CN103047995A - GPS (global positioning system) terminal mileage statistical method based on satellite positioning technology - Google Patents
GPS (global positioning system) terminal mileage statistical method based on satellite positioning technology Download PDFInfo
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Abstract
The invention discloses a GPS (global positioning system) terminal mileage statistical method based on a satellite positioning technology. The GPS terminal mileage statistical method comprises the following steps: determining whether a GPS terminal is in an ACC (adaptive cruise control) state currently, determining whether the GPS terminal is in a positioning state currently and calculating a generated moving distance, determining whether the generated moving distance is required to be revised or not according to the current state of the GPS terminal, taking the value of the generated corresponding moving distance as a mileage statistical result, and the like. By utilizing the GPS terminal mileage statistical method based on the satellite positioning technology, the GPS terminal mileage statistical accuracy can be effectively improved.
Description
Technical field
The present invention relates to a kind of GPS terminal mileage statistical method based on satellite positioning tech, be applied to the intelligent transportation industry, belong to sensing technology and technology of Internet of things field.
Background technology
Satnav is a kind of technology of utilizing satellite to carry out radiolocation, can be divided into stationary satellite location and nonstationary satellite location two large classes.The stationary satellite location technology generally adopts the technology of active location, and the bearing accuracy error is about tens meters, and " Big Dipper " system of China namely utilizes this technology; The nonstationary satellite location technology generally adopts the technology of passive location, and the bearing accuracy error is within ten meters, and the typically utilization case for example GPS(GPS of the U.S. is GPS).The U.S. develops GPS since 20 century 70s, expends countless manpowers and material resources, finishes this huge engineering the nineties in 20th century.Because having the characteristics such as round-the-clock, high precision, robotization, high benefit, and have the functions such as accurate timing, exploration mapping, location navigation, GPS has been widely used in the every field of people's daily life, has obtained good economic benefit and social benefit.From present application scale, it is to provide the location navigation service for mobile objects such as boats and ships, vehicle, aircrafts that GPS mainly uses.
We are called the GPS terminal with the equipment of applying GPS technology.By means of the GPS technology, we can obtain the information such as position, speed of GPS terminal at any time.After obtaining above-mentioned information, we can carry out some statistical works in the GPS terminal, the mileage information that produces such as statistics GPS fast mobile terminal.
Because the GPS terminal can not be directly be obtained the mileage information that movement produces from satellite, this has just determined that we need to carry out the COMPREHENSIVE CALCULATING analysis to information such as the position that obtains, speed and draw mileage information.As shown in Figure 1, traditional mileage statistical method is that GPS terminal per second be multiply by the time displacement that (one second) draws per second from the speed that satellite obtains, and the cumulative of per second displacement can draw the during this period of time accumulative mileage of GPS terminal within a period of time.But because two reasons, mileage can not accurately be added up always.Reason is that the GPS terminal is in the delocalization state sometimes on the one hand, can not obtain the information such as position, speed.The delocalization state is to be positioned in the incomprehensive situation of indoor or visual sky when the GPS terminal, can not obtain the situation of the information such as position, speed, such as underground parking, tunnel, overpass, the intensive place of high building etc.Under the delocalization state, traditional mileage statistical method is that the mileage accumulated value is set to 0, and in this case, GPS fast mobile terminal distance is longer, and the mileage deviation that statistics draws is larger.Reason is that GPS has drift phenomenon once in a while on the other hand, causes the information such as position that terminal obtains, speed inaccurate.Drift phenomenon is to be in static or during lower-speed state when the GPS terminal, the position that obtains can be randomly dispersed in physical location around, speed also can be slightly larger than actual speed.It is longer that the GPS terminal is in time of static or lower-speed state, and the mileage deviation that statistics draws is larger.
Therefore, provide a kind of method of effectively using various means to improve GPS terminal mileage statistical accuracy, and just seem particularly important in conjunction with practical application.
Summary of the invention
Technical matters to be solved by this invention provides a kind of GPS terminal mileage statistical method based on satellite positioning tech that can Effective Raise GPS terminal mileage statistical accuracy.
The present invention is in order to solve the problems of the technologies described above: the present invention has designed a kind of GPS terminal mileage statistical method based on satellite positioning tech, comprises the steps;
Step (1): whether be in ACC state, if described GPS terminal is not in the ACC state, the GPS terminal can not produce mileage if determining that the GPS terminal is current, and the mileage accumulated value is that the mileage calculation of 0, GPS terminal changes step (4) over to this moment; If described GPS terminal is in the ACC state, the mileage calculation of GPS terminal changes step (2) over to;
Step (2): determine the current positioning states that whether is in of GPS terminal, and the displacement of calculating generation, if described GPS terminal this moment with all be in positioning states upper one second, preserve speed, position, temporal information under the current state, and the result that will produce the speed time of multiply by this moment counts accumulative mileage as displacement; If described GPS terminal is in positioning states this moment, be in the delocalization state upper one second, preserve the information such as speed, position and time under the current state, regard the accumulative mileage that the GPS terminal produces in this section delocalization time as with the spherical distance of this moment position A and nearest last positioning states upper/lower positions B is approximate, utilize following formula to try to achieve the spherical distance of A and B
x=(lngB-lngA)×π×R×Cos(((latA+latB)/2)×π/180)/18
y=(latB-latA)×π×R/180
In the above-mentioned formula, lngA and lngB are defined as respectively the longitude of A and B, and latA and latB are defined as respectively the latitude of A and B, and R is defined as the radius of the earth, and L1 is defined as the spherical distance of A and B; If described GPS terminal is in the delocalization state this moment, find out and preserve the information such as speed under the nearest last positioning states, position, time, calculate accumulative mileage when finishing the delocalization state in order to the GPS terminal, computing method are shown in above-mentioned formula;
Step (3): according to GPS terminal current state, determine whether the displacement that step (2) produces is revised, getting low speed threshold values V is 4km/h, and duration T is 3s; If described GPS terminal is in the low speed stationary state, then need the displacement that step (22) produces is revised, deduct the displacement that produces in the duration T in the step (31) with accumulative mileage, if described GPS terminal is not in the low speed stationary state, then change step (4) over to.
Step (4): with the displacement of the correspondence that produces in the above-mentioned steps, as the result of mileage statistics.
The present invention compared with prior art has following advantage:
1. the present invention is effectively controlled GPS terminal mileage statistical error in 3%;
2. the present invention can be applied to comprise public security that intelligent transportation contains, public transport, taxi, long-distance passenger transportation, logistics, municipal administration, concrete, slag-soil truck etc.;
To satisfy effectively of the present invention the demand of industry customer to the long-range statistics of Vehicle-Miles of Travel and monitoring, also promoted the customer management information level.
Description of drawings
Fig. 1 is a kind of traditional GPS terminal mileage statistical method schematic diagram;
Fig. 2 is the schematic diagram of 2 spherical distances among the present invention;
Fig. 3 is the GPS terminal mileage statistical method process flow diagram based on satellite positioning tech that the present invention proposes.
Embodiment
The present invention is described in further detail below in conjunction with accompanying drawing:
As shown in Figure 3, the present invention has designed a kind of GPS terminal mileage statistical method based on satellite positioning tech, comprises the steps;
Step (1): determine the current ACC state that whether is in of GPS terminal;
If the GPS terminal is not in the ACC state, namely GPS mobile object that terminal connects is in not fired state, and the GPS terminal remains static certainly so, can consider that distance travelled is cumulative.If the GPS terminal is in the ACC state, namely GPS mobile object that terminal connects has been in fired state at present, and we can with which kind of method calculating mileage add up by distinguishing GPS terminal positioning Determines so.
Step (2): determine the current positioning states that whether is in of GPS terminal, and calculate the displacement that produces;
When the GPS terminal is in the delocalization state, need record and preserve the information such as speed under the nearest last positioning states, position, time, calculate accumulative mileage when finishing the delocalization state in order to the GPS terminal.When the GPS terminal is in positioning states, also need judge whether be in positioning states last second.When the GPS terminal is last when second being in the delocalization state, obtain during this period of time accumulative mileage by calculating the spherical distance of position A and nearest last positioning states upper/lower positions B this moment.When the GPS terminal also was in positioning states in last second, speed multiply by the time acquired results and counts accumulative mileage as displacement this moment.
Step (3): according to GPS terminal current state, determine whether the displacement that step (2) produces is revised;
The below also needs whether be in the low speed stationary state according to the GPS terminal above-mentioned calculating gained mileage is revised, and low speed threshold values V is set to 4KM/H, and duration T is set to 3 seconds.If the GPS terminal is in the low speed stationary state, accumulative mileage should deduct the distance that moves in the duration T so; Otherwise, then do not need to carry out mileage correction work.
Step (4): with the displacement of the correspondence that produces in the above-mentioned steps, as the result of mileage statistics.
As a kind of optimization method of the present invention: described step (1) also comprises following concrete processing:
Step (11): if described GPS terminal is not in the ACC state, the GPS terminal can not produce mileage, and the mileage accumulated value is that the mileage calculation of 0, GPS terminal changes step (4) over to this moment;
Step (12): if described GPS terminal is in the ACC state, the mileage calculation of GPS terminal changes step (2) over to.
As a kind of optimization method of the present invention: described step (2) also comprises following concrete processing:
Step (21): if described GPS terminal this moment with all be in positioning states upper one second, preserve the information such as speed under the current state, position, time, and the result that will produce the speed time of multiply by this moment counts accumulative mileage as displacement;
Step (22): if described GPS terminal this moment with all be in positioning states upper one second, preserve the information such as speed under the current state, position, time, and will speed this moment multiply by the time result that (1 second) produce and count accumulative mileage as displacement;
If described GPS terminal is in positioning states this moment, be in the delocalization state upper one second, preserve the information such as speed under the current state, position, time, position and the spherical distance of nearest last positioning states upper/lower positions are approximate this moment regards the accumulative mileage that interior GPS terminal of this section delocalization time produces as for we.Theoretical foundation is, if cumulative accumulative mileage, the mileage in this section delocalization time can not obtain any cumulatively so, and statistic bias is certain to larger; If cumulative mileage although the mileage that is added up, has compensated the during this period of time interior distance travelled that has produced to a certain extent certainly than actual mileage little (the shortest principle of point-to-point transmission air line distance), has improved the mileage statistical precision in a manner described.Fig. 2 has described the earth, and the spherical distance of A and B is exactly the length of the camber line of point-to-point transmission, by the geometry method I can try to achieve A and spherical distance, the concrete account form of spherical distance is as follows:
x=(lngB-lngA)×π×R×Cos(((latA+latB)/2)×π/180)/18
y=(latB-latA)×π×R/180
In the above-mentioned formula, lngA and lngB represent respectively the longitude of A and B, and latA and latB represent respectively the latitude of A and B, and R represents the radius of the earth.
Step (23): if described GPS terminal is in the delocalization state this moment, find out and preserve the information such as speed under the nearest last positioning states, position, time, calculate accumulative mileage, computing method such as step (22) when finishing the delocalization state in order to the GPS terminal.
As a kind of optimization method of the present invention: described step (3) also comprises following concrete processing:
Step (32): if described GPS terminal is in the low speed stationary state, then need the displacement that step (22) produces is revised, deduct the displacement that produces in the duration T in the step (31) with accumulative mileage, if described GPS terminal is not in the low speed stationary state, then change step (4) over to.
Step (31): the low speed stationary state refers to continue to remain on below a certain low speed threshold values (V) within a period of time (T) when the GPS terminal velocity, and during this period of time all keeps the location.As from the foregoing, the low speed stationary state is comprised of two key elements, and one is low speed threshold values V, and another is duration T, and how choosing low speed threshold values and duration becomes the key of algorithm success.A large amount of experimental studies show, the GPS terminal is under static and positioning states, and the speed that produces because of drift in the situation of the overwhelming majority is not more than 4km/h, and produce continuously time of drift can be above 3 seconds.According to above-mentioned experience, we get low speed threshold values V is 4km/h, and duration T is 3s;
Step (32): if described GPS terminal is in the low speed stationary state, then need the displacement that step b2 produces is revised, method is that accumulative mileage should deduct the displacement that produces in the duration T in the step (31); If described GPS terminal is not in the low speed stationary state, then change step (4) over to.
Can solve preferably the mileage statistic bias problem that the GPS terminal is in the delocalization state and causes because of drifting problem by said method.
Claims (1)
1. the GPS terminal mileage statistical method based on satellite positioning tech is characterized in that, comprises the steps;
Step (1): whether be in ACC state, if described GPS terminal is not in the ACC state, the GPS terminal can not produce mileage if determining that the GPS terminal is current, and the mileage accumulated value is that the mileage calculation of 0, GPS terminal changes step (4) over to this moment; If described GPS terminal is in the ACC state, the mileage calculation of GPS terminal changes step (2) over to;
Step (2): determine the current positioning states that whether is in of GPS terminal, and the displacement of calculating generation, if described GPS terminal this moment with all be in positioning states upper one second, preserve speed, position and temporal information under the current state, and the result that will produce the speed time of multiply by this moment counts accumulative mileage as displacement; If described GPS terminal is in positioning states this moment, be in the delocalization state upper one second, preserve speed, position and temporal information under the current state, regard the accumulative mileage that the GPS terminal produces in this section delocalization time as with the spherical distance of this moment position A and nearest last positioning states upper/lower positions B is approximate, utilize following formula to try to achieve the spherical distance of A and B
x=(lngB-lngA)×π×R×Cos(((latA+latB)/2)×π/180)/18
y=(latB-latA)×π×R/180
In the above-mentioned formula, lngA and lngB are defined as respectively the longitude of A and B, and latA and latB are defined as respectively the latitude of A and B, and R is defined as the radius of the earth, and L1 is defined as the spherical distance of A and B; If described GPS terminal is in the delocalization state this moment, find out and preserve speed, position and temporal information under the nearest last positioning states, calculate accumulative mileage when finishing the delocalization state in order to the GPS terminal, computing method are shown in above-mentioned formula;
Step (3): according to GPS terminal current state, determine whether the displacement that step (2) produces is revised, getting low speed threshold values V is 4km/h, and duration T is 3s; If described GPS terminal is in the low speed stationary state, then need the displacement that produces in the step (2) is revised, deduct the displacement that produces in the duration T with accumulative mileage, if described GPS terminal is not in the low speed stationary state, then change step (4) over to;
Step (4): with the displacement of the correspondence that produces in the above-mentioned steps, as the result of mileage statistics.
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| CN105371864A (en) * | 2014-08-27 | 2016-03-02 | 深圳市赛格导航科技股份有限公司 | Method and system for obtaining vehicle mileage by reporting GPS information |
| CN105424050A (en) * | 2016-01-05 | 2016-03-23 | 上海雷腾软件股份有限公司 | Method and equipment for determining traveling path of vehicle |
| CN105547322A (en) * | 2016-01-07 | 2016-05-04 | 交通运输部公路科学研究所 | Method for computing vehicle travel mileage with satellite positioning data |
| CN106352888A (en) * | 2016-10-31 | 2017-01-25 | 四川长虹电器股份有限公司 | Mileage computing method based on GPS positioning |
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| CN108151745A (en) * | 2017-12-25 | 2018-06-12 | 千寻位置网络有限公司 | NMEA tracks difference automatically analyze and identification method |
| CN109631881A (en) * | 2018-12-07 | 2019-04-16 | 成都路行通信息技术有限公司 | A kind of mileage optimization method based on Gsensor |
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Address after: 210012 No. 268, Hanzhoung Road, Gulou District, Jiangsu, Nanjing Patentee after: CLP Hongxin Information Technology Co., Ltd Address before: 210012 No. 268, Hanzhoung Road, Gulou District, Jiangsu, Nanjing Patentee before: Jiangsu Hongxin System Integration Co., Ltd. |