CN102707301A - Positioning device and positioning method thereof - Google Patents
Positioning device and positioning method thereof Download PDFInfo
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- CN102707301A CN102707301A CN2011100758557A CN201110075855A CN102707301A CN 102707301 A CN102707301 A CN 102707301A CN 2011100758557 A CN2011100758557 A CN 2011100758557A CN 201110075855 A CN201110075855 A CN 201110075855A CN 102707301 A CN102707301 A CN 102707301A
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Abstract
The invention discloses a positioning device and a positioning method thereof. The positioning device comprises a polygon generation unit for reading map data and generating a peak sequence of polygons and a boundary vector group consisting of the peak sequence, a position measurement unit for measuring and reading position data of a measured object, a ray generation unit for generating a ray in a plane consisting of the polygons from the position of the measured object to any direction, an intersection detection unit for detecting whether a boundary vector in the boundary vector group is intersected with the ray and a winding number calculation unit for detecting whether the position of the measured object is in the clockwise direction or the anticlockwise direction of a direction of the boundary vector intersected with the ray and correspondingly decreasing or increasing the winding number. By the positioning device and the positioning method thereof, the operation efficiency of the positioning efficiency is improved, the reaction speed of the positioning device is increased, and the energy loss is effectively reduced.
Description
Technical field
The present invention relates to a kind of locating device and localization method thereof, particularly relate to a kind of locating device and localization method thereof that is applicable to area monitoring.
Background technology
Locating device be with global positioning satellite GPS technology, modern global system for mobile communications GSM technology, GIS-Geographic Information System GIS technology, WEB is technological and computer communication technology combines; Information real-time such as the dynamic position (longitude, latitude) of the moving target that the GPS receiver is housed, time, state ground is sent to Surveillance center through the gsm wireless communication network; Then on the complete electronic chart of information, carry out the demonstration of moving target track, and parameters such as the position of target, speed, direction of motion, monitoring objective state are monitored and inquired about.
Because monitored thing tends to be limited in move in the zone; So locating device often need judge that monitored thing is whether in this zone; If monitored thing is positioned at outside the zone, then locating device can send prompting to the outside, is judging that monitored thing is whether during in certain zone; In fact be identical with judging whether a point is in one 2 dimensional plane polygon, method commonly used in the present existing locating device has following two kinds:
1, number of hits method
The point that this method is differentiated with need is that end points is made ray to any direction, calculates it and the number of hits of Polygonal Boundary then, when number of hits is odd number, puts in polygon; If even number is then put outside polygon.
2, winding number method
About the winding number of certain point, be an integer, the closed curve on its expression plane is walked around the total degree of this point.Winding number is relevant with the orientation of curve, if curve is walked around certain point along counter clockwise direction, then winding number is a positive number, otherwise then is negative.The method is calculated polygon and is walked around the total degree of waiting to declare a little (being that polygon is about waiting to declare winding number a little), if this winding number is 0, then puts outside polygon; Otherwise point is in polygon.
If polygon is fairly simple, so above-mentioned two kinds of methods can provide identical judged result to the arbitrfary point.But when the polygon more complicated (for example re-entrant polygon), so for some point, these two kinds of methods may provide different judged results.For example, one as shown in Figure 1 has the overlapping re-entrant polygon in subregion, if wait to declare a little in the overlapping region; Then the number of hits method is because detected intersection point is an even number; Then can think this point outside polygon, and winding number is because greater than zero, so can regard as in polygon.
In this example, when waiting to declare a little in the overlapping region, its winding number equals 2, is appreciated that to this to wait to declare a little in polygon 2 times (overlapping region is each 1 time up and down).In complex region, the result that the winding number method draws than number of hits method more accurately, more directly perceived.But because winding number needs a large amount of angle of calculating in calculating, thereby can relate to the computing of a large amount of floating numbers, so the operation efficiency of winding number method is lower, so the number of hits method remains the method that everybody the most often uses.Obviously, which kind of method is defectiveness all, number of hits method poor accuracy, and winding number method operation efficiency is poor.
Summary of the invention
The technical matters that the present invention will solve is to judge that in order to overcome prior art monitored thing is whether during in certain zone; Number of hits method poor accuracy, the defective of winding number method operation efficiency difference provides a kind of locating device and localization method thereof; Improve the operation efficiency of locating device, reduced energy consumption.
The present invention solves above-mentioned technical matters through following technical proposals:
The invention provides a kind of locating device, be characterized in that said locating device comprises:
One polygon generation unit, a border Vector Groups that is used to read in map datum and generates polygonal vertex sequence and constitute by said vertex sequence;
Unit, one measuring position is used to measure and read in the position data of measured object;
One ray generation unit is used in the plane that said polygon constitutes, and begins to generate ray to arbitrary direction from the position of said measured object;
One intersects detecting unit, the border vector that is used for detecting said border Vector Groups whether with said ray intersection;
One winding number computing unit, the position that is used to detect said measured object be in said and ray intersection the border vector CW still counterclockwise, and correspondingly reduce or increase winding number.
Preferably, said locating device also comprises a storage unit, is used to store said winding number and vertex sequence.
Preferably; Border vector that said winding number computing unit is used to calculate said and ray intersection and the vectorial multiplication cross of the initial vertex of said border vector to the position of said measured object, and be less than zero or correspondingly reduce or increase winding number greater than zero according to the multiplication cross result.
Preferably, the position that is used for along the X direction of coordinate axis from said measured object of said ray generation unit generates ray.
Preferably, said crossing detecting unit be used for detecting said measured object the position whether in the left side of Vector Groups one border, said border vector and detect said ray in the value of the longitudinal axis of coordinate axis whether in two the scopes that value constituted of summit of said border vector at the said longitudinal axis.
Preferably, the said crossing detecting unit initial vertex of calculating said border vector and said border vector to the vectorial multiplication cross of the position of said measured object whether greater than zero.
The present invention also provides a kind of localization method of aforesaid locating device, is characterized in may further comprise the steps:
S
101, the said polygon generation unit one border Vector Groups of reading in map datum and generating polygonal vertex sequence and constituting by said vertex sequence;
S
102, unit, said measuring position is measured and read in the position data of measured object;
S
103, said ray generation unit in the plane that said polygon constitutes, begin to generate ray from the position of said measured object to arbitrary direction;
S
104, from the Vector Groups of said border, select a border vector, and whether the said ray of said crossing detection intersect with said border vector, if testing result is for being then to get into step S
105, otherwise repeating step S
104
S
105, the said winding number computing unit position of detecting said measured object be in said and ray intersection the border vector CW still counterclockwise, and correspondingly reduce or increase winding number, and return step S
104
Preferably, said locating device also comprises a storage unit, and at step S
105In further comprising the steps of:
The said winding number of said cell stores.
Preferably, step S in the said localization method
101Further comprising the steps of:
The said vertex sequence of said cell stores.
Preferably, said winding number computing unit is used to calculate the vectorial multiplication cross of the initial vertex of vectorial and said border, said border with ray intersection vector to the position of said measured object, and at step S
105In may further comprise the steps:
S
1051, calculate the vector of the initial vertex of said border vector to the position of said measured object;
S
1052, with said vector and said border vector multiplication cross;
S
1053, whether detect said multiplication cross result greater than zero, if testing result for being, then reduces winding number, and returns step S
104, otherwise get into step S
1054
S
1054, whether detect said multiplication cross result less than zero, if testing result for being, then increases winding number, and returns step S
104
Preferably, the position that said ray generation unit is used for along the X direction of coordinate axis from said measured object generates ray, and at step S
103In may further comprise the steps:
The position of said ray generation unit along the X direction of coordinate axis from said measured object generates ray.
Preferably; The position that said crossing detecting unit is used for detecting said measured object whether in the left side of Vector Groups one border, said border vector and detect said ray in the value of the longitudinal axis of coordinate axis whether in two the scopes that value constituted of summit of said border vector, and at step S at the said longitudinal axis
104In may further comprise the steps:
S
1041, the said measured object of said crossing detection the left side of border vector in the Vector Groups of said border whether, position;
S
1042, detect said ray in the value of the longitudinal axis whether in two the scopes that value constituted of summit of said border vector, if testing result is for being then to get into step S at the said longitudinal axis
105, otherwise repeating step S
1041
Positive progressive effect of the present invention is:
Locating device of the present invention and localization method thereof are through adopting the ray generation unit, intersecting detecting unit and winding number computing unit; Guaranteeing to judge that monitored thing is whether in certain regional accuracy; Reduce and simplified calculating; Thereby improved the operation efficiency of locating device, thereby improved the reaction velocity of locating device and effectively reduced the loss of the energy.
Description of drawings
Fig. 1 is for comprising the re-entrant polygon figure that waits to declare a little in the overlapping region.
Fig. 2 is the circuit structure block diagram of the preferred embodiment of locating device of the present invention.
Fig. 3 is the process flow diagram of the preferred embodiment of localization method of the present invention.
Embodiment
Provide preferred embodiment of the present invention below in conjunction with accompanying drawing, to specify technical scheme of the present invention.
Locating device of the present invention comprises that a polygon generation unit, unit, a measuring position, a ray generation unit, intersect a detecting unit and a winding number computing unit.
The border Vector Groups that wherein said polygon generation unit is used to read in map datum and generates polygonal vertex sequence and be made up of said vertex sequence, thus map datum is converted into a polygon.
Unit, said measuring position is used to measure and read in the position data of measured object.Thereby go to the position of top measured object on map.Said ray generation unit is used in the plane that said polygon constitutes, and begins to generate ray to arbitrary direction from the position of said measured object.Confirmed to calculate the initial axle of winding number.
The border vector that said crossing detecting unit is used for detecting said border Vector Groups whether with said ray intersection.Promptly detect the initial number of times that polygon is confirmed through said ray.
Said winding number computing unit, the position that is used to detect said measured object be in said and ray intersection the border vector CW still counterclockwise, and correspondingly reduce or increase winding number.Promptly confirm the each initial direction of confirming through said ray of polygon, thereby confirmed winding number.
Locating device of the present invention preferably also comprises a storage unit that is used to store said winding number and vertex sequence.
Thereby locating device of the present invention has been when having combined the advantage that number of hits method operation efficiency is high and the accuracy of winding number method is high, overcome that exist in the winding number method in a large number about the floating-point operation and the number of hits method of angle can not the polygonal defective of dealing with complicated.
Embodiment:
Shown in Figure 2 is the circuit structure block diagram of locating device of the present invention, intersects detecting unit 4, a winding number computing unit 5 and a storage unit 6 comprising a polygon generation unit 1, unit, a measuring position 2, a ray generation unit 3.
The generation unit of polygon described in the present embodiment 1 border Vector Groups Vector_Group [V0V1, V1V2, the V2V3 that read in map datum and generate polygonal vertex sequence Array (V0V1V2V3V4V5V6V7V8V0) as shown in Figure 1 and constitute by said vertex sequence wherein; V3V4; V4V5, V5V6, V6V7; V7V8, V8V0].
The position data of measured object is measured and read in unit, said measuring position 2, promptly confirms said measured object and said polygonal position relation.
Said ray generation unit 3 begins to generate ray to arbitrary direction from the position of said measured object in the plane that said polygon constitutes.As shown in Figure 1, the position of said in the present embodiment ray generation unit 3 along the X direction of coordinate axis from said measured object generates ray.
The border vector that said crossing detecting unit 4 is used for detecting said border Vector Groups Vector_Group whether with said ray intersection.In the present embodiment since ray along the X direction of coordinate axis; So the position that said crossing detecting unit 4 detects said measured object whether on said border the left side of vector and detect said ray in the value of the longitudinal axis of coordinate axis whether in two the scopes that value constituted of summit of said border vector at the said longitudinal axis, thereby confirmed that all are vectorial with the border of said ray intersection among the Vector Groups Vector_Group of border.Adopt aforesaid way to come ray whether to intersect in the present embodiment, in addition, can also adopt different unit to realize above-mentioned crossing detection according to the difference of the ray that adopts with other different account forms with the border vector.
The position that said winding number computing unit 5 is used to detect said measured object be in said and ray intersection the border vector CW still counterclockwise, and correspondingly reduce or increase winding number.Border vector that the computing unit of winding number described in the present embodiment calculates said and ray intersection and the vectorial multiplication cross of the initial vertex of said border vector to the position of said measured object, and be less than zero or correspondingly reduce or increase winding number Wn greater than zero according to the multiplication cross result.Thereby measured object and polygonal winding number Wn have been confirmed.Thereby measured object and polygonal relation have been confirmed.Adopting aforesaid way to come the detection boundaries vector in the present embodiment is clockwise direction or counter clockwise direction with respect to the position of measured object; The user can also adopt the different unit with other different account forms to realize the purpose of identical calculating winding number according to the difference of the ray that adopts in addition.
Said in addition storage unit 6 is used to store said winding number Wn and vertex sequence Array.
The principle of work of present embodiment is following:
Polygon generation unit 1 border Vector Groups Vector_Group [V0V1, V1V2, the V2V3 that read in map datum and generate polygonal vertex sequence Array (V0V1V2V3V4V5V6V7V8V0) and constitute by said vertex sequence at first; V3V4, V4V5, V5V6; V6V7, V7V8, V8V0].
The position data of measured object is measured and read in unit, said then measuring position 2, and the position of said ray generation unit 3 along the X direction of coordinate axis from said measured object generates ray.
After this; Intersect position that detecting unit 4 detects said measured object whether the border vector in said border Vector Groups Vector_Group the left side and detect said ray in the value of the longitudinal axis of coordinate axis whether in two the scopes that value constituted of summit of said border vector at the said longitudinal axis, thereby confirmed that all are vectorial with the border of said ray intersection among the Vector Groups Vector_Group of border.
At last; Border vector that said winding number computing unit 5 calculates said and ray intersection and the vectorial multiplication cross of the initial vertex of said border vector to the position of said measured object, and be less than zero or correspondingly reduce or increase winding number Wn greater than zero according to the multiplication cross result.
Fig. 3 is the process flow diagram of the localization method of locating device of the present invention, comprising following steps:
The border Vector Groups that step 101, said polygon generation unit are read in map datum and generated polygonal vertex sequence and be made up of said vertex sequence, the said vertex sequence of said cell stores.
Step 104 is selected a border vector from the Vector Groups of said border, whether detect is the last item border vector, if testing result for being, then gets into step 105, otherwise flow process finishes.
Step 106, detect said ray in the value of the longitudinal axis whether in two the scopes that value constituted of summit of said border vector, if testing result for being, then gets into step 107, otherwise repeating step 104 at the said longitudinal axis.
Step 107 is calculated the vector of the initial vertex of said border vector to the position of said measured object, and with said vector and said border vector multiplication cross.
Whether step 108 detects said multiplication cross result greater than zero, if testing result for being, then reduces winding number, and the said winding number of said cell stores, and return step 104, otherwise get into step 109.
Whether step 109 detects said multiplication cross result less than zero, if testing result for being, then increases winding number, and the said winding number of said cell stores, and return step 104, otherwise return step 104.
After above-mentioned flow process, whether the position that can judge measured object according to the winding number that finally obtains is in polygon, and for example, if winding number is greater than zero, then the position of measured object is in polygon, otherwise the position of measured object is not in polygon.
Though more than described embodiment of the present invention, it will be understood by those of skill in the art that these only illustrate, protection scope of the present invention is limited appended claims.Those skilled in the art can make numerous variations or modification to these embodiments under the prerequisite that does not deviate from principle of the present invention and essence, but these changes and modification all fall into protection scope of the present invention.
Claims (12)
1. a locating device is characterized in that, said locating device comprises:
One polygon generation unit, a border Vector Groups that is used to read in map datum and generates polygonal vertex sequence and constitute by said vertex sequence;
Unit, one measuring position is used to measure and read in the position data of measured object;
One ray generation unit is used in the plane that said polygon constitutes, and begins to generate ray to arbitrary direction from the position of said measured object;
One intersects detecting unit, the border vector that is used for detecting said border Vector Groups whether with said ray intersection;
One winding number computing unit, the position that is used to detect said measured object be in said and ray intersection the border vector CW still counterclockwise, and correspondingly reduce or increase winding number.
2. locating device as claimed in claim 1 is characterized in that said locating device also comprises a storage unit, is used to store said winding number and vertex sequence.
3. locating device as claimed in claim 1; It is characterized in that; Border vector that said winding number computing unit is used to calculate said and ray intersection and the vectorial multiplication cross of the initial vertex of said border vector to the position of said measured object, and be less than zero or correspondingly reduce or increase winding number greater than zero according to the multiplication cross result.
4. locating device as claimed in claim 1 is characterized in that, the position that said ray generation unit is used for along the X direction of coordinate axis from said measured object generates ray.
5. locating device as claimed in claim 4; It is characterized in that, the position that said crossing detecting unit is used for detecting said measured object whether in the left side of Vector Groups one border, said border vector and detect said ray in the value of the longitudinal axis of coordinate axis whether in two the scopes that value constituted of summit of said border vector at the said longitudinal axis.
6. locating device as claimed in claim 5 is characterized in that, the initial vertex that said crossing detecting unit calculates said border vector and said border vector to the vectorial multiplication cross of the position of said measured object whether greater than zero.
7. the localization method of a locating device as claimed in claim 1 is characterized in that may further comprise the steps:
S
101, the said polygon generation unit one border Vector Groups of reading in map datum and generating polygonal vertex sequence and constituting by said vertex sequence;
S
102, unit, said measuring position is measured and read in the position data of measured object;
S
103, said ray generation unit in the plane that said polygon constitutes, begin to generate ray from the position of said measured object to arbitrary direction;
S
104, from the Vector Groups of said border, select a border vector, and whether the said ray of said crossing detection intersect with said border vector, if testing result is for being then to get into step S
105, otherwise repeating step S
104
S
105, the said winding number computing unit position of detecting said measured object be in said and ray intersection the border vector CW still counterclockwise, and correspondingly reduce or increase winding number, and return step S
104
8. localization method as claimed in claim 7 is characterized in that said locating device also comprises a storage unit, and at step S
105In further comprising the steps of:
The said winding number of said cell stores.
9. localization method as claimed in claim 8 is characterized in that, step S in the said localization method
101Further comprising the steps of:
The said vertex sequence of said cell stores.
10. localization method as claimed in claim 7 is characterized in that, said winding number computing unit is used to calculate the vectorial multiplication cross of the initial vertex of vectorial and said border, said border with ray intersection vector to the position of said measured object, and at step S
105In may further comprise the steps:
S
1051, calculate the vector of the initial vertex of said border vector to the position of said measured object;
S
1052, with said vector and said border vector multiplication cross;
S
1053, whether detect said multiplication cross result greater than zero, if testing result for being, then reduces winding number, and returns step S
104, otherwise get into step S
1054
S
1054, whether detect said multiplication cross result less than zero, if testing result for being, then increases winding number, and returns step S
104
11. localization method as claimed in claim 7 is characterized in that, the position that said ray generation unit is used for along the X direction of coordinate axis from said measured object generates ray, and at step S
103In may further comprise the steps:
The position of said ray generation unit along the X direction of coordinate axis from said measured object generates ray.
12. localization method as claimed in claim 11; It is characterized in that; The position that said crossing detecting unit is used for detecting said measured object whether in the left side of Vector Groups one border, said border vector and detect said ray in the value of the longitudinal axis of coordinate axis whether in two the scopes that value constituted of summit of said border vector, and at step S at the said longitudinal axis
104In may further comprise the steps:
S
1041, the said measured object of said crossing detection the left side of border vector in the Vector Groups of said border whether, position;
S
1042, detect said ray in the value of the longitudinal axis whether in two the scopes that value constituted of summit of said border vector, if testing result is for being then to get into step S at the said longitudinal axis
105, otherwise repeating step S
1041
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| CN2011100758557A CN102707301A (en) | 2011-03-28 | 2011-03-28 | Positioning device and positioning method thereof |
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| CN2011100758557A CN102707301A (en) | 2011-03-28 | 2011-03-28 | Positioning device and positioning method thereof |
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| GB2520713A (en) * | 2013-11-28 | 2015-06-03 | Lauco Trading Ltd | Position determination |
| CN106405597A (en) * | 2016-08-30 | 2017-02-15 | 成都上智恒达科技有限公司 | Method for monitoring existence of monitored equipment in arbitrarily shaped regions |
| CN107562779A (en) * | 2017-07-21 | 2018-01-09 | 浙江科澜信息技术有限公司 | A kind of space topological processing method of two-dimensional vector polygon self intersection |
| CN109147469A (en) * | 2018-07-09 | 2019-01-04 | 安徽慧视金瞳科技有限公司 | A kind of calligraphy exercising method |
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Application publication date: 20121003 |