CN102279406A - Fence identification method using global positioning system (GPS) to position tracks - Google Patents
Fence identification method using global positioning system (GPS) to position tracks Download PDFInfo
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- CN102279406A CN102279406A CN2011100905128A CN201110090512A CN102279406A CN 102279406 A CN102279406 A CN 102279406A CN 2011100905128 A CN2011100905128 A CN 2011100905128A CN 201110090512 A CN201110090512 A CN 201110090512A CN 102279406 A CN102279406 A CN 102279406A
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Abstract
The invention discloses a fence identification method using a global positioning system (GPS) to position tracks. The fence identification method comprises the following steps of: 1) presetting a line: marking n key places in a target line on an electronic map, saving the places as a group of reference points of the line in sequence, and connecting each reference point to form n-1 sections of line segments with directions; 2) setting an identification radius: taking the selected reference points as a center of circle, and forming a circular fence by taking the set identification radius r as a circle radius to obtain a circular identification range of the reference points; 3) splitting the line: forming a rectangular fence between two continuous reference points by using a polygon generation method; and 4) identifying the fence: calculating the position relation between a target point and the rectangular fence by adopting an improved arc length method, and comparing the distance D between the reference points and the target point with the identification radius r of the reference points to judge the position relation between the target point and the circular fence. According to the fence identification method, the function of automatic comparison of track positioning can be realized by only using a GPS positioning terminal, the cost is low, the efficiency is high, and the flexibility is better.
Description
Technical field
The present invention relates to the automatic comparison technology of default circuit on a kind of gps satellite positioning track and the map, specifically, relate to a kind of fence recognition methods of GPS positioning track.
Background technology
Monitoring management to outdoor moving target is typical case's application of gps system, by installing and locating terminal on moving target, and record motion track, the purpose that reaches monitoring and manage.Gps system comprises overhead satellites, ground control system and gps receiver three partly, and the principle of GPS positioning system is to utilize the basic triangle positioning principle of satellite, and the GPS receiving device measures distance with the transmission time of measuring radio signal.By the position of every satellite, measure every satellite to distance between the GPS receptacle, can calculate the three dimensional space coordinate value (longitude, latitude and height) of gps receiver position.By concentrating the data of gathering locating terminal, change again and handle, by electronic chart the track that target moves is presented at last.
For the comparison of positioning track and scheduled circuit, mainly contain four class methods at present:
1, fixed point acquisition method
Fixing mark point is set in the line, portable terminal reports latitude and longitude information by fixed intervals, data processing server calculates the position relation between current location and each fixed point in real time, automatically whether identification has arrived this fixed point, and information such as last quantity with arrived fixed point, time are judged movement locus.Existing a lot of application of this method is the scheme the most close with the present invention.But this method can not be monitored the utilization process of portable terminal, can't adapt to more accurate monitoring management.
2, utility appliance method
Online curb is installed data acquisition equipment on the way, as the RFID(less radio-frequency), bluetooth, receiver such as infrared, when portable terminal through near the collecting device time, can be identified at once, and with the collecting device exchange message.Realize the very high hardware input cost of needs of track comparison with this method.
3, pattern-recognition method
By on electronic chart, presetting circuit and the actual path image interception comes out, carry out after a series of images handles, calculate the similarity of two trace images with image recognition algorithm.This method complexity height, calculated amount is big, and the result is also accurate inadequately, now seldom uses.
4, manually compare method
Similar to pattern-recognition method, by manual observation on electronic chart, the difference of default circuit of contrast and actual path.This method is intuitively simple, but human cost is higher, and efficiency ratio is lower.
Summary of the invention
At above deficiency, the invention provides a kind of fence recognition methods of GPS positioning track, it comprises:
1) default circuit: on electronic chart, choose in the target line
Mark is carried out in individual crucial place, saves as one group of reference point of this circuit in order, is designated as
, each reference point links to each other and has just formed
The line segment of section band direction
, be default circuit, wherein
The decimal system longitude of representing this point,
The decimal system latitude of representing this point;
2) set the identification radius: the reference point of choosing with step 1) is the center of circle respectively, and the identification radius r of each reference point is set, and is that radius of circle forms circular pens with the identification radius of setting, and obtains the circular identification range of reference point:
3) fence identification: judge that according to the position between impact point and the reference point impact point is whether in above-mentioned fence.
The identification radius of each reference point described step 2) can be all identical, also can be all different, and all right part is identical.
Described step 2) and between the step 3) also comprise:
23) circuit splits: utilize polygon generation method, form the polygon fence between two continuous reference points.
Described step 23) polygon fence is the rectangle fence, and the generative process of described rectangle fence is; At first with the starting point of each default circuit as first reference point, the circular pens that obtains first reference point with should the default perpendicular diameter of circuit; Translation should be preset circuit then, made that first reference point after moving overlaps with the two-end-point of above-mentioned diameter, obtained two translated segments that are parallel to each other; Connect the two other parallel lines of two translated segments, can obtain described rectangle fence.
Described step 3) comprises circular pens identification and the identification of rectangle fence.
The process of described circular pens identification is: at first calculate the distance between reference point and the impact point
DTo calculate resulting distance then
DMake comparisons with the identification radius r of this reference point, if
, then impact point outside this reference point identification range, if instead
, then impact point is in the reference point identification range.
Described rectangle fence identification adopts improved arc-length methods to calculate the position relation of impact point and rectangle fence, and it comprises:
31) true origin is moved to impact point, forms new coordinate system,
32) by in abutting connection with each summit A of sequential access rectangle fence, analyze Ai and A[i+1] relation, following four kinds of situations are arranged:
(1) A[i+1] at the same quadrant of Ai, this moment arc length and add 0;
(2) A[i+1] at next quadrant of Ai, this moment arc length and add pi/2;
(3) A[i+1] quadrant on Ai, this moment arc length and subtract pi/2;
(4) A[i+1] at the relative sector of Ai, at first calculate cross product
, if
, then put on polygon; If
, arc length and subtract π; If
, arc length and add π,
33) whole directed edges of rectangle fence are done radially projecting to unit circle, the unit of account circle is gone up the algebraic sum of arc length, if algebraic sum is 0, then impact point is in the outside of rectangle fence; If algebraic sum is 2 π, then impact point is in the inside of rectangle fence; If algebraic sum is π, then impact point is on the rectangle fence.
Beneficial effect of the present invention:
1, cost is low, can realize function with common GPS locating terminal, need not other auxiliary data acquisition equipments
2, efficient height, circuit is set reusable, omnidistance monitoring in real time and comparison automatically
3, dirigibility height, can be provided with whether judge direction, whether judge sequencing, whether appointed place, status report and track similarity computation rule etc. in the identification circuit.
Description of drawings
Fig. 1 is the fence recognition methods process flow diagram of GPS positioning track of the present invention;
Fig. 2 is the synoptic diagram of default circuit of the present invention;
Fig. 3 is the identification range synoptic diagram of reference point behind the setting identification radius of the present invention;
Fig. 4 determines synoptic diagram for the summit of rectangle fence of the present invention;
Fig. 5 is that circuit of the present invention splits the synoptic diagram that forms the rectangle fence;
Fig. 6 is the fence identification synoptic diagram of improvement arc-length methods of the present invention.
Embodiment
Below in conjunction with accompanying drawing the present invention is further set forth.
As shown in Figure 1, the fence recognition methods of GPS positioning track of the present invention comprises the steps: 1) default circuit; 2) set the identification radius; 3) circuit splits; 4) track comparison.
Below in conjunction with accompanying drawing, each step is described in detail:
Step 1: default circuit
As shown in Figure 2, on electronic chart (is the example explanation with the WGS-84 coordinate), choose in the target line
Mark is carried out in individual crucial place, saves as one group of reference point of this circuit in order, is designated as
, wherein
The decimal system longitude of representing this point,
The decimal system latitude of representing this point, each reference point link to each other and have just formed
The line segment of section band direction
, be default circuit.
Step 2: set the identification radius
As shown in Figure 3, the reference point of choosing with step 1 is the center of circle, and each reference point all can be provided with different identification radiuses, to adapt to different accuracy requirements, is radius of circle with the identification radius of setting, and can obtain the circular identification range of reference point:
Step 3: circuit splits
It is committed step of the present invention that circuit splits automatically, and final purpose is that circuit is split into one group of rectangle and one group of border circular areas fence, and rectangle fence and circular pens are staggered joins, and has comprised the whole piece circuit, for ensuing track comparison is laid a good foundation.
Polygon generating algorithm commonly used has based on azimuthal left-hand rotation or right-hand rotation algorithm, and node searching algorithm successively, but these algorithm computation complexities are higher, and calculation procedure is various, and is rather painstaking in the application scenario that big data quantity calculates or calculates in real time.Therefore the present invention is directed to the practical application characteristics of track comparison, with polygon fence regional standardization, unification is the rectangle fence between the circular pens in reference point zone and two reference points.Use this method to generate the polygon fence, computation complexity ground not only, calculation procedure is few, and the condition that initialization is provided with also few (only need reference point and discern radius accordingly), is highly suitable for the real-time computing and the analysis of massive spatial data.
Previous step has obtained the circular pens of each reference point suddenly, just generates the rectangle fence now on this basis automatically.As shown in Figure 5 because each reference point to discern radius different, regulation generates rectangle with the identification range of starting point, only needs the line segment between two reference points is moved to the position tangent with the starting point circular pens respectively, can obtain four summits of rectangle.As inciting somebody to action
Move to respectively with
Two tangent positions, 4 end points that connect two translated segments have just generated rectangle automatically
As shown in Figure 4, computation process is as follows:
A. at first according to reference point in the plane geometry algorithm computation out-of-plane coordinate system
After the displacement, the new point of generation
Coordinate.Side-play amount
,
With the identification radius
Constitute a right-angle triangle, and angle
Can obtain by line segment two-end-point coordinate.So can calculate side-play amount
,
B. obtain after the side-play amount, by the plane coordinate transformation algorithm of spatial data, obtain again
C. repeat above four summits that calculate rectangle.
Step 4: fence identification
Fence identification is exactly whether to judge impact point in fence inside, after pilot switch is opened, begins the reported data of GPS locating terminal is calculated in real time, draws the position relation in target terminal current location and default circuit fence zone.When target terminal entered or leave any one fence zone of default circuit, the track processing enter can both capture this incident in real time.
The present invention judges that by the distance of calculating impact point and reference point impact point is whether in circular pens, select circular identification range as reference point, mainly be to utilize the space geometry algorithm to judge whether within it portion of impact point easily, establish impact point and be
, reference point is
, convert 2 longitudes, latitude value to the Circular measure form
With
Wherein
,
,
,
Ask impact point
With reference point
Distance
D
If
, then impact point outside the reference point identification range, if instead
, then impact point is in the reference point identification range.
And for the identification of rectangle fence, the position of then adopting improved arc-length methods to calculate impact point and fence concerns.It is oriented polygon that arc-length methods requires polygon, and general provision is along polygonal forward, and the left side on limit is polygonal inboard territory.Take the measured point as center of circle office circle, whole directed edges are done radially projecting to unit circle, and calculate the algebraic sum of arc length on the unit circle wherein.If algebraic sum is 0, then put at outside of polygon; If algebraic sum is that 2 π then put in polygon inside; If algebraic sum is π, then put on polygon.
The modified arc-length methods moves to impact point P with true origin, this new coordinate system is divided into 4 quadrants with the plane, as shown in Figure 6, to each polygon vertex A, only consider the quadrant at its place, by in abutting connection with polygonal each summit of sequential access A, analyze Ai and A[i+1 then] relation, following four kinds of situations are arranged:
(1) A[i+1] at the same quadrant of Ai, this moment arc length and add 0;
(2) A[i+1] at next quadrant of Ai, this moment arc length and add pi/2;
(3) A[i+1] quadrant on Ai, this moment arc length and subtract pi/2;
(4) A[i+1] at the relative sector of Ai, at first calculate cross product
, if
, then put on polygon; If
, arc length and subtract π; If
, arc length and add π.
Take the measured point as center of circle office circle, whole directed edges are done radially projecting to unit circle, and calculate the algebraic sum of arc length on the unit circle wherein.If algebraic sum is 0, then put at outside of polygon; If algebraic sum is that 2 π then put in polygon inside; If algebraic sum is π, then put on polygon.Because π is a floating number, be unfavorable for the magnanimity computing, therefore π is substituted with integer 2, then, then put at outside of polygon if algebraic sum is 0; If algebraic sum is that 4 points are in polygon inside; If algebraic sum is 2, then put on polygon.
Improved algorithm only need be done multiplication and plus-minus method, only needs
Space complexity and
Time complexity, have very high precision and efficient, the polygon fence that generates among the present invention all is a rectangle, calculates more quick.
The above only is a better embodiment of the present invention, the present invention is not limited to above-mentioned embodiment, in implementation process, may there be local small structural modification, if various changes of the present invention or modification are not broken away from the spirit and scope of the present invention, and belong within claim of the present invention and the equivalent technologies scope, then the present invention also is intended to comprise these changes and modification.
Claims (7)
1. the fence recognition methods of a GPS positioning track is characterized in that it comprises:
1) default circuit: on electronic chart, choose in the target line
Mark is carried out in individual crucial place, saves as one group of reference point of this circuit in order, is designated as
, each reference point links to each other and has just formed
The line segment of section band direction
, be default circuit, wherein
The decimal system longitude of representing this point,
The decimal system latitude of representing this point;
2) set the identification radius: the reference point of choosing with step 1) is the center of circle respectively, and the identification radius r of each reference point is set, and is that radius of circle forms circular pens with the identification radius of setting, and obtains the circular identification range of reference point:
3) fence identification: judge that according to the position between impact point and the reference point impact point is whether in above-mentioned fence.
2. the fence recognition methods of GPS positioning track according to claim 1 is characterized in that, described step 2) in the identification radius of each reference point can be all identical, also can be all different, can also part identical.
3. the fence recognition methods of GPS positioning track according to claim 1 is characterized in that, described step 2) and step 3) between also comprise:
23) circuit splits: utilize polygon generation method, form the polygon fence between two continuous reference points.
4. the fence recognition methods of GPS positioning track according to claim 3 is characterized in that, described step 23) the polygon fence be the rectangle fence, the generative process of described rectangle fence is; At first with the starting point of each default circuit as first reference point, the circular pens that obtains first reference point with should the default perpendicular diameter of circuit; Translation should be preset circuit then, made that first reference point after moving overlaps with the two-end-point of above-mentioned diameter, obtained two translated segments that are parallel to each other; Connect the two other parallel lines of two translated segments, can obtain described rectangle fence.
5. the fence recognition methods of GPS positioning track according to claim 4 is characterized in that, described step 3) comprises circular pens identification and the identification of rectangle fence.
6. the fence recognition methods of GPS positioning track according to claim 5 is characterized in that, the process of described circular pens identification is: at first calculate the distance between reference point and the impact point
DTo calculate resulting distance then
DMake comparisons with the identification radius r of this reference point, if
, then impact point outside this reference point identification range, if instead
, then impact point is in the reference point identification range.
7. the fence recognition methods of GPS positioning track according to claim 5 is characterized in that, described rectangle fence identification adopts improved arc-length methods to calculate the position relation of impact point and rectangle fence, and it comprises:
31) true origin is moved to impact point, forms new coordinate system,
32) by in abutting connection with each summit A of sequential access rectangle fence, analyze Ai and A[i+1] relation, following four kinds of situations are arranged:
(1) A[i+1] at the same quadrant of Ai, this moment arc length and add 0;
(2) A[i+1] at next quadrant of Ai, this moment arc length and add pi/2;
(3) A[i+1] quadrant on Ai, this moment arc length and subtract pi/2;
(4) A[i+1] at the relative sector of Ai, at first calculate cross product
, if
, then put on polygon; If
, arc length and subtract π; If
, arc length and add π,
33) whole directed edges of rectangle fence are done radially projecting to unit circle, the unit of account circle is gone up the algebraic sum of arc length, if algebraic sum is 0, then impact point is in the outside of rectangle fence; If algebraic sum is 2 π, then impact point is in the inside of rectangle fence; If algebraic sum is π, then impact point is on the rectangle fence.
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| CN108931795B (en) * | 2018-05-21 | 2022-05-13 | 千寻位置网络有限公司 | Positioning equipment track optimization and boundary extraction method and device |
| CN111080194A (en) * | 2019-11-27 | 2020-04-28 | 宏图智能物流股份有限公司 | Engineering vehicle carrying lap counting method and system based on vehicle track |
| CN112367610A (en) * | 2020-10-30 | 2021-02-12 | 合肥四相至新科技有限公司 | Positioning method and system thereof |
| CN112367610B (en) * | 2020-10-30 | 2022-10-14 | 合肥四相至新科技有限公司 | Positioning method and system thereof |
| CN112991806A (en) * | 2021-02-18 | 2021-06-18 | 安徽中科美络信息技术有限公司 | Vehicle track monitoring method and device |
| CN113360543A (en) * | 2021-06-01 | 2021-09-07 | 平安国际智慧城市科技股份有限公司 | Method, device, equipment and storage medium for identifying repeated routes of public transport |
| US11961093B2 (en) | 2022-06-20 | 2024-04-16 | SZ DJI Technology Co., Ltd. | Authentication systems and methods for generating flight regulations |
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