monitoring and processing method and system.
Background
The application range of navigation positioning is wide, so that the number of users is large, the accuracy requirement of the navigation positioning is gradually improved, and based on the requirement, the map data (navigation path) needs to be timely and effectively updated, so that the current map data is more matched with the current requirement of the users. However, in the conventional technology, a maintenance person of the map data generally needs to detect the real area and update the map data according to the error report of the user, and therefore, the updating cost is high.
Disclosure of Invention
In view of this, the present invention aims to provide a method and a system for positioning, monitoring and processing beidou navigation, so as to solve the problem of poor convenience in updating a navigation path in the prior art.
In order to achieve the above purpose, the embodiment of the invention adopts the following technical scheme:
a Beidou navigation positioning monitoring processing method is applied to a navigation server, the navigation server is in communication connection with a mobile terminal device, and the method comprises the following steps:
screening a candidate navigation path set corresponding to the navigation request information from target map data according to the navigation request information corresponding to the mobile terminal equipment;
under the condition that at least one candidate navigation path exists in the candidate navigation path set, performing movement monitoring on the mobile terminal equipment to output a target movement path formed by the mobile terminal equipment between a navigation starting point position and a navigation end point position corresponding to the navigation request information, wherein each candidate navigation path is located between the navigation starting point position and the navigation end point position;
and updating the candidate navigation path set according to the target moving path so as to output a new candidate navigation path set corresponding to the navigation starting position and the navigation end position.
In some preferred embodiments, in the Beidou navigation, positioning, monitoring and processing method, the step of screening the candidate navigation path set corresponding to the navigation request information from the target map data according to the navigation request information corresponding to the mobile terminal device includes:
under the condition of receiving navigation request information sent by the mobile terminal equipment, carrying out information analysis processing on the navigation request information so as to output a navigation position corresponding to the navigation request information, wherein the navigation position comprises a navigation starting position and a navigation end position;
and screening candidate navigation paths between the navigation starting point position and the navigation end point position from target map data according to the navigation starting point position and the navigation end point position, and constructing and forming a candidate navigation path set corresponding to the navigation request information through the candidate navigation paths.
In some preferred embodiments, in the beidou navigation positioning monitoring processing method, the step of screening candidate navigation paths between the navigation starting position and the navigation end position from target map data according to the navigation starting position and the navigation end position, and then constructing and forming a candidate navigation path set corresponding to the navigation request information through the candidate navigation paths includes:
traversing the road path in the target map data by taking the navigation starting point position as a starting point until the traversed road path covers the navigation end point position, and stopping traversing the road path in the target map data to form a candidate navigation path;
and traversing the road path in the target map data by taking the navigation starting point position as a starting point until the traversed road path covers the navigation end point position, and stopping traversing the road path in the target map data to form a candidate navigation path, wherein a candidate navigation path set corresponding to the navigation request information is constructed and formed through each candidate navigation path under the condition that the step of forming the candidate navigation path is executed at least once and a new candidate navigation path cannot be formed.
In some preferred embodiments, in the beidou navigation positioning monitoring processing method, the step of constructing a candidate navigation path set corresponding to the navigation request information through each candidate navigation path after the step of traversing the road path in the target map data by using the navigation starting point position as the starting point until the traversed road path covers the navigation end point position and stopping traversing the road path in the target map data to form a candidate navigation path is executed at least once and a new candidate navigation path cannot be formed includes:
traversing the road path in the target map data by taking the navigation starting point position as a starting point until the traversed road path covers the navigation end point position, and stopping traversing the road path in the target map data to form a candidate navigation path, wherein for each formed candidate navigation path, the path length determination processing is performed on the candidate navigation path to output a path length value corresponding to the candidate navigation path under the condition that the step of forming the candidate navigation path is executed at least once and a new candidate navigation path cannot be formed;
and sequencing each formed candidate navigation path according to the size relation among the path length values corresponding to the candidate navigation paths so as to output a candidate navigation path set corresponding to the navigation request information, wherein the candidate navigation path set belongs to an ordered set.
In some preferred embodiments, in the beidou navigation positioning monitoring processing method, when at least one candidate navigation path exists in the candidate navigation path set, the step of performing movement monitoring on the mobile terminal device to output a target movement path formed by the mobile terminal device between a navigation start position and a navigation end position corresponding to the navigation request information includes:
under the condition that at least one candidate navigation path exists in the candidate navigation path set, carrying out movement monitoring on the mobile terminal equipment so as to output a candidate movement path formed by the mobile terminal equipment between a navigation starting point position and a navigation end point position corresponding to the navigation request information;
performing path identification processing on the candidate moving path to output a path identification result corresponding to the candidate moving path, wherein the path identification result is used for representing whether the corresponding candidate moving path has a condition for forming a navigation path;
and under the condition that the path identification result corresponding to the candidate moving path represents that the corresponding candidate moving path has the condition of forming the navigation path, marking the candidate moving path to be a target moving path between the navigation starting point position and the navigation end point position of the mobile terminal equipment.
In some preferred embodiments, in the beidou navigation positioning monitoring processing method, the step of performing path identification processing on the candidate moving path to output a path identification result corresponding to the candidate moving path includes:
acquiring and processing environment information of the path environment of the candidate moving path through the mobile terminal equipment to output a path environment image set corresponding to the candidate moving path, wherein the path environment image set comprises a plurality of frames of path environment images;
for each frame of path environment image included in the path environment image set, respectively performing image similarity calculation on the path environment image and each frame of pre-configured path standard image to output the image similarity between the path environment image and each frame of path standard image;
and forming a path identification result corresponding to the candidate moving path according to the image similarity between each frame of path environment image and each frame of path standard image included in the path environment image set.
In some preferred embodiments, in the beidou navigation positioning monitoring processing method, the step of performing image similarity calculation on each frame of path environment image included in the path environment image set and each frame of pre-configured path standard image respectively to output the image similarity between the path environment image and each frame of path standard image includes:
performing image clipping processing on the path environment image to output a first clipping image corresponding to the path environment image, and then performing image clipping processing on the path standard image to output a second clipping image corresponding to the path standard image, wherein the first clipping image is all images of a ground area in the path environment image, and the second clipping image is all images of the ground area in the path standard image;
determining a first minimum rectangular frame corresponding to the first clipping image, filling the first clipping image into the first minimum rectangular frame, and performing pixel filling processing on a position which is not filled currently in the first minimum rectangular frame according to edge pixel points of the first clipping image to form a first filling image corresponding to the first clipping image;
determining a second minimum rectangular frame corresponding to the second clipping image, filling the second clipping image into the second minimum rectangular frame, and performing pixel filling processing on a currently unfilled position in the second minimum rectangular frame according to edge pixel points of the second clipping image to form a second filled image corresponding to the second clipping image;
performing image size determination processing on the first filling image to output a first image size corresponding to the first filling image, and then performing image size determination processing on the second filling image to output a second image size corresponding to the second filling image, wherein the first image size comprises the number of pixels of the first filling image in the row direction and the number of pixels of the second filling image in the column direction, and the second image size comprises the number of pixels of the second filling image in the row direction and the number of pixels of the second filling image in the column direction;
determining a first ratio of the first image size and the second image size in the row direction, performing sampling processing or interpolation processing on the first filling image in the row direction according to the first ratio to form a target first filling image corresponding to the first filling image, performing sampling processing on the first filling image in the row direction based on the reciprocal of the first ratio when the first ratio is greater than or equal to 1, and performing interpolation processing on the first filling image in the row direction based on the reciprocal of the first ratio and the pixel value of an adjacent pixel point at an interpolation position when the first ratio is less than 1, so that the number of the pixel points of the target first filling image in the row direction is equal to the number of the pixel points of the second image size in the row direction;
determining a second ratio of the first image size and the second image size in the column direction, performing sampling processing or interpolation processing on the target first filling image in the column direction according to the second ratio to form a target second filling image corresponding to the target first filling image, performing sampling processing on the target first filling image in the column direction based on the inverse of the second ratio when the second ratio is greater than or equal to 1, and performing interpolation processing on the target first filling image in the column direction based on the inverse of the second ratio and the pixel value of the adjacent pixel point at the interpolation position when the second ratio is less than 1, so that the number of the pixel points of the target second filling image in the column direction is equal to the number of the pixel points of the second image size in the column direction;
performing road contour identification processing on the target second filling image to output a first road contour corresponding to the target second filling image, and performing road contour identification processing on the second filling image to output a second road contour corresponding to the second filling image;
and calculating the contour coincidence degree between the first road contour and the second road contour to output the image similarity between the path environment image and the path standard image.
In some preferred embodiments, in the beidou navigation positioning monitoring processing method, the step of forming the path identification result corresponding to the candidate moving path according to the image similarity between each frame of path environment image and each frame of path standard image included in the path environment image set includes:
for each frame of path environment image included in the path environment image set, respectively comparing the image similarity between the path environment image and each frame of path standard image with the preset image similarity to output a size comparison result corresponding to the path environment image;
for each frame of path environment image included in the path environment image set, under the condition that the size comparison result corresponding to the path environment image represents that the image similarity between the path environment image and each frame of path standard image is smaller than the image similarity, marking the path environment image to be an abnormal path environment image;
and under the condition that the path environment image set comprises a path environment image belonging to an abnormal path environment image, forming a first path identification result corresponding to the candidate moving path, and under the condition that the path environment image set does not comprise a path environment image belonging to an abnormal path environment image, forming a second path identification result corresponding to the candidate moving path, wherein the first path identification result is used for representing that the corresponding candidate moving path does not have a condition for forming a navigation path, and the second path identification result is used for representing that the corresponding candidate moving path has a condition for forming a navigation path.
In some preferred embodiments, in the Beidou navigation positioning and monitoring processing method, the step of updating the candidate navigation path set according to the target movement path to output a new candidate navigation path set corresponding to the navigation starting position and the navigation ending position includes:
for each candidate road path included in the candidate navigation path set, judging whether the candidate road path is the same as the target moving path or not so as to output a path identity judgment result corresponding to the candidate road path;
and under the condition that the same judgment result of each candidate road path in the candidate navigation path set represents that the candidate road path is different from the target moving path, marking the target moving path to be a new candidate road path, and adding the new candidate road path to the candidate navigation path set to form a new candidate navigation path set.
The embodiment of the invention also provides a Beidou navigation, positioning, monitoring and processing system which is applied to a navigation server, wherein the navigation server is in communication connection with mobile terminal equipment, and the system comprises:
the navigation path screening module is used for screening a candidate navigation path set corresponding to the navigation request information from target map data according to the navigation request information corresponding to the mobile terminal equipment;
the device movement monitoring module is used for carrying out movement monitoring on the mobile terminal device under the condition that at least one candidate navigation path exists in the candidate navigation path set so as to output a target movement path formed by the mobile terminal device between a navigation starting point position and a navigation end point position corresponding to the navigation request information, wherein each candidate navigation path is positioned between the navigation starting point position and the navigation end point position;
and the navigation path updating module is used for updating the candidate navigation path set according to the target moving path so as to output a new candidate navigation path set corresponding to the navigation starting position and the navigation end position.
According to the Beidou navigation positioning monitoring processing method and system provided by the embodiment of the invention, the candidate navigation path set corresponding to the navigation request information can be screened from the target map data according to the navigation request information corresponding to the mobile terminal equipment. Then, under the condition that at least one candidate navigation path exists in the candidate navigation path set, the mobile terminal device is subjected to movement monitoring so as to output a target movement path formed by the mobile terminal device between a navigation starting point position and a navigation end point position corresponding to the navigation request information. And finally, updating the candidate navigation path set according to the target moving path so as to output a new candidate navigation path set corresponding to the navigation starting position and the navigation end position. Based on the steps, the on-site detection of maintenance personnel is not relied on any more, so that the updating convenience is guaranteed, and the problem that the navigation path updating convenience is poor in the prior art is solved.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
Fig. 1 is a block diagram of a navigation server according to an embodiment of the present invention.
Fig. 2 is a schematic flow chart of steps included in the Beidou navigation positioning monitoring processing method provided by the embodiment of the invention.
Fig. 3 is a schematic diagram of modules included in the beidou navigation positioning monitoring processing system according to the embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be obtained by a person skilled in the art without inventive step based on the embodiments of the present invention, are within the scope of protection of the present invention.
Referring to fig. 1, an embodiment of the present invention provides a navigation server. Wherein the navigation server may include a memory and a processor.
Illustratively, in some possible implementations, the memory and the processor are electrically connected, directly or indirectly, to enable transmission or interaction of data. For example, they may be electrically connected to each other via one or more communication buses or signal lines. The memory can have stored therein at least one software function (computer program) which can be present in the form of software or firmware. The processor can be used for executing the executable computer program stored in the memory, so that the Beidou navigation, positioning and monitoring processing method provided by the embodiment of the invention is realized.
Illustratively, in some possible implementations, the Memory may be, but is not limited to, random Access Memory (RAM), read Only Memory (ROM), programmable Read-Only Memory (PROM), erasable Read-Only Memory (EPROM), electrically Erasable Read-Only Memory (EEPROM), and the like. The Processor may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), a System on Chip (SoC), and the like; but may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components.
For example, in some possible implementation manners, the navigation server is communicatively connected with a mobile terminal device, the mobile terminal device may be an in-vehicle device, and the in-vehicle device may have an image acquisition function and a positioning function based on beidou navigation.
With reference to fig. 2, an embodiment of the present invention further provides a Beidou navigation positioning monitoring processing method, which is applicable to the navigation server. The method steps defined by the related flow of the Beidou navigation positioning monitoring processing method can be realized by the navigation server.
The specific process shown in FIG. 2 will be described in detail below.
And step S10, screening out a candidate navigation path set corresponding to the navigation request information from target map data according to the navigation request information corresponding to the mobile terminal equipment.
In the embodiment of the present invention, the navigation server may screen a candidate navigation path set corresponding to the navigation request information from target map data according to the navigation request information corresponding to the mobile terminal device.
Step S20, in a case that at least one candidate navigation path exists in the candidate navigation path set, performing movement monitoring on the mobile terminal device to output a target movement path formed by the mobile terminal device between a navigation start position and a navigation end position corresponding to the navigation request information.
In this embodiment of the present invention, the navigation server may perform movement monitoring on the mobile terminal device when at least one candidate navigation path exists in the candidate navigation path set, so as to output a target movement path formed by the mobile terminal device between a navigation start position and a navigation end position corresponding to the navigation request information. Each of the candidate navigation paths is located between the navigation starting position and the navigation end position.
And step S30, updating the candidate navigation path set according to the target moving path so as to output a new candidate navigation path set corresponding to the navigation starting position and the navigation end position.
In this embodiment of the present invention, the navigation server may update the candidate navigation path set according to the target movement path to output a new candidate navigation path set corresponding to the navigation start position and the navigation end position.
Based on the steps included in the Beidou navigation positioning monitoring processing method, a candidate navigation path set corresponding to navigation request information can be screened from target map data according to the navigation request information corresponding to the mobile terminal equipment. Then, under the condition that at least one candidate navigation path exists in the candidate navigation path set, the mobile terminal device is subjected to movement monitoring so as to output a target movement path formed by the mobile terminal device between a navigation starting point position and a navigation end point position corresponding to the navigation request information. And finally, updating the candidate navigation path set according to the target moving path so as to output a new candidate navigation path set corresponding to the navigation starting position and the navigation end position. Based on the steps, the on-site detection of maintenance personnel is not relied on any more, so that the updating convenience is guaranteed, and the problem that the navigation path updating convenience is poor in the prior art is solved.
Exemplarily, in some possible implementations, the following more detailed contents may be further included for the step S10 described in the foregoing:
under the condition of receiving navigation request information sent by the mobile terminal equipment, performing information analysis processing on the navigation request information to output a navigation position corresponding to the navigation request information, wherein the navigation position comprises a navigation starting position and a navigation end position;
and screening candidate navigation paths between the navigation starting point position and the navigation end point position from target map data according to the navigation starting point position and the navigation end point position, and constructing and forming a candidate navigation path set corresponding to the navigation request information through the candidate navigation paths.
For example, in some possible implementations, the step of screening candidate navigation paths between the navigation start position and the navigation end position from the target map data according to the navigation start position and the navigation end position, and then constructing a candidate navigation path set corresponding to the navigation request information through the candidate navigation paths may further include the following more detailed contents:
traversing the road path in the target map data by taking the navigation starting point position as a starting point until the traversed road path covers the navigation end point position, and stopping traversing the road path in the target map data to form a candidate navigation path;
and traversing the road path in the target map data by taking the navigation starting point position as a starting point until the traversed road path covers the navigation end point position, and stopping traversing the road path in the target map data to form a candidate navigation path, wherein a candidate navigation path set corresponding to the navigation request information is constructed and formed through each candidate navigation path under the condition that the step of forming the candidate navigation path is executed at least once and a new candidate navigation path cannot be formed.
For example, in some possible implementation manners, in a case that the step of traversing the road path in the target map data by using the navigation start position as a start point until the traversed road path covers the navigation end position and then stopping traversing the road path in the target map data to form one candidate navigation path is performed at least once, and a new candidate navigation path cannot be formed, the step of constructing a candidate navigation path set corresponding to the navigation request information by using each candidate navigation path may further include the following more detailed contents:
traversing the road path in the target map data by taking the navigation starting point position as a starting point until the traversed road path covers the navigation end point position, and stopping traversing the road path in the target map data to form a candidate navigation path, wherein for each formed candidate navigation path, the path length determination processing is performed on the candidate navigation path to output a path length value corresponding to the candidate navigation path under the condition that the step of forming the candidate navigation path is executed at least once and a new candidate navigation path cannot be formed;
and sequencing each formed candidate navigation path (such as first small and then large) according to the size relationship among the path length values corresponding to the candidate navigation paths so as to output a candidate navigation path set corresponding to the navigation request information, wherein the candidate navigation path set belongs to an ordered set.
Exemplarily, in some possible implementations, the step S20 described in the foregoing may further include the following more detailed contents:
under the condition that at least one candidate navigation path exists in the candidate navigation path set, carrying out movement monitoring on the mobile terminal equipment so as to output a candidate movement path formed by the mobile terminal equipment between a navigation starting point position and a navigation end point position corresponding to the navigation request information;
performing path identification processing on the candidate moving path to output a path identification result corresponding to the candidate moving path, wherein the path identification result is used for representing whether the corresponding candidate moving path has a condition for forming a navigation path;
and under the condition that the path identification result corresponding to the candidate moving path represents that the corresponding candidate moving path has the condition of forming the navigation path, marking the candidate moving path to be a target moving path of the mobile terminal equipment between the navigation starting point position and the navigation end point position.
For example, in some possible implementation manners, the step of performing a path identification process on the candidate moving path to output a path identification result corresponding to the candidate moving path may further include the following more detailed contents:
acquiring and processing environment information of the path environment of the candidate moving path through the mobile terminal equipment to output a path environment image set corresponding to the candidate moving path, wherein the path environment image set comprises a plurality of frames of path environment images;
for each frame of path environment image included in the path environment image set, respectively performing image similarity calculation on the path environment image and each frame of pre-configured path standard image to output the image similarity between the path environment image and each frame of path standard image;
and forming a path identification result corresponding to the candidate moving path according to the image similarity between each frame of path environment image and each frame of path standard image included in the path environment image set.
For example, in some possible implementations, the step of performing, for each frame of path environment image included in the set of path environment images, image similarity calculation on the path environment image and each frame of pre-configured path standard image respectively to output an image similarity between the path environment image and each frame of path standard image further includes the following more detailed contents:
performing image clipping processing on the path environment image to output a first clipping image corresponding to the path environment image, and then performing image clipping processing on the path standard image to output a second clipping image corresponding to the path standard image, wherein the first clipping image is all images of a ground area in the path environment image, and the second clipping image is all images of the ground area in the path standard image;
determining a first minimum rectangular frame corresponding to the first clipping image, filling the first clipping image into the first minimum rectangular frame, and performing pixel filling processing on a position which is not filled currently in the first minimum rectangular frame according to edge pixel points of the first clipping image to form a first filling image corresponding to the first clipping image;
determining a second minimum rectangular frame corresponding to the second clipping image, filling the second clipping image into the second minimum rectangular frame, and performing pixel filling processing on a position which is not filled currently in the second minimum rectangular frame according to edge pixel points of the second clipping image to form a second filling image corresponding to the second clipping image;
performing image size determination processing on the first filling image to output a first image size corresponding to the first filling image, and then performing image size determination processing on the second filling image to output a second image size corresponding to the second filling image, wherein the first image size comprises the number of pixels of the first filling image in the row direction and the number of pixels of the second filling image in the column direction, and the second image size comprises the number of pixels of the second filling image in the row direction and the number of pixels of the second filling image in the column direction;
determining a first ratio of the first image size and the second image size in the row direction, performing sampling processing or interpolation processing on the first filling image in the row direction according to the first ratio to form a target first filling image corresponding to the first filling image, performing sampling processing on the first filling image in the row direction based on the inverse of the first ratio when the first ratio is greater than or equal to 1, and performing interpolation processing on the first filling image in the row direction based on the inverse of the first ratio and the pixel values of adjacent pixels at an interpolation position (for example, assigning the pixel value of the interpolation position as a target value, and the target value as an average value of the pixel values of the adjacent pixels) when the first ratio is less than 1, so that the number of pixels of the target first filling image in the row direction is equal to the number of pixels of the second image size in the row direction;
determining a second ratio of the first image size to the second image size in the column direction, performing sampling processing or interpolation processing on the target first filling image in the column direction according to the second ratio to form a target second filling image corresponding to the target first filling image, performing sampling processing on the target first filling image in the column direction based on the inverse of the second ratio when the second ratio is greater than or equal to 1, and performing interpolation processing on the target first filling image in the column direction based on the inverse of the second ratio and the pixel value of the adjacent pixel at the interpolation position when the second ratio is less than 1, so that the number of pixels of the target second filling image in the column direction is equal to the number of pixels of the second image size in the column direction;
performing road contour identification processing on the target second filling image to output a first road contour corresponding to the target second filling image, and performing road contour identification processing on the second filling image to output a second road contour corresponding to the second filling image;
and calculating the contour coincidence degree between the first road contour and the second road contour to output the image similarity between the path environment image and the path standard image.
For example, in some possible implementations, the step of calculating a contour coincidence degree between the first road contour and the second road contour to output an image similarity between the path environment image and the path standard image further includes the following more detailed contents:
performing inflection point identification processing on the first road contour to output a first contour inflection point set corresponding to the first road contour, wherein each first contour inflection point included in the first contour inflection point set is located on the first road contour;
performing inflection point identification processing on the second road contour to output a second contour inflection point set corresponding to the second road contour, wherein each second contour inflection point included in the second contour inflection point set is located on the second road contour;
for each first contour inflection point in the first contour inflection point set, determining a pixel position of the first contour inflection point in the path environment image, and then finding out a target first contour inflection point from the first contour inflection point set according to the pixel position of each first contour inflection point and a preset target rule (such as the leftmost side, the right side, the upper side or the lower side);
for each second contour inflection point in the second contour inflection point set, determining the pixel position of the second contour inflection point in the path standard image, and finding out a target second contour inflection point from the second contour inflection point set according to the pixel position of each second contour inflection point and the target rule;
for each other first contour inflection point in the first contour inflection point set except the target first contour inflection point, performing pixel location distance calculation processing on the other first contour inflection point and the target first contour inflection point to output a pixel location distance between the other first contour inflection point and the target first contour inflection point, and then performing first association degree determination processing on the other first contour inflection point and the target first contour inflection point according to the pixel location distance between the other first contour inflection point and the target first contour inflection point to output a first association degree (negative association between the first association degree and the pixel location distance) between the other first contour inflection point and the target first contour inflection point, performing pixel difference value calculation processing on the first contour inflection point and the target first contour inflection point to output a pixel difference value between the other first contour inflection point and the target first contour inflection point, and performing second association degree determination processing on the other first contour inflection point and the target first contour inflection point according to the pixel difference value between the other first contour inflection point and the target first contour inflection point to output a second association degree between the other first contour inflection point and the target first contour inflection point (negative correlation between the second association degree and the pixel difference value), and fusing the first association degree and the second association degree (such as calculating a weighted sum value and the like) to output a target association degree between the other first contour inflection point and the target first contour inflection point;
for each other second contour inflection point in the second contour inflection point set except the target second contour inflection point, performing pixel position distance calculation processing on the other second contour inflection point and the target second contour inflection point to output a pixel position distance between the other second contour inflection point and the target second contour inflection point, and then performing first association degree determination processing on the other second contour inflection point and the target second contour inflection point according to the pixel position distance between the other second contour inflection point and the target second contour inflection point to output a first association degree between the other second contour inflection point and the target second contour inflection point, performing pixel difference value calculation processing on the second contour inflection point and the target second contour inflection point to output a pixel difference value between the other second contour inflection point and the target second contour inflection point, and performing second association degree determination processing on the other second contour inflection point and the target second contour inflection point according to the pixel difference value between the other second contour inflection point and the target second contour inflection point to output a second association degree between the other second contour inflection point and the target second contour inflection point, and fusing the first association degree and the second association degree to output a target association degree between the other second contour inflection point and the target second contour inflection point;
constructing a first network node graph according to a target association degree between each first contour inflection point, each other first contour inflection point and the target first contour inflection point, wherein the first contour inflection point set comprises each node, the first network node graph comprises each node is the first contour inflection point, and an edge between two nodes of the first network node graph represents the target association degree between two corresponding first contour inflection points;
constructing a second network node graph according to the target association degree between each second contour inflection point, each other second contour inflection point and the target second contour inflection point included in the second contour inflection point set, wherein each node included in the second network node graph is the second contour inflection point, and an edge between two nodes included in the second network node graph represents the target association degree between two corresponding second contour inflection points;
similarity calculation processing is performed on the first network node map and the second network node map (for example, the first network node map may be traversed to output an association set corresponding to the first network node map, the second network node map may be traversed to output an association set corresponding to the second network node map, and then similarities of set elements between the two association sets are calculated to obtain corresponding image similarities), so as to output image similarities between the path environment image and the path standard image.
For example, in some possible implementations, the step of forming the path identification result corresponding to the candidate moving path according to the image similarity between each frame of path environment image and each frame of path standard image included in the path environment image set may further include the following more detailed contents:
for each frame of path environment image included in the path environment image set, respectively comparing the image similarity between the path environment image and each frame of path standard image with the preset image similarity to output a size comparison result corresponding to the path environment image;
for each frame of path environment image included in the path environment image set, under the condition that the size comparison result corresponding to the path environment image represents that the image similarity between the path environment image and each frame of path standard image is smaller than the image similarity, marking the path environment image to be marked as an abnormal path environment image;
and under the condition that the path environment image set comprises a path environment image belonging to an abnormal path environment image, forming a first path identification result corresponding to the candidate moving path, and under the condition that the path environment image set does not comprise a path environment image belonging to an abnormal path environment image, forming a second path identification result corresponding to the candidate moving path, wherein the first path identification result is used for representing that the corresponding candidate moving path does not have a condition for forming a navigation path, and the second path identification result is used for representing that the corresponding candidate moving path has a condition for forming a navigation path.
Exemplarily, in some possible implementations, the step S30 described in the foregoing may further include the following more detailed contents:
for each candidate road path included in the candidate navigation path set, judging whether the candidate road path is the same as the target moving path or not so as to output a path identity judgment result corresponding to the candidate road path;
and under the condition that the same judgment result of each candidate road path in the candidate navigation path set represents that the candidate road path is different from the target moving path, marking the target moving path to be a new candidate road path, and adding the new candidate road path to the candidate navigation path set to form a new candidate navigation path set.
Referring to fig. 3, an embodiment of the present invention further provides a beidou navigation positioning monitoring processing system, which can be applied to the navigation server. The Beidou navigation, positioning, monitoring and processing system can comprise a navigation path screening module, an equipment movement monitoring module and a navigation path updating module.
For example, in some possible implementation manners, the navigation path screening module is configured to screen a candidate navigation path set corresponding to navigation request information from target map data according to the navigation request information corresponding to the mobile terminal device. The device movement monitoring module is configured to perform movement monitoring on the mobile terminal device when at least one candidate navigation path exists in the candidate navigation path set, so as to output a target movement path formed by the mobile terminal device between a navigation start position and a navigation end position corresponding to the navigation request information, where each candidate navigation path is located between the navigation start position and the navigation end position. And the navigation path updating module is used for updating the candidate navigation path set according to the target moving path so as to output a new candidate navigation path set corresponding to the navigation starting position and the navigation end position.
In summary, according to the Beidou navigation positioning monitoring processing method and the Beidou navigation positioning monitoring processing system provided by the invention, the candidate navigation path set corresponding to the navigation request information can be screened from the target map data according to the navigation request information corresponding to the mobile terminal device. Then, under the condition that at least one candidate navigation path exists in the candidate navigation path set, the mobile terminal device is subjected to movement monitoring so as to output a target movement path formed by the mobile terminal device between a navigation starting point position and a navigation end point position corresponding to the navigation request information. And finally, updating the candidate navigation path set according to the target moving path so as to output a new candidate navigation path set corresponding to the navigation starting position and the navigation end position. Based on the steps, the on-site detection of maintenance personnel is not relied on any more, so that the updating convenience is guaranteed, and the problem that the navigation path updating convenience is poor in the prior art is solved.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. The Beidou navigation positioning monitoring processing method is applied to a navigation server, the navigation server is in communication connection with a mobile terminal device, and the method comprises the following steps:
screening a candidate navigation path set corresponding to the navigation request information from target map data according to the navigation request information corresponding to the mobile terminal equipment;
under the condition that at least one candidate navigation path exists in the candidate navigation path set, performing movement monitoring on the mobile terminal device to output a target movement path formed by the mobile terminal device between a navigation starting point position and a navigation end point position corresponding to the navigation request information, wherein each candidate navigation path is located between the navigation starting point position and the navigation end point position;
and updating the candidate navigation path set according to the target moving path so as to output a new candidate navigation path set corresponding to the navigation starting position and the navigation end position.
2. The beidou navigation, positioning, monitoring and processing method of claim 1, wherein the step of screening the candidate navigation path set corresponding to the navigation request information from the target map data according to the navigation request information corresponding to the mobile terminal device comprises:
under the condition of receiving navigation request information sent by the mobile terminal equipment, performing information analysis processing on the navigation request information to output a navigation position corresponding to the navigation request information, wherein the navigation position comprises a navigation starting position and a navigation end position;
and screening candidate navigation paths between the navigation starting point position and the navigation end point position from target map data according to the navigation starting point position and the navigation end point position, and constructing and forming a candidate navigation path set corresponding to the navigation request information through the candidate navigation paths.
3. The beidou navigation, positioning, monitoring and processing method of claim 2, wherein the step of screening candidate navigation paths between the navigation starting position and the navigation end position from target map data according to the navigation starting position and the navigation end position, and then constructing and forming a candidate navigation path set corresponding to the navigation request information through the candidate navigation paths comprises:
traversing the road path in the target map data by taking the navigation starting point position as a starting point until the traversed road path covers the navigation end point position, and then stopping traversing the road path in the target map data to form a candidate navigation path;
and traversing the road path in the target map data by taking the navigation starting point position as a starting point until the traversed road path covers the navigation end point position, and stopping traversing the road path in the target map data to form a candidate navigation path, wherein a candidate navigation path set corresponding to the navigation request information is constructed and formed through each candidate navigation path under the condition that the step of forming the candidate navigation path is executed at least once and a new candidate navigation path cannot be formed.
4. The beidou navigation, positioning, monitoring and processing method of claim 3, wherein the step of constructing a set of candidate navigation paths corresponding to the navigation request information through each candidate navigation path after the step of traversing the road path in the target map data with the navigation start position as a start point until the traversed road path covers the navigation end position and stopping the traversal of the road path in the target map data to form one candidate navigation path is performed at least once and a new candidate navigation path cannot be formed comprises:
traversing the road path in the target map data by taking the navigation starting point position as a starting point until the traversed road path covers the navigation end point position, and stopping traversing the road path in the target map data to form a candidate navigation path, wherein for each formed candidate navigation path, the path length determination processing is performed on the candidate navigation path to output the path length value corresponding to the candidate navigation path under the condition that a new candidate navigation path cannot be formed after the step of traversing the road path in the target map data is executed at least once;
and sequencing each formed candidate navigation path according to the size relation between the path length values corresponding to the candidate navigation paths so as to output a candidate navigation path set corresponding to the navigation request information, wherein the candidate navigation path set belongs to an ordered set.
5. The beidou navigation, positioning, monitoring and processing method of claim 1, wherein the step of performing movement monitoring on the mobile terminal device to output a target movement path formed by the mobile terminal device between a navigation start position and a navigation end position corresponding to the navigation request information under the condition that at least one candidate navigation path exists in the candidate navigation path set comprises:
under the condition that at least one candidate navigation path exists in the candidate navigation path set, carrying out movement monitoring on the mobile terminal equipment so as to output a candidate movement path formed by the mobile terminal equipment between a navigation starting point position and a navigation end point position corresponding to the navigation request information;
performing path identification processing on the candidate moving path to output a path identification result corresponding to the candidate moving path, wherein the path identification result is used for representing whether the corresponding candidate moving path has a condition for forming a navigation path;
and under the condition that the path identification result corresponding to the candidate moving path represents that the corresponding candidate moving path has the condition of forming the navigation path, marking the candidate moving path to be a target moving path of the mobile terminal equipment between the navigation starting point position and the navigation end point position.
6. The beidou navigation, positioning, monitoring and processing method of claim 5, wherein the step of performing the path identification processing on the candidate moving path to output the path identification result corresponding to the candidate moving path comprises:
acquiring and processing environment information of the path environment of the candidate moving path through the mobile terminal equipment to output a path environment image set corresponding to the candidate moving path, wherein the path environment image set comprises a plurality of frames of path environment images;
for each frame of path environment image included in the path environment image set, respectively performing image similarity calculation on the path environment image and each frame of pre-configured path standard image to output the image similarity between the path environment image and each frame of path standard image;
and forming a path identification result corresponding to the candidate moving path according to the image similarity between each frame of path environment image and each frame of path standard image included in the path environment image set.
7. The beidou navigation, positioning, monitoring and processing method of claim 6, wherein the step of performing image similarity calculation on each frame of path environment image included in the set of path environment images and each frame of pre-configured path standard image to output the image similarity between the path environment image and each frame of path standard image comprises:
performing image cropping processing on the path environment image to output a first cropped image corresponding to the path environment image, and then performing image cropping processing on the path standard image to output a second cropped image corresponding to the path standard image, wherein the first cropped image is all images of a ground area in the path environment image, and the second cropped image is all images of the ground area in the path standard image;
determining a first minimum rectangular frame corresponding to the first clipping image, filling the first clipping image into the first minimum rectangular frame, and performing pixel filling processing on a position which is not filled currently in the first minimum rectangular frame according to edge pixel points of the first clipping image to form a first filling image corresponding to the first clipping image;
determining a second minimum rectangular frame corresponding to the second clipping image, filling the second clipping image into the second minimum rectangular frame, and performing pixel filling processing on a currently unfilled position in the second minimum rectangular frame according to edge pixel points of the second clipping image to form a second filled image corresponding to the second clipping image;
performing image size determination processing on the first filling image to output a first image size corresponding to the first filling image, and then performing image size determination processing on the second filling image to output a second image size corresponding to the second filling image, wherein the first image size comprises the number of pixels of the first filling image in the row direction and the number of pixels of the second filling image in the column direction, and the second image size comprises the number of pixels of the second filling image in the row direction and the number of pixels of the second filling image in the column direction;
determining a first ratio of the first image size to the second image size in a row direction, performing sampling processing or interpolation processing on the first filling image in the row direction according to the first ratio to form a target first filling image corresponding to the first filling image, performing sampling processing on the first filling image in the row direction based on the reciprocal of the first ratio when the first ratio is greater than or equal to 1, and performing interpolation processing on the first filling image in the row direction based on the reciprocal of the first ratio and the pixel value of an adjacent pixel point at an interpolation position when the first ratio is less than 1, so that the number of the pixel points of the target first filling image in the row direction is equal to the number of the pixel points of the second image size in the row direction;
determining a second ratio of the first image size and the second image size in the column direction, performing sampling processing or interpolation processing on the target first filling image in the column direction according to the second ratio to form a target second filling image corresponding to the target first filling image, performing sampling processing on the target first filling image in the column direction based on the inverse of the second ratio when the second ratio is greater than or equal to 1, and performing interpolation processing on the target first filling image in the column direction based on the inverse of the second ratio and the pixel value of the adjacent pixel point at the interpolation position when the second ratio is less than 1, so that the number of the pixel points of the target second filling image in the column direction is equal to the number of the pixel points of the second image size in the column direction;
performing road contour identification processing on the target second filling image to output a first road contour corresponding to the target second filling image, and performing road contour identification processing on the second filling image to output a second road contour corresponding to the second filling image;
and calculating the contour coincidence degree between the first road contour and the second road contour to output the image similarity between the path environment image and the path standard image.
8. The beidou navigation, positioning, monitoring and processing method of claim 6, wherein the step of forming the path recognition result corresponding to the candidate moving path according to the image similarity between each frame of path environment image and each frame of path standard image included in the path environment image set comprises:
for each frame of path environment image included in the path environment image set, respectively comparing the image similarity between the path environment image and each frame of path standard image with the preset image similarity to output a size comparison result corresponding to the path environment image;
for each frame of path environment image included in the path environment image set, under the condition that the size comparison result corresponding to the path environment image represents that the image similarity between the path environment image and each frame of path standard image is smaller than the image similarity, marking the path environment image to be an abnormal path environment image;
and forming a first path identification result corresponding to the candidate moving path under the condition that the path environment image set comprises a path environment image belonging to an abnormal path environment image, and forming a second path identification result corresponding to the candidate moving path under the condition that the path environment image set does not comprise a path environment image belonging to an abnormal path environment image, wherein the first path identification result is used for representing that the corresponding candidate moving path does not have a condition for forming a navigation path, and the second path identification result is used for representing that the corresponding candidate moving path has a condition for forming a navigation path.
9. The beidou navigation, positioning and monitoring processing method of any one of claims 1 to 8, wherein the step of updating the set of candidate navigation paths according to the target movement path to output a new set of candidate navigation paths corresponding to the navigation start position and the navigation end position includes:
for each candidate road path included in the candidate navigation path set, judging whether the candidate road path is the same as the target moving path or not so as to output a path identity judgment result corresponding to the candidate road path;
and under the condition that the same judgment result of each candidate road path in the candidate navigation path set represents that the candidate road path is different from the target moving path, marking the target moving path to be a new candidate road path, and adding the new candidate road path to the candidate navigation path set to form a new candidate navigation path set.
10. The utility model provides a big dipper navigation positioning monitoring processing system which characterized in that is applied to navigation server, navigation server communication connection has mobile terminal equipment, the system includes:
the navigation path screening module is used for screening a candidate navigation path set corresponding to the navigation request information from target map data according to the navigation request information corresponding to the mobile terminal equipment;
the device movement monitoring module is used for carrying out movement monitoring on the mobile terminal device under the condition that at least one candidate navigation path exists in the candidate navigation path set so as to output a target movement path formed by the mobile terminal device between a navigation starting point position and a navigation end point position corresponding to the navigation request information, wherein each candidate navigation path is positioned between the navigation starting point position and the navigation end point position;
and the navigation path updating module is used for updating the candidate navigation path set according to the target moving path so as to output a new candidate navigation path set corresponding to the navigation starting position and the navigation end position.
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