CN101464158A - Automatic generation method for road network grid digital map based on GPS positioning - Google Patents
Automatic generation method for road network grid digital map based on GPS positioning Download PDFInfo
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Abstract
The invention relates to a GPS positioning-based road network grid digital map automatic generation method in the field of ground mapping. The invention is characterized in that vehicle-mounted GPS equipment is used for gathering data about the travelling track of a vehicle on a road network, that is, road information data; a computer is used for switching the travelling track data from geodetic coordinates to urban construction coordinates and then storing the travelling track data in a track database; the travelling track data in the track database is filtered and enhanced by the computer; the travelling track data after being subjected to processing, filtration and enhancement by the computer is then used for generating a sketch of a road network grid digital map; and finally, the computer is adopted to process the sketch and produce the road network grid digital map. The invention has the following advantages: the data source adopted by the invention is convenient and relatively cheap to acquire; and the road network grid digital map generated by the invention is complete and clear, has high precision, and changes in line with the actual road network, so that the map can better satisfy the application requirements for a road network map on timeliness and accuracy.
Description
Technical field
The present invention relates to a kind of ground drawing generating method of technical field of mapping, specifically, what relate to is a kind of automatic generation method for road network grid digital map based on the GPS location.
Background technology
Road network grid digital map (hereinafter to be referred as road network map) is a kind of bitmap of describing road network geographic entity and structure, plurality of advantages such as convenience generates, content is careful, appearance is susceptible to user acceptance are arranged, can be widely used in auto-navigation system and the intelligent transportation system fields such as (ITS).Carrying out and rapid economy development along with urbanization, the road network renewal rate increases just day by day, existing road network chart generation technique exists such as shortcomings such as cycle length, low precision, cost height, thereby has caused road network map to upgrade the predicament that does not always catch up with the real road network change.The fast accurate road network map generation technique of exploitation more seems important.
Existing road network grid digital map generation method mainly is divided into two classes: a class is traditional mapping method, this method utilization instrument of surveying and mapping and mapping science principle are surveyed and drawn on the spot, and are drawn on the road network map that mapping obtains on the drawing or are stored in the magnetic medium.This method has long use history, exists many shortcomings such as precision instability, cycle length, cost height, therefore along with its range of application of development of satellite technology is dwindled day by day; The another kind of automatic generation method that is based on remote sensing images, this method is taken a crane shot high-definition image (being remote sensing images) that ground obtains as data source with satellite, utilization computing machine and Digital Image Processing principle are handled remote sensing images and are generated road network map automatically, the required remote sensing images purchase cost of this method is higher, and the image of purchasing is not the reflection at that time of road network usually, in addition, generate the difficulty of map and the influence that accuracy very easily is subjected to Remote Sensing Image Quality.
GPS (GPS) is that U.S. government begins development from the seventies in last century, last 20 years, a kind of location and the timekeeping system of expensive 20,000,000,000 dollars of foundation based on satellite navigation, its ultimate principle is: according to high-speed motion satellite instantaneous position as the known data of starting at, adopt the method for space length resection, determine the position of tested point.U.S. government has announced open portion GPS navigation signal for since civilian from the eighties in last century, and civilian GPS location technology has obtained very big development.In conjunction with location correction technique (as the DGPS correction technique of checking the mark), the positioning error of civilian GPS can be controlled in 2～3 meters usually, part advanced technology even realized that 1 meter of error is with interior hi-Fix.In addition, because it is round-the-clock, low-cost and (need not to pay cost of use in real time that GPS has, just can use the GPS receiver to receive civilian gps signal, after the computing of receiver built-in chip, promptly realize real-time positioning) etc. many advantages, so GPS is applied to the every field of social life more and more.
Find through literature search prior art, maximum likelihood spectral classification method (Gao Fangqin etc. the automatic identification of urban road information and drawing [J] in the remote sensing images. the northeast mapping, 2001,24 (III): 27-30) be based on remote sensing images and generate one of common method of road network grid digital map automatically.This method is considered the relation between each pixel RGB component, utilize eigenmatrix and mean vector and pixel component to calculate the differentiation variable in each map factor kind (as road network, river, buildings, greenery patches etc.), if the discriminatory variable value maximum of road network map factor kind then should belong to the road network map factor kind with pixel.This method can be finished automatically by computing machine, and drawing speed is very fast, but exists following defective: it is higher 1, to buy the remote sensing images expense, and the image of purchasing often lagged behind the actual conditions of road network; 2, when the spectrum boundary of road network figure spot on the remote sensing images and non-road network figure spot is not obvious, situations such as road network is image blurring and imperfect can appear in the road network grid digital map that this method generates, thereby bring bigger difficulty for the subsequent treatment of map.
Summary of the invention
The objective of the invention is at the deficiencies in the prior art, a kind of automatic generation method for road network grid digital map based on the GPS location is proposed, adopt the GPS location technology to gather the driving trace data of automobile on road network, and adopt computing machine that track data is handled automatically, obtain accurate road network grid digital map at last, solved existing method under-stream period length, low precision, cost height, had shortcomings such as property time lag, timely and accurate road network chart can satisfy the application need of auto-navigation system and intelligent transportation system better.
The present invention is achieved by the following technical solutions, at first utilize vehicle GPS equipment to gather the driving trace data of automobile on road network, and adopt computing machine that the driving trace data are carried out the conversion of terrestrial coordinate to the urban construction coordinate, deposit the track data storehouse then in; And then, the employing computing machine filters the driving trace data in the track data storehouse and strengthens; Then, the driving trace data that adopt Computer Processing to filter and strengthened generate the smooth road network grid digital map in edge and slightly scheme (being called for short road network slightly schemes); At last, adopt computing machine that above-mentioned thick figure is handled, generate more accurate road network grid digital map.
The inventive method may further comprise the steps:
The first step, on the higher car group (as taxi) of utilization rate, install vehicle GPS equipment additional, gather the driving trace data of automobile on road network in real time, utilize existing map projection formula that the earth longitude and latitude data-switching in the driving trace data is become the urban construction coordinate data then, deposit the track data storehouse at last in.
Because the driving trace of automobile generally is positioned on the road, so the actual reflection of the actual road network of the common visual work of its data.Vehicle GPS equipment is meant and can receives gps signal and obtain the automobile positioning data equipment of (comprising data item such as automobile ID, longitude, latitude, time, speed, travel direction) after the built-in chip computing.In addition, the vehicle GPS equipment among the present invention also need possess data-transformation facility.What deserves to be explained is, at home and abroad in the existing taxi dispatching system in many cities (as Shanghai), therefore a large amount of taxis has installed the controlling equipment with vehicle GPS equipment above-mentioned functions additional, installs the expense that vehicle GPS equipment produced additional even can avoid.Map projection's formula refer to utilize technological means sets up can be with the coordinate conversion formula of the spot projection on the graticules to the urban construction coordinate plane, utilize this formula can realize accurate transformation from the longitude and latitude data to the urban construction coordinate data.
Second step, adopt computing machine that the driving trace data in the track data storehouse are carried out threshold filtering, the tracing point data deletion that speed is big, adopt computing machine between the tracing point data of same ID adjacent moment after the filtration, to insert the middle data of the two simultaneously, and delete the data item except that the urban construction coordinate in the above-mentioned track data;
The GPS positioning error usually all has than confidential relation with the travel speed of automobile, discover that the big more then positioning error of automobile driving speed is also big more, therefore adopt computing machine that the driving trace data in the track data storehouse are carried out threshold filtering, with speed big (such as greater than 50km/h) thus the tracing point data deletion strengthen the accuracy of track data.Simultaneously, because the driving trace data of automobile are made up of the single tracing point data of Discrete Distribution on road network, the track data that tracing point is sparse can bring bigger difficulty to subsequent treatment, therefore adopt the middle data of inserting the two after the filtration that computing machine is identical at ID and record is constantly adjacent between the tracing point data (to be stored between two tracing point data after the filtration, coordinate is got the average of the two), the data item in the while deletion locus data except that the urban construction coordinate.
In the 3rd step, the driving trace data that obtained by first two steps are still and are distributed in the discrete tracing point that can to a certain degree react road network geographic entity and structure on the road network, are not road network grid digital map.For this reason, adopt computing machine that above-mentioned discrete tracing point is carried out expansion process until being linked to be solid line (representative road), and then carry out corrosion treatment and come smooth solid line edge, the solid line figure of Sheng Chenging is that road network is slightly schemed at last.
Described discrete tracing point (traval trace data) stores in the two-dimensional array of bitmap format and handles.
The 4th step, adopt computing machine that above-mentioned thick figure is implemented after twice expansion thinning processing again, finally obtain the higher road network grid digital map of precision.
But the real looks of the thick figure of road network fundamental reaction road network, but precision is not high, adopt computing machine that road network is slightly schemed to implement after twice expansion thinning processing more for this reason, final generate the higher road network grid digital map of precision (after the expansion again thinning processing be equivalent to tracing point is carried out the average noise reduction, can reach the effect that further reduces positioning error).The road network grid digital map that is generated is binaryzation bitmap (the road network element is used different numerals respectively with non-road network element).
Described vehicle GPS equipment refers to receive gps signal and obtain automobile positioning data (comprising information such as automobile ID, longitude, latitude, time, speed, travel direction) after the built-in chip computing, also has the mobile unit of data-transformation facility simultaneously.
Compared with prior art, the present invention gathers and the synchronous road information data (traval trace data) of road network in real time, the defective of having avoided prior art road information data source to lag behind; In addition, road information data source of the present invention (gps signal) is obtained conveniently, and procurement cost is lower; Because the road network grid digital map that is generated can completely clearly be contained the current road of all energy automobiles, and (error is less than 1～3m to have degree of precision, be better than general prior art), therefore can satisfy auto-navigation system and intelligent transportation system better to road network Application of Digital Maps needs.
Description of drawings
Fig. 1 is the automatic generation method for road network grid digital map process flow diagram that the present invention is based on the GPS location.
Fig. 2 shows for the full figure of the road network grid digital map that the embodiment of the invention generated.
Fig. 3 is the local enlargement display of the road network grid digital map that the embodiment of the invention generated.
Embodiment
Below in conjunction with accompanying drawing embodiments of the invention are elaborated: present embodiment is being to implement under the prerequisite with the technical solution of the present invention, provided detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
Automatically generating road network grid digital map with the traval trace data enforcement the present invention who gathers on the Changyi District segment path network of Jilin, Jilin Province is example (Computer Processing partly adopts Microsoft VisualStudio 2005 translation and compiling environments to realize), and its detailed process is divided into following four modules (as shown in Figure 1):
1. receiving vehicle GPS equipment at data acquisition center was the traval trace data that send in the cycle with 5 seconds, the driving trace data are made up of a large amount of discrete track point data, and each tracing point data comprises automobile ID, longitude, latitude, time, speed, travel direction totally 6 data item.Be tied to map projection's formula of Jilin surface road figure urban construction coordinate system according to existing terrestrial coordinate:
Wherein
(x, y)Be the urban construction coordinate,
L, dBe respectively longitude and latitude, the urban construction coordinate of tracing point of constantly will dispersing carries out computing by formula (1), thereby X-axis coordinate data and Y-axis coordinate data with the longitude and the latitude data of driving trace data replace to the urban construction coordinate store in the database by form as shown in the table then.
| Automobile ID | X coordinate (m) | Y coordinate (m) | Time | Speed (km/h) | Travel direction |
| 0001 | -327 | 1316 | 08-11-07?06:25:39 | 33 | 7 |
Annotate: above-mentioned Jilin surface road figure urban construction coordinate system is the urban construction coordinate origin with this station ground sculpture position, railway station, city, its geodetic longitude and latitude are respectively 126.5670305556 ° of E and 43.8558166667 ° of N, and the coordinate axis unit length is one meter.
2. the driving trace data that the 1st step was handled are read in internal memory by database in batches, when speed during greater than 50km/h then with this tracing point data deletion, calculate simultaneously with current effective tracing point (speed is lower than 50km/h) and have going up the time interval of being carved with a period of time between the effect tracing point of identical ID: if the time interval is in 10 seconds, then insert a new tracing point between two tracing point data, new tracing point X-axis coordinate and Y-axis coordinate are respectively the average of the former two's X-axis coordinate and Y-axis coordinate.Define a two-dimensional array Trace and whole elements are initialized as 0, one by one the tracing point in the internal memory is stored in the array: for the urban construction coordinate is (x, y) tracing point, with Trace[3800-y] [x+800] be changed to 1, it is illustrated in the urban construction coordinate system, and (y) there is effective tracing point in x on the position.Following table is the part of gained Trace array (element is Trace[i] [j]):
3. the 2nd step is handled the Trace array that obtains and carries out following processing:
1) two-dimensional array Temp with the Trace same order of definition, with in the Trace array with Trace[i] [j] be that element value in 3 x, 3 zones at center copies among 3 x, the 3 two-dimensional array neighbor, check that whether value is arranged among the neighbor is 1 element, if any, then with Temp[i] [j] be changed to 1, otherwise be changed to 0, the whole elements of Trace carried out an above-mentioned processing, at last the element value among the Temp is all duplicated back in the Trace array with the loop command statement.Repeated execution of steps (1) six time;
2) with in the Trace array with Trace[i] [j] be that element value in 3 x, 3 zones at center copies among 3 x, the 3 two-dimensional array neighbor, check that whether value is arranged among the neighbor is 0 element, if have, then with Temp[i] [j] be changed to 0, otherwise be changed to 1, with the loop command statement the whole elements of Trace are carried out an above-mentioned processing, at last the element value among the Temp is duplicated back in the Trace array.Carrying out the Trace array institute canned data that obtains after this step and be the road network of the smooth mistake in road edge slightly schemes.
4. the 3rd step is handled the thick figure of road network that obtains and carries out following processing:
1) two-dimensional array Temp with the Trace same order of definition, with in the Trace array with Trace[i] [j] be that element value in 5 x, 5 zones at center copies among 5 x, the 5 two-dimensional array neighbor calculating
nCount＝neighbor[1][1]+neighbor[1][2]+neighbor[1][3]+neighbor[2][1]+neighbor[2][2]+
。Definition
neighbor[2][3]+neighbor[3][1]+neighbor[3][2]+neighbor[3][3]
Boolean variable bCondition1 if 2≤nCount≤6 then are changed to true with it, otherwise is changed to false;
2), judge neighbor[1 one by one with the nCount zero clearing] [2]=0 ﹠amp; Neighbor[1] [1]=1,
neighbor[1][1]＝0?&?neighbor[2][1]＝1、neighbor[2][1]＝0?&?neighbor[3][1]＝1、
neighbor[3][1]＝0?&?neighbor[3][2]＝1、neighbor[3][2]＝0?&?neighbor[3][3]＝1、
neighbor[3][3]＝0?&?neighbor[2][3]＝1、neighbor[2][3]＝0?&?neighbor[1][3]＝1、
Neighbor[1] [3]=0 ﹠amp; Neighbor[1] whether [2]=1 set up, if set up, then nCount increases 1 at every turn, otherwise constant.Define Boolean variable bCondition2 at last, and judge whether nCount=1 sets up,, then it is changed to true, otherwise is changed to false if set up;
3) definition Boolean variable bCondition3 judges neighbor[1] [2] * neighbor[2] [1] * neighbor[2] whether set up [3]=1, if establishment forwards step (4) to after then bCondition3 being changed to true.Otherwise,, judge neighbor[0 then one by one earlier with the nCount zero clearing] and [2]=0 ﹠amp; Neighbor[0] [1]=1,
neighbor[0][1]＝0?&?neighbor[1][1]＝1、neighbor[1][1]＝0?&?neighbor[2][1]＝1、
neighbor[2][1]＝0?&?neighbor[2][2]＝1、neighbor[2][2]＝0?&?neighbor[2][3]＝1、
neighbor[2][3]＝0?&?neighbor[1][3]＝1、neighbor[1][3]＝0?&?neighbor[0][3]＝1、
Neighbor[0] [3]=0 ﹠amp; Neighbor[0] whether [2]=1 set up, if set up, then nCount increases 1 at every turn, judges that at last whether nCount is 1, if be not 1, then is changed to true with bCondition3, otherwise is changed to false;
4) definition Boolean variable bCondition4 judges
Neighbor[1] [2] * neighbor[2] [1] * neighbor[3] whether [2]=0 set up, if set up then bCondition4 be changed to true and forward step (5) to.Otherwise,, judge one by one earlier with the nCount zero clearing
neighbor[1][1]＝0?&?neighbor[1][0]＝1、neighbor[1][0]＝0?&?neighbor[2][0]＝1、
neighbor[2][0]＝0?&?neighbor[3][0]＝1、neighbor[3][0]＝0?&?neighbor[3][1]＝1、
neighbor[3][1]＝0?&?neighbor[3][2]＝1、neighbor[3][2]＝0?&?neighbor[2][2]＝1、
Neighbor[2] [2]=0 ﹠amp; Neighbor[1] [2]=1, neighbor[1] [2]=0 ﹠amp; Neighbor[1] whether [1]=1 set up, if set up, then nCount increases 1 at every turn, judges that at last whether nCount is 1, if be not 1, then is changed to true with bCondition4, otherwise is changed to false;
5) judge whether bCondition1, bCondition2, bCondition3, bCondition4 all are true, if, then with Temp[i] [j] be changed to 1, otherwise be changed to 0.Utilization loop command statement, repeating step (1)～(5) whole elements in Trace all experience a computing, at last the element value among the Temp are duplicated back among the Trace.The data of storing in the Trace array are the road network grid digital map that is generated, and it is deposited in the text so that subsequent treatment and demonstration again.
Shown in Fig. 2,3, carry out road network grid digital map according to following rule and show: if Trace[i] [j]=1 establishment, then (j i) locates to show a black map pixel, otherwise does nothing at screen coordinate system.With road network map (shown in Fig. 2,3) and (the HarBin map publishing house's publication of Jilin tourist map that generates, in October, 2007 first published) compare after, find the complete Jilin Changyi District road network (comprising the newly-built road of not containing in the tourist map) of clearly having contained of this figure, also have higher precision simultaneously.Because the road network grid digital map that present embodiment generated has in time (can be synchronous with the actual conditions of road network), clear (binaryzation numerical map) and degree of precision advantages such as (high-precision road information data combine precision raising measure can make the road network grid digital map that is generated have degree of precision), so it has application promise in clinical practice in fields such as auto-navigation system and intelligent transportation systems, can satisfy above-mentioned field better to road network Application of Digital Maps needs.
Claims (4)
1, a kind of automatic generation method for road network grid digital map based on the GPS location is characterized in that comprising the steps:
The first step, on the car group, install vehicle GPS equipment additional, gather the driving trace data of automobile on road network in real time, utilize existing map projection formula that the earth longitude and latitude data-switching in the driving trace data is become the urban construction coordinate data then, deposit the track data storehouse at last in;
Second step, adopt computing machine that the driving trace data in the track data storehouse are carried out threshold filtering, the tracing point data deletion that speed is big, adopt computing machine between the tracing point data of same ID adjacent moment after the filtration, to insert the middle data of the two simultaneously, and delete the data item except that the urban construction coordinate in the above-mentioned track data;
The 3rd step, adopt computing machine that above-mentioned discrete tracing point is carried out expansion process and be linked to be solid line until discrete tracing point, and then carry out corrosion treatment again and come smooth solid line edge, generate the smooth road network grid digital map in edge and slightly scheme;
The 4th step, adopt computing machine that above-mentioned thick figure is implemented after twice expansion thinning processing again, finally obtain road network grid digital map.
2, the automatic generation method for road network grid digital map based on the GPS location according to claim 1, it is characterized in that, described vehicle GPS equipment refers to receive gps signal and obtain automobile positioning data after the built-in chip computing, comprise automobile ID, longitude, latitude, time, speed, travel direction information, also have the mobile unit of data-transformation facility simultaneously.
3, the automatic generation method for road network grid digital map based on the GPS location according to claim 1 is characterized in that described discrete tracing point is that the traval trace data storage is handled in the two-dimensional array of bitmap format.
4, the automatic generation method for road network grid digital map based on the GPS location according to claim 1 is characterized in that the described road network grid digital map that obtains is the binaryzation bitmap.
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