CN117368950A - GPS speed optimization algorithm, system and storage medium applied to vehicle-mounted machine - Google Patents
GPS speed optimization algorithm, system and storage medium applied to vehicle-mounted machine Download PDFInfo
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Classifications
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0125—Traffic data processing
- G08G1/0129—Traffic data processing for creating historical data or processing based on historical data
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
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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
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/35—Constructional details or hardware or software details of the signal processing chain
- G01S19/37—Hardware or software details of the signal processing chain
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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
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
- G06F16/21—Design, administration or maintenance of databases
- G06F16/215—Improving data quality; Data cleansing, e.g. de-duplication, removing invalid entries or correcting typographical errors
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- G—PHYSICS
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- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
- G06F16/29—Geographical information databases
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/052—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/123—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams
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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
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/40—Engine management systems
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Abstract
The invention relates to the technical field of bus monitoring, in particular to a GPS speed optimization algorithm, a GPS speed optimization system and a GPS speed optimization storage medium applied to a vehicle-mounted machine. The invention provides a GPS speed optimization algorithm applied to a vehicle-mounted machine, which is used for calculating the speed V and the acceleration a of a positioning point in acquisition time; when the latest continuous n0 positioning points are all normal points, the latest positioning points are made to be datum points, effective positioning points are obtained in real time to be the latest points, and the speed and the acceleration of the latest points are calculated by combining the datum points. The invention combines the speed and acceleration of the GPS positioning point to filter out abnormal GPS points, thereby improving the accuracy of GPS positioning point speed calculation, reducing the phenomenon of abnormal overspeed and reducing the manual investigation workload.
Description
Technical Field
The invention relates to the technical field of bus monitoring, in particular to a GPS speed optimization algorithm, a GPS speed optimization system and a GPS speed optimization storage medium applied to a vehicle-mounted machine.
Background
The vehicle-mounted machine is arranged on a bus and used for interacting with the dispatching background data. Bus speed monitoring is one of the main tasks of the vehicle-mounted device. Due to the existence of the GPS drift phenomenon (GPS drift is a short phenomenon in which there is a large gap from the actual position during GPS positioning), abnormal overspeed of the vehicle is sometimes caused. Overspeed caused by abnormal GPS points causes great interference to vehicle speed monitoring.
At present, the mode of solving abnormal overspeed is that the vehicle-mounted machine connects instrument data to the vehicle and communicates through CAN. And comparing the data of the instrument with the GPS data in real time, and discarding the GPS data when abnormality is found. This solution has the following drawbacks: 1. abnormal speed CAN also appear in CAN data pushed by the instrument, and the instrument CAN be normally used only by a filtering algorithm; 2. wiring is needed, and an instrument manufacturer is needed to match push data. Some meters cannot be docked for some other reason. The whole process is complicated to implement.
Disclosure of Invention
When abnormal overspeed occurs, a worker is required to check through video and track playback, whether the overspeed record is true or not is verified, and the method has a great workload for thousands of buses in one city. In order to overcome the defect, the invention provides a GPS speed optimization algorithm applied to a vehicle-mounted machine, which is used for efficiently and accurately screening effective GPS data so as to accurately calculate the speed and track of the vehicle.
The invention provides a GPS speed optimization algorithm applied to a vehicle-mounted machine, which comprises the following steps:
s1, defining the distance between two positioning points on the surface of the earth to be recorded as S, and calculating the speed V and the acceleration a of the positioning points in the acquisition time;
S＝Rc×acos(cos(lati1)×cos(lati0)×cos(longi1-longi0)+sin(lati1)×sin(lati0))
rc is the earth radius; (longi 1, lati 1) is the coordinates of the current anchor point, (longi 0, lati 0) is the coordinates of the previous anchor point, longi0 and longi1 represent longitudes, lati0 and lati1 represent latitudes;
v=s/T, T being the acquisition time interval of the two anchor points;
a= (V1-V0)/T, V1 is the speed of the current setpoint, V0 is the speed of the previous setpoint.
S2, acquiring effective positioning points in real time, when the latest continuous n0 positioning points are all normal points, enabling the latest positioning points to be datum points, and initializing a register value m1 to be 0; the effective locating point refers to a locating point extracted from GPS data carrying a current information effective mark;
the normal point satisfies: v is less than or equal to V (max), a is less than or equal to a (max); v (max) is the set maximum speed, and a (max) is the set maximum acceleration;
s3, acquiring an effective locating point in real time as a latest point, and calculating the speed and the acceleration of the latest point by combining the datum point.
Preferably, step S3 is followed by S4-S5;
s4, judging whether the latest point is a normal point or not; if yes, updating the datum point to be the latest point, initializing a register value m1, and returning to the step S3; if not, the set register value m1 is updated to m1+1, and then step S5 is executed; the initial value of m1 is 0;
s5, judging whether m1 is greater than or equal to n1; if yes, returning to the step S2 to determine a new datum point; if not, returning to the step S3.
Preferably, in S2, the determining of the reference point includes the following sub-steps:
s21, acquiring effective positioning points;
s22, judging whether the positioning point is a normal point or not; if not, initializing a register value m0, and returning to the step S21; the initial value of m0 is 0; if yes, m0 is updated to m0+1, and then step S23 is performed;
s23, judging whether m0 is greater than or equal to n0; if not, returning to the step S21; if yes, the latest positioning point is made to be the datum point.
Preferably, V (max) =35 m/s.
Preferably, a (max) =11m/s 2.
Preferably, S2 further includes: and constructing a bus track by combining the normal points.
The invention provides a GPS speed optimization system applied to a vehicle-mounted machine, which comprises a memory and a processor, wherein the memory is stored with a computer program, the processor is connected with the memory, and the processor is used for executing the computer program so as to realize the GPS speed optimization algorithm applied to the vehicle-mounted machine.
The storage medium is used for storing a computer program which is used for realizing the GPS speed optimization algorithm applied to the vehicle-mounted machine when being executed.
The invention has the advantages that:
(1) The GPS speed optimization algorithm applied to the vehicle-mounted machine provided by the invention is combined with the speed and acceleration of the GPS positioning point to filter out abnormal GPS points, so that the accuracy of GPS positioning point speed calculation is improved, the phenomenon of abnormal overspeed is reduced, and the manual investigation workload is reduced.
(2) According to the invention, the instantaneous speed and the acceleration are obtained through calculation according to the longitude and latitude information pushed by the GPS module in the vehicle-mounted machine, and the abnormal GPS drift points are interpreted according to the speed and the acceleration, so that the efficient screening of GPS positioning points is improved, and the accuracy of bus tracks is ensured.
Drawings
FIG. 1 is a flow chart of a GPS speed optimization algorithm applied to a vehicle-mounted device;
FIG. 2 is a flowchart of another GPS speed optimization algorithm applied to a vehicle-mounted device;
FIG. 3 (a) is a GPS trajectory diagram before a first set of experimental optimizations;
FIG. 3 (b) is a plot of GPS traces after a first set of experimental optimizations;
FIG. 4 (a) is a GPS trajectory diagram before a second set of experimental optimizations;
fig. 4 (b) is a GPS trace plot after a second set of experimental optimizations.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1, the GPS speed optimization algorithm applied to the vehicle-mounted device according to the present embodiment includes the following steps:
s1, defining the distance between two positioning points on the surface of the earth to be recorded as S, and calculating the speed V and the acceleration a of the positioning points in the acquisition time;
S＝Rc×acos(cos(lati1)×cos(lati0)×cos(longi1-longi0)+sin(lati1)×sin(lati0))
rc is the radius of the earth, and taking an average value of 6371393 meters; (longi 1, lati 1) is the coordinates of the current anchor point, (longi 0, lati 0) is the coordinates of the previous anchor point, longi0 and longi1 represent longitudes, lati0 and lati1 represent latitudes;
v=s/T, T being the acquisition time interval of the two anchor points;
a= (V1-V0)/T, V1 is the speed of the current setpoint, V0 is the speed of the previous setpoint.
S2, acquiring effective positioning points in real time, when the latest continuous n0 positioning points are all normal points, enabling the latest positioning points to be datum points, and initializing a register value m1 to be 0; the effective locating point refers to a locating point extracted from GPS data carrying a current information effective mark;
the normal point satisfies: v is less than or equal to V (max), a is less than or equal to a (max); v (max) is a set maximum speed, specifically let V (max) =35 m/s; a (max) is a set maximum acceleration, and a (max) =11m/s may be specifically set.
Referring to fig. 2, the determination of the reference point can be specifically divided into the following steps:
s21, acquiring effective positioning points;
s22, judging whether the positioning point is a normal point or not; if not, initializing a register value m0, and returning to the step S21; the initial value of m0 is 0; if yes, m0 is updated to m0+1, and then step S23 is performed;
s23, judging whether m0 is greater than or equal to n0; if not, returning to the step S21; if yes, the latest positioning point is made to be the datum point.
S3, acquiring an effective locating point in real time as a latest point, and calculating the speed and the acceleration of the latest point by combining the datum point;
s4, judging whether the latest point is a normal point or not; if yes, updating the datum point to be the latest point, initializing a register value m1, and returning to the step S3; if not, the set register value m1 is updated to m1+1, and then step S5 is executed; the initial value of m1 is 0;
s5, judging whether m1 is greater than or equal to n1; if yes, returning to the step S2 to determine a new datum point; if not, returning to the step S3.
The following describes the above-described GPS speed optimization algorithm applied to the vehicle-mounted device with reference to specific embodiments.
In this embodiment, two bus routes are selected for the experiment. In the experimental process, firstly, GPS data of buses in a certain trip on a route are collected, and then, a bus track is generated as a comparison track according to the collected GPS data; and judging each GPS point by adopting the GPS speed optimization algorithm applied to the vehicle-mounted machine, screening out all normal points, and drawing a bus track according to the normal points to serve as an optimization track.
The first group of experiments are expressway experiments, and the reference track and the optimized track are respectively shown in fig. 3 (a) and 3 (b), and it can be seen that a plurality of drift points of the offset expressway appear on the reference track in fig. 3 (a), and the drift track of the reference track is serious; on the optimized track, the drift point is greatly reduced, and the drift distance is obviously reduced.
The second group of experiments are city highway experiments, and the reference track and the optimized track are respectively shown in fig. 4 (a) and fig. 4 (b), and it can be seen that the reference track in fig. 4 (a) has a sudden drift point; on the optimized track, drift points are eliminated, and the optimized track is consistent with the urban highway.
The two groups of experiments show that the GPS speed optimization algorithm applied to the vehicle-mounted machine provided by the invention has excellent effect of eliminating the drift point, and the effectiveness and the reliability of the method are proved.
It will be understood by those skilled in the art that the present invention is not limited to the details of the foregoing exemplary embodiments, but includes other specific forms of the same or similar structures that may be embodied without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present disclosure describes embodiments, not every embodiment is provided with a separate embodiment, and that this description is provided for clarity only, and that the disclosure is not limited to the embodiments described in detail below, and that the embodiments described in the examples may be combined as appropriate to form other embodiments that will be apparent to those skilled in the art.
The technology, shape, and construction parts of the present invention, which are not described in detail, are known in the art.
Claims (8)
1. The GPS speed optimization algorithm applied to the vehicle-mounted machine is characterized by comprising the following steps of:
s1, defining the distance between two positioning points on the surface of the earth to be recorded as S, and calculating the speed V and the acceleration a of the positioning points in the acquisition time;
S＝Rc×acos(cos(lati1)×cos(lati0)×cos(longi1-longi0)+sin(lati1)×sin(lati0))
rc is the earth radius; (longi 1, lati 1) is the coordinates of the current anchor point, (longi 0, lati 0) is the coordinates of the previous anchor point, longi0 and longi1 represent longitudes, lati0 and lati1 represent latitudes;
v=s/T, T being the acquisition time interval of the two anchor points;
a= (V1-V0)/T, V1 is the speed of the current setpoint, V0 is the speed of the previous setpoint.
S2, acquiring effective positioning points in real time, when the latest continuous n0 positioning points are all normal points, enabling the latest positioning points to be datum points, and initializing a register value m1 to be 0; the effective locating point refers to a locating point extracted from GPS data carrying a current information effective mark;
the normal point satisfies: v is less than or equal to V (max), a is less than or equal to a (max); v (max) is the set maximum speed, and a (max) is the set maximum acceleration;
s3, acquiring an effective locating point in real time as a latest point, and calculating the speed and the acceleration of the latest point by combining the datum point.
2. The GPS speed optimization algorithm applied to the vehicle-mounted device according to claim 1, further comprising S4-S5 after step S3;
s4, judging whether the latest point is a normal point or not; if yes, updating the datum point to be the latest point, initializing a register value m1, and returning to the step S3; if not, the set register value m1 is updated to m1+1, and then step S5 is executed; the initial value of m1 is 0;
s5, judging whether m1 is greater than or equal to n1; if yes, returning to the step S2 to determine a new datum point; if not, returning to the step S3.
3. The GPS speed optimization algorithm applied to the vehicle-mounted device according to claim 1, wherein in S2, the determination of the reference point includes the following sub-steps:
s21, acquiring effective positioning points;
s22, judging whether the positioning point is a normal point or not; if not, initializing a register value m0, and returning to the step S21; the initial value of m0 is 0; if yes, m0 is updated to m0+1, and then step S23 is performed;
s23, judging whether m0 is greater than or equal to n0; if not, returning to the step S21; if yes, the latest positioning point is made to be the datum point.
4. The GPS speed optimization algorithm applied to the in-vehicle apparatus according to claim 1, wherein V (max) =35 m/s.
5. The GPS speed optimization algorithm applied to the in-vehicle apparatus according to claim 1, wherein a (max) =11 m/s2.
6. The GPS speed optimization algorithm applied to the vehicle-mounted device according to claim 1, wherein S2 further includes: and constructing a bus track by combining the normal points.
7. A GPS speed optimization system for a vehicle-mounted device, comprising a memory and a processor, wherein the memory stores a computer program, and the processor is connected to the memory, and is configured to execute the computer program to implement the GPS speed optimization algorithm for a vehicle-mounted device according to any one of claims 1-6.
8. A storage medium storing a computer program which, when executed, is adapted to implement the GPS speed optimization algorithm according to any of claims 1-6 for application to a vehicle-mounted machine.
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| CN202311305540.6A CN117368950A (en) | 2023-10-10 | 2023-10-10 | GPS speed optimization algorithm, system and storage medium applied to vehicle-mounted machine |
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| CN202311305540.6A CN117368950A (en) | 2023-10-10 | 2023-10-10 | GPS speed optimization algorithm, system and storage medium applied to vehicle-mounted machine |
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