CN103852771B - Processing method for locating drift - Google Patents

Processing method for locating drift Download PDF

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CN103852771B
CN103852771B CN201210518431.8A CN201210518431A CN103852771B CN 103852771 B CN103852771 B CN 103852771B CN 201210518431 A CN201210518431 A CN 201210518431A CN 103852771 B CN103852771 B CN 103852771B
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positioning
sample
terminal
time
point
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CN103852771A (en
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黄运峰
叶德焰
陈挺
赖荣东
李基勇
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厦门雅迅网络股份有限公司
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Abstract

一种定位漂移的处理方法,在定位终端从不定位切换为定位的时刻,先判断该时刻下定位终端的状态,若定位终端为静态,则按照静态漂移过滤处理,即根据定位终端不定位的累积时间以及与上一有效定位点的偏差距离来设置过滤延时时间,而后在过滤延时时间内,按照静态位置锁定算法,取过滤延时时间内确定的若干有效样本点的经纬度均值来锁定新的有效位置点;若定位终端为动态,则根据不定位累积时间用接收到的定位数据刷新定位点。 A positioning drift processing method, the terminal is never positioned in the positioning time for the positioning handover, the terminal first determines the state of positioning at the time when the terminal is positioned static, static drift in accordance with the filtering process, i.e., not according to the positioning terminal positioning accumulation time and a deviation of a distance effective to set the setpoint filter delay time, the delay time in the filter and then locking algorithm in accordance with the static position, taking a number of valid sample points is determined by filtration of the average delay time to lock the latitude and longitude new effective point location; if the terminal is a dynamic positioning, the positioning is not refreshed anchor point according to the positioning data using the received accumulation time. 本发明的方法适用于GPS卫星定位、北斗卫星定位等定位技术,符合统计规律,数据处理较为简单、实施成本低,适用范围广,而且同时支持定位数据的实时处理和后端处理两种方式。 The method of the present invention is applicable to GPS satellite positioning, Beidou satellite positioning and other positioning technologies, in line with statistical laws, data processing is simple, low cost embodiment, wide application range, and supports real-time processing and back-end processing positioning data in two ways.

Description

一种定位漂移的处理方法 Processing method for locating drift

技术领域 FIELD

[0001] 本发明涉及卫星定位技术领域,特别是一种可适用于GPS卫星定位、北斗卫星定位等的定位漂移处理方法。 [0001] The present invention relates to the field of satellite positioning technology, particularly applicable to the positioning of one kind of GPS satellites, such as satellite positioning drift Beidou processing method.

背景技术 Background technique

[0002] 目前我国的GPS定位应用相当广泛,从各种导航终端、位置监控终端到手机位置微博等,对卫星定位的性能要求也逐步提高,而定位性能主要取决于这些终端设备所集成的GPS接收模组的性能,无论是芯片级还是模块级的接收模组,以下统称GPS接收机。 [0002] At present, China's GPS positioning wide range of applications, from a variety of navigation terminal, position monitoring end-to-phone location microblogging, satellite positioning performance requirements have gradually improved, and positioning performance depends primarily on the integration of these terminals performance of the GPS receiver module, either the chip level or module-level receiving module, hereinafter referred to as a GPS receiver. 在现有的GPS定位技术下,由于卫星信号受到大气电离层变化、云层遮挡、周边高大建筑物的多径反射等复杂因素的影响,GPS定位经常会出现位置漂移现象。 In the conventional GPS technology, since the satellite signal by the ionosphere changes, cloud cover, the complex reflection factor multipath affect the surrounding tall buildings, GPS positioning position drift often occurs. 即GPS接收机解算出来的位置信息,与实际情况存在不同程度的偏差,当偏差超过了精度误差允许范围,则认为发生了定位漂移。 I.e., GPS receiver out of the resolver position information, there are different degrees of deviation of the actual situation, when the deviation exceeds the allowable error range of the accuracy, the positioning of drift that has occurred.

[0003] 通常,GPS接收机在运动情况下,虽然也存在信号不良的情况,但通过GPS接收机内部的算法处理,一般仍然可以解算出比较接近实际的结果。 [0003] Generally, a GPS receiver in the moving case, although there is poor signal conditions, but algorithm processing by the internal GPS receiver can be calculated by generally still closer to the actual results. 当GPS接收机处于静止状态下, 特别是从冷启动到刚定位且处于静止状态下时,漂移会更严重。 When the GPS receiver is at a standstill, especially from a cold start to the newly positioned and is in a static state, the drift will be more serious. 具体表现为,将定位的位置点显示在电子地图上,位置飘忽不定,杂乱无章,其圆概率误差(CEP)可达到几十甚至几百米。 Specific performance, locate the position of the points displayed on the electronic map, location erratic, disorganized, its circular error probability (CEP) can reach tens or even hundreds of meters. 本专利主要从应用软件的层面,通过软件处理,解决GPS接收机静止状态下的定位漂移问题,以下简称静态漂移。 This patent mainly from the application software level, by software processing, to solve the problem of positioning drift in the GPS receiver standstill, hereinafter referred to as static drift.

[0004] 目前业内常见的解决GPS定位漂移的方法主要有以下几种。 [0004] Current common solutions GPS positioning drift of the industry are the following. 1、通过判断GPS终端的工作条件,进而控制GPS定位功能是否启用的方式来解决。 1, GPS terminal is determined by operating conditions, and thus control the GPS positioning function is enabled to solve. 例如对于GPS车载终端,通常根据车辆ACC状态判断是否启用定位功能,一旦检测到车辆熄火,则关闭定位功能,从而避免静态漂移。 For example, the vehicle-mounted GPS terminal, typically determined according to the vehicle state is enabled targeting ACC, upon detection of the vehicle is turned off, the closed positioning, avoiding a static drift. 而对于无法检测外部工作条件的情况(例如有些终端安装时将ACC信号接常电,即一直处于有效状态),则此方法即失效。 For external operating conditions can not be detected (e.g., when some of the ACC signal terminal mounting electrically connected normally, i.e., it is always active), i.e., this method fails. 2、在中心平台对终端上报的轨迹数据进行后端处理,例如根据位置点对应的卫星信号信噪比、精度误差因子等参数,将可疑的无效点过滤掉;轨迹平滑过滤,对多个位置点进行轨迹拟合,去掉偏离较大的位置点,再通过递归处理, 得到最佳的拟合轨迹等。 2, trajectory data reported by the terminal in the center of the platform back-end processing, for example, the position of the point corresponding to the satellite signal to noise ratio parameter, accuracy error factor, the filtered suspected invalid point; trajectory smoothing filter, a plurality of positions point trajectory fit, remove a large deviation from the position of the point, through the recursive processing, to obtain the best fit trajectory. 这种方式缺乏实时性,而且往往数据处理运算工作量巨大,难以适应需要实时处理的应用场合。 This lack of real-time way, and often huge data processing operations workload, difficult to adapt applications require real-time processing. 3、用地图上终端所处位置点周边道路或信息点进行位置匹配,直接修正位置点的经炜度数据。 3, the position matching the location of the point around the road or terminal point information on the map, by directly correcting the position data of the points Wei. 此方法常用于终端导航,要求导航终端需自带地图或通过无线网络实时下载周边地图数据,对终端的要求比较高,适用范围较小。 This method is commonly used in the navigation terminal, the navigation terminal for an own requirements to download maps or map data in real time through the surrounding wireless networks, the requirements for the terminal is relatively high, a smaller scope.

发明内容 SUMMARY

[0005] 本发明的主要目的在于根据定位终端静态漂移符合圆概率分布的特点,对定位终端静止状态以及静止与运动状态切换过程中的定位数据进行一定的数学处理,确定适当的状态切换条件和静止状态下的锁定位置,从而有效地解决定位终端静态漂移的问题。 [0005] The main object of the present invention is according to the positioning terminal static drift in line with the characteristics of a circle probability distribution, positioning data for positioning the terminal stationary and the stationary motion state switching during a certain mathematical treatment, to determine the appropriate state switching condition and a locked position in a stationary state, so as to effectively solve the problem of static drift positioning terminal.

[0006] 本发明采用如下技术方案: [0006] The present invention adopts the following technical solution:

[0007] —种定位漂移的处理方法,其特征在于:在定位终端从不定位切换为定位的时刻, 先判断该时刻下定位终端的状态,若定位终端为静态,则按照静态漂移过滤处理,即根据定位终端不定位的累积时间以及与上一有效定位点的偏差距离来设置过滤延时时间,而后在过滤延时时间内,按照静态位置锁定算法,取过滤延时时间内确定的若干有效样本点的经炜度均值来锁定新的有效位置点;若定位终端为动态,则根据不定位累积时间用接收到的定位数据刷新定位点。 [0007] - seed treatment drift positioning, wherein: a terminal never positioned in the positioning time for the positioning handover, the terminal first determines the state of positioning at the time when the terminal is positioned static, the static filtration and treated in the drift, i.e. according to the accumulation time and the positioning terminal is not located on a deviation of a distance effective to set the setpoint filter delay time, the delay time in the filter and then locking algorithm in accordance with the static position, is determined taking the delay time of a plurality of active filter Wei sample point by the mean of the new effective to lock the position of the point; if the terminal is a dynamic positioning, the positioning point used to refresh the received positioning data is not positioned according to the accumulation time.

[0008] 进一步的,所述有效定位点是定位终端对接收到的定位标识为有效的定位数据根据卫星信号的状态包括精度误差因子和信噪比进行判断过滤后所得到的定位点。 [0008] Further, the effective setpoint is received terminal positioning alignment mark for positioning the point obtained after filtration is determined as valid data according to the state of the satellite positioning signal comprises a signal to noise ratio and the accuracy error factor.

[0009] 进一步的,具体包括如下步骤:定位终端预先设置过滤延时时间为T1、T2以及不定位的累积时间参考值11、t2,动态锁定时间参考值t3,且Tl <T2、11 <t2, [0009] Further, comprises the steps of: positioning the terminal a preset delay time filtering T1, T2, and not targeted cumulative time reference 11, t2, T3 dynamic lock time reference, and Tl <T2,11 <t2 ,

[0010] 1)判断定位终端是否处于静态,若是则进行步骤2),若否则进行步骤3); [0010] 1) determines the positioning terminal is in static state, if the step 2), if no, proceed to step 3);

[0011] 2)定位终端处于静态,判断定位终端是否首次定位,若是则设置过滤延时时间为T2,若否则进行步骤4); [0011] 2) positioned in a static terminal, the terminal determining whether the first positioning orientation, if the filter is set delay time is T2, if otherwise, to step 4);

[0012] 3)定位终端处于动态,判断定位终端不定位的累积时间是否大于tl,若是,则用上一有效定位点的位置锁定t3,而后用新的定位数据刷新定位点;若否,则直接用新的定位数据刷新定位点; [0012] 3) in a dynamic positioning terminal, the terminal determines whether the location is not positioned accumulated time is greater than tl, and if yes, a valid position fix is ​​locked spend T3, then refreshed with the new anchor point positioning data; if not, direct refresh with the new anchor point positioning data;

[0013] 4)将当前定位点与上一有效定位点比较,判断定位终端不定位的累积时间是否大于或等于t2,若是,则设置过滤延时时间为T2,若否则设置过滤延时时间为Tl,而后,在过滤延时时间内,按照静态位置锁定算法,取过滤延时时间内确定的若干有效样本点的经炜度均值来锁定新的有效位置点。 [0013] 4) The current anchor point is positioned on an effective point comparison, determines whether the location of the terminal is not positioned accumulation time T2 is greater than or equal to, if yes, setting the filter delay time is T2, or if the delay time set by filtration Tl, then, in the filter delay time, the locking algorithm in accordance with the static position, taking the mean of several Wei filtered through a valid sample points within the determined time delay to lock the position of the new effective points.

[0014] 进一步的,定位终端预先设置距离参考值L,在步骤4)中,判断定位终端与上一有效定位点的偏差距离是否大于或等于L,若是,则设置过滤延时时间为T2,若否则设置过滤延时时间为Tl。 [0014] Further, the positioning terminal from the previously set reference value L, in step 4), determines the deviation from the positioning terminal with the last valid setpoint is greater than or equal to L, if yes, setting the filter delay time T2, If otherwise, set the filter delay time Tl.

[0015] 进一步的,定位终端预先设置定位终端的速度参考值vl、v2,秒方向变化量参考值A,且vl〈v2,在步骤4)中,定位终端处于静态,此时,定位终端每隔一段时间计算一次平均速度^若νΚΫ < V2,则定位终端按照静态位置锁定算法重新计算得到又一新的有效位置点刷新上一个有效位置点;若[< Vl ,则定位终端保持上一个按照静态位置锁定算法计算得到的有效位置点;若定位终端的速度V持续一段时间满足v>v2且相邻定位点的秒方向变化量持续小于A,则认为定位终端从静态切换到动态,在该段时间内,定位终端依然采用静态漂移过滤处理锁定定位点。 [0015] Further, the positioning terminal positioning terminal preset speed reference value vl, v2, second directional change amount reference value A, and vl <v2, in step 4), the positioning terminal is in the static case, each of the positioning terminal periodically calculating a mean velocity when ^ νΚΫ <V2, the positioning terminal according to the lock position static algorithm recalculated another new active refresh position of a point on a valid point position; if [<Vl, the positioning terminal according to a holding static valid position fix point algorithm calculated position; when the positioning terminal velocity V for a time satisfying v> v2 and located adjacent dots second duration is less than the amount of change in the direction a, the positioning terminal that handover from static to dynamic, in which within a period of time, the positioning terminal is still locked static filtering process drift setpoint.

[0016] 进一步的,在步骤3)中,此时定位终端处于动态,若定位终端的速度V持续一端时间满足则认为定位终端从动态切换到静态,在该段时间内,用新的定位数据刷新定位点,而后将若干个满足静态条件即的定位点按照位置静态锁定算法得到新的有效位置点。 [0016] Further, in step 3), this time in a dynamic positioning terminal, when the positioning of the terminal end of the time duration of the velocity V is satisfied that the positioning terminal is switched from static to dynamic, in that period of time, with the new data location refresh anchor point, and will meet a number of conditions, namely the static position of the anchor point in accordance with the static locking algorithms to get a new valid position point.

[0017] 进一步的,所述静态位置锁定算法具体包括如下步骤:定位终端根据过滤延时时间设定要采集并用于计算的有效定位的样本点总个数为m,其中确定为有效样本点的最少个数为n,ie [0,m], [0017] Further, the static position fix algorithm comprises the steps of: positioning the terminal to be acquired and set points for the total sample number of valid location is calculated according to the filter delay time m, which is determined to be valid sample points minimum number of n, ie [0, m],

[0018] a定位终端采集多个有效定位的样本AP1,取前η个样本点Ρο-Ρρη组成样本组; [0018] a plurality of samples collected positioning terminal AP1 effective positioning, η sample points Ρο-Ρρη composition before taking a sample set;

[0019] b计算样本组内所有样本点的经炜度均值得到重心点P',分别计算各个样本点到该重心点P'的距离h,并求出h的平均距离I; [0019] b is calculated by Wei for all sample points within the sample group obtained mean centroid point P ', were calculated for each sample point to the gravity center point P' to distance h, the average distance h and obtains I;

[0020] C将^ > I. 5]的样本点标识为无效样本点并剔除出该样本组,其余标记为有效样本点,判断i是否大于或等于m,若是,则进入步骤d;若否,则将样本点P1=1+1加入样本组,重复步骤b; [0020] C a ^> I. 5] sample points marked as invalid and rejected the sample points in the sample set, the remaining sample points marked as valid, it is determined whether or not i is greater than or equal to m, if yes, entering step D; if not , then the sample point P1 = 1 + 1 group added to the sample, repeating step B;

[0021] d将样本组内的所有有效样本点进行经炜度均值计算即得到有效位置点。 [0021] d all valid sample points in the sample group was calculated to obtain the mean degree Wei valid point position.

[0022] 进一步的,在步骤c中将无效样本点组成无效样本组,将有效样本点组成有效样本组,当无效样本组中的无效样本点个数大于或等于η时,每增加一个新的无效样本点都进行如下步骤: [0022] Further, in step c invalid sample points in the sample set consisting invalid, the valid sample points constitute a valid sample set, when the sample set is invalid Invalid number of sample points is greater than or equal to [eta], for each additional new invalid sample points are the following steps:

[0023] cl计算无效样本组内所有样本点的经炜度均值得到重心点P',分别计算各个样本点到该重心点P'的距离h,并求出h的平均距离 [0023] cl Wei was calculated for all sample points in the sample set invalid obtained mean centroid point P ', were calculated for each sample point to the gravity center point P' to distance h, the distance h and determine the average

[0024] C2将的样本点剔除出该无效样本组。 [0024] C2 to remove the sample points of the sample set is not valid.

[0025] 进一步的,在步骤c中,当无效样本组的样本点个数大于或等于有效样本组的样本点个数,计算此时有效样本点的?ίί&amp;,若则无效样本组升格为有效样本组,原有效样本组降格为无效样本组。 [0025] Further, in step c, when the number of valid sample points in the sample set point greater or equal to the number of samples in the effective sample group, the effective sample point calculated at this time? Ίί & amp ;, if invalid samples is upgraded to a group effective sample group, the original effective sample group reduced to an invalid sample group.

[0026] 进一步的,若在过滤延时时间结束时,若仍未得到η个有效样本点,则延长延时过滤时间,直至获得η个有效样本点。 [0026] Further, if the delay time at the end of the filter, if they have not been η valid sample points, the delay will be extended filtration time until a valid sample points η.

[0027] 进一步的,在步骤d中,将有效样本组中所有有效样本点进行经炜度均值计算即得到有效位置点,该锁定后的位置点,其速度值置为〇,方向为最后5个有效定位点的方向均值。 [0027] Further, in step d, all valid sample points effective sample group is carried out by wei of mean calculation to obtain the effective position of the point, the position of the point after the locking, the speed value is set as square, the direction of the last 5 valid point average direction of orientation.

[0028] 由上述对本发明的描述可知,与现有技术相比,本发明具有如下有益效果: [0028] apparent from the above description of the invention, as compared with the prior art, the present invention has the following advantages:

[0029] 本发明的一种定位漂移的处理方法,先对定位终端状态进行判断,包括静态、动态、静态切换到动态、动态切换到静态,而后根据定位终端静态漂移符合圆概率分布的特点,对各种状态对应的算法进行处理,从而有效地解决定位终端静态漂移的问题。 [0029] The process of the present invention is a method for locating the drift, prior to the positioning of the terminal state determination, including static, dynamic, static to dynamic switching, switching to a static dynamic, then static drift positioning terminal according to the characteristics of the circular line with a probability distribution, corresponding to various states of the processing algorithm to effectively solve the problem of static drift positioning terminal. 本发明的方法适用于GPS卫星定位、北斗卫星定位等定位技术,符合统计规律,数据处理较为简单、实施成本低,适用范围广,而且同时支持定位数据的实时处理和后端处理两种方式。 The method of the present invention is applicable to GPS satellite positioning, Beidou satellite positioning and other positioning technologies, in line with statistical laws, data processing is simple, low cost embodiment, wide application range, and supports real-time processing and back-end processing positioning data in two ways.

附图说明 BRIEF DESCRIPTION

[0030] 图1为本发明定位终端不同状态下的定位流程图; [0030] The flowchart of FIG. 1 the positioning terminal positioned in different states of the present invention;

[0031] 图2为本发明定位终端动态与静态之间的状态跃迀示意图。 [0031] Fig 2 a schematic view of the positioning terminal Gan dynamic state transitions between still present invention.

具体实施方式 Detailed ways

[0032] 以下通过具体实施方式对本发明作进一步的描述。 [0032] DETAILED DESCRIPTION by the following further description of the invention.

[0033] —种定位漂移的处理方法,在定位终端从不定位切换为定位的时刻,先判断该时刻下定位终端的状态,若定位终端为静态,则按照静态漂移过滤处理,即根据定位终端不定位的累积时间以及与上一有效定位点的偏差距离来设置过滤延时时间,而后在过滤延时时间内,按照静态位置锁定算法,取过滤延时时间内确定的若干有效样本点的经炜度均值来锁定新的有效位置点;若定位终端为动态,则根据不定位累积时间用接收到的定位数据刷新定位点。 [0033] - positioning drift seed processing method, the terminal is never positioned in the positioning time for the positioning handover, the terminal first determines the state of positioning at the time when the terminal is positioned static, static drift in accordance with the filtering process, i.e. according to the positioning terminal and a cumulative time not positioned with a deviation from the setpoint to an effective filter delay time set, then the delay time in the filter, the algorithm in accordance with the static locking position, taking a number of effective sample points determined by the delay time of the filter Wei of new effective mean to lock the position of the point; if the terminal is a dynamic positioning, the positioning point used to refresh the received positioning data is not positioned according to the accumulation time. 具体包括如下步骤:参照图1 Includes the following steps: 1 with reference to FIG.

[0034] 以GPS卫星定位终端为例,GPS位置数据刷新频率为ls,即定位终端每秒都会收到一个位置信息。 [0034] In an example GPS satellite positioning terminal, GPS location data refresh rate ls, i.e. every second the positioning terminal receives a location information. 定位终端预先设置过滤延时时间Tl=15s、T2=30s,不定位的累积时间参考值tl=60s、t2=3min,速度参考值vl=2公里/小时、v2=5公里/小时,距离参考值L=300m,动态锁定时间参考值t3=5s,秒方向变化量参考值A=45°。 Positioning terminal preset delay time filter Tl = 15s, T2 = 30s, the accumulation time is not positioned reference value tl = 60s, t2 = 3min, speed reference value vl = 2 km / h, v2 = 5 km / h, distance reference the value of L = 300m, dynamic locking time reference t3 = 5s, the amount of change in the direction of second reference value A = 45 °. 定位终端接收到GPS数据,先根据定位数据中的定位标识(有效或无效)过滤掉无效即未定位的数据,对于定位标识是有效的数据, 再根据GPS卫星信号的状态,判断精度误差因子PDOP、HDOP、VDOP均要小于5,并且信噪比大于25,符合条件的保留作为有效定位点。 Positioning terminal receives the GPS data, to filter out invalid data, i.e., non-targeted according to the positioning data location identification (valid or invalid), for location identification data is valid, then according to the state of the GPS satellite signal, the determination accuracy error factor PDOP , HDOP, VDOP are less than 5, and the signal to noise ratio greater than 25, qualified as a valid anchor point retention.

[0035] 1)判断定位终端是否处于静态,若定位终端的移动速度持续5秒以上满足v<5公里/小时或ACC (如果有)信号为无效状态,则进行步骤2),若否则进行步骤3); [0035] 1) determines the positioning terminal is in static state, if the moving speed of the positioning terminal for 5 seconds or longer satisfies v <5 km / h or ACC (if any) signal inactive state, step 2), if otherwise proceeds to step 3);

[0036] 2)定位终端处于静态,判断定位终端是否首次定位,若是则设置过滤延时时间为30s,若否则进行步骤4); [0036] 2) positioned in a static terminal, the terminal determining whether the first positioning orientation, if the delay time is set by filtration 30s, if otherwise, to step 4);

[0037] 3)定位终端处于动态,判断定位终端不定位的累积时间是否大于60s,若是,则用上一有效定位点的位置锁定5s,而后用新的定位数据刷新定位点;若否,则直接用新的定位数据刷新定位点; [0037] 3) in a dynamic positioning terminal, the terminal determines whether the location is not positioned accumulated time is greater than 60s, if a position fix is ​​an effective locking spend 5s, then refreshed with the new anchor point positioning data; if not, direct refresh with the new anchor point positioning data;

[0038] 4)将当前定位点与上一有效定位点比较,判断定位终端不定位的累积时间是否大于或等于3min或者判断定位终端当前定位点与上一有效定位点距离是否大于或等于300m, 若是,则设置过滤延时时间为30s,若不定位的累积时间小于3min且与上一有效定位点距离小于300m则设置过滤延时时间为15s,而后,按照静态位置锁定算法,在过滤延时时间内取过滤延时时间内确定的若干有效样本点的经炜度均值作为锁定点的经炜度,从而锁定一个新的有效位置点,不定位累积时间计数器清零。 [0038] 4) The current setpoint is compared with the last valid setpoint, determining whether positioning terminal without positioning accumulated time is greater than or equal to 3min or determining positioning terminal is currently positioned point with the last valid setpoint distance is greater than or equal to 300m, if yes, setting the filter delay time 30s, if the cumulative time is less than 3min positioned and with the last valid setpoint distance is less than 300m filter delay time is set 15s, then, the locking algorithm in accordance with the static position, the filter delay several effective filtration time taken sample points within the delay time determined by the average of Wei Wei as warp of the locking point, so that a new active position locking point, is not positioned elapsed time counter is cleared. 定位终端在未锁定新的有效位置点之前,保持定位终端定位无效状态,位置同上一有效位置点。 Before positioning the terminal point of the new active unlocked position, the positioning terminal location holding an invalid state, a position above the effective position of the point.

[0039] 其中,在步骤4)中,定位终端处于静态,此时,定位终端每隔Imin计算一次平均速度了(单位为公里/小时),若:KT <纟,即为准静态,则定位终端按照静态位置锁定算法重新计算得到又一新的有效位置点刷新上一有效位置点;若? [0039] wherein, in step 4), the positioning terminal is in the static case, a calculation of the positioning terminal Imin the average speed (in km / h) at intervals, if: KT <Si, i.e. quasi-static, the location terminal locking position in accordance with the static algorithm recalculated another new position effective refresh point on a valid position point; if? < 2,则为全静态,则定位终端保持上一个按照静态位置锁定算法计算得到的有效位置点;若定位终端的速度V (单位为公里/小时)持续5s满足v>5,且相邻定位点秒方向变化量持续小于45°,则认为定位终端从静态切换到动态(参照图2),在该段时间内,定位终端依然采用静态漂移过滤处理确定定位点。 <2, for the fully static, positioning the terminal holds a valid location point locking algorithm obtained in accordance with the static position; when the positioning terminal velocity V (in units of km / h) for 5s satisfies v> 5, and positioned adjacent to point sec for less than the amount of change in the direction of 45 °, that the positioning terminal from a static to dynamic (see FIG. 2), in that period of time, the positioning terminal is still using the static filtering process to determine the drift setpoint.

[0040] 在步骤3)中,此时定位终端处于动态,若定位终端的速度V持续5s满足v<5,则认为定位终端从动态切换到静态(参照图2),在该5s内,用新的定位数据刷新定位点,而后取最近5个满足静态条件即v<5的定位点,按照静态位置锁定算法得到新的有效位置点。 [0040] In step 3), this time in a dynamic positioning terminal, when the positioning terminal velocity V sustained 5s satisfies v <5, that the positioning terminal from a static to dynamic (see FIG. 2), in the 5s, with new positioning data refresh setpoint, then rounded to the nearest 5-static conditions i.e. satisfies v <setpoint 5, the locking algorithm in accordance with the new position of the static effective point location. 上述提到的静态位置锁定算法具体包括如下步骤:定位终端根据过滤延时时间设定要采集并用于计算的有效定位的样本点总个数为m,其中确定为有效样本点的最少个数为4,ie [0,m], 其中的有效定位的样本点即为上述的有效定位点。 The above-mentioned resting position locking algorithm includes the following steps: the positioning terminal according to the set delay time for a filter for collecting the total sample points and effective positioning of the calculated number m, which is determined as the minimum number of valid sample points for 4, ie [0, m], wherein the effective sample point is positioned above the effective setpoint.

[0041] a定位终端采集多个有效定位的样本AP1,取前4个样本点Po-Pm组成样本组; [0041] a plurality of samples collected positioning terminal AP1 effective positioning, take the first four sample points Po-Pm group consisting sample;

[0042] b计算样本组内所有样本点的经炜度均值得到重心点P',分别计算各个样本点到该重心点P'的距离h,并求出h的平均距离h [0042] by Wei for all sample points in the sample set average value obtained b calculating the center of gravity point P ', were calculated for each sample point to the gravity center point P' to distance h, the distance h h and calculates an average of

[0043] c将/,> L 5)的样本点标识为无效样本点并剔除出该样本组,其余标记为有效样本点,判断i是否大于或等于m,若是,则进入步骤d;若否,则将样本点P1=1+1加入样本组,重复步骤b; [0043] c a /,> L 5) of the sample points marked as invalid sample point and removed out of the sample group, the other marked as valid sample points is determined whether i is greater than or equal to m, if yes, entering step D; if not , then the sample point P1 = 1 + 1 group added to the sample, repeating step B;

[0044] d将样本组内的所有有效样本点进行经炜度均值计算即得到有效位置点。 [0044] d all valid sample points in the sample group was calculated to obtain the mean degree Wei valid point position.

[0045] 其中,在步骤c中将无效样本点组成无效样本组,将有效样本点组成有效样本组, 当无效样本组中的无效样本点个数大于或等于4时,每增加一个新的无效样本点都进行如下步骤: [0045] wherein, in step c invalid sample points in the sample set consisting invalid, the valid sample points consisting effective sample group, if the number of valid sample points set invalid sample is greater than or equal to 4, each new invalid sample points are the following steps:

[0046] cl计算无效样本组内所有样本点的经炜度均值得到重心点P',分别计算各个样本点到该重心点P'的距离h,并求出h的平均距离 [0046] cl Wei was calculated for all sample points in the sample set invalid obtained mean centroid point P ', were calculated for each sample point to the gravity center point P' to distance h, the distance h and determine the average

[0047] c2将 [0047] c2 will

Figure CN103852771BD00081

的样本点剔除出该无效样本组。 Remove the sample points of the sample set is invalid.

[0048] 在步骤c中,当无效样本组的样本点个数大于或等于有效样本组的样本点个数,计算此时有效样本点的 [0048] In step c, when the number of valid sample points is greater than or equal to the sample set point of the effective sample number of the sample set, the effective sample point calculated at this time

Figure CN103852771BD00082

,则无效样本组升格为有效样本组,原有效样本组降格为无效样本组,后续的有效样本点加入当前的有效样本组处理。 , The sample set is invalid upgraded to a valid set of samples of the original sample group reduced to an effective sample set is invalid, the subsequent addition of valid sample points currently active sample set process.

[0049] 若在过滤延时时间结束时,若仍未得到4个有效样本点,则延长延时过滤时间,直至获得4个有效样本点为止,反之,进入步骤d。 [0049] When the filter at the end of the delay time, if they have not been effectively four sample points, the delay will be extended filtration time, until four points until the valid samples, whereas proceeds to step d.

[0050] 在步骤d中,在步骤d中,将有效样本组中所有有效样本点进行经炜度均值计算即得到有效位置点,该锁定后的位置点,其速度值置为〇,方向为最后5个有效定位点的方向均值。 [0050] In step d, in step d, all valid sample points effective sample group is carried out by wei of mean calculation to obtain the effective position of the point, the position of the point after the locking, the speed value is set as square, direction the last five points in the direction of the mean effective positioning.

[0051] 上述仅为本发明的一个具体实施方式,但本发明的设计构思并不局限于此,凡利用此构思对本发明进行非实质性的改动,均应属于侵犯本发明保护范围的行为。 [0051] The above-described embodiment is merely one particular embodiment of the present invention, but the design concept of the present invention is not limited thereto, where the use of this concept of the present invention without substantive changes, shall infringe the scope of the present invention.

Claims (8)

1. 一种定位漂移的处理方法,其特征在于:在定位终端从不定位切换为定位的时刻,先判断该时刻下定位终端的状态,若定位终端为静态,则按照静态漂移过滤处理,即根据定位终端不定位的累积时间以及与上一有效定位点的偏差距离来设置过滤延时时间,而后在过滤延时时间内,按照静态位置锁定算法,取过滤延时时间内确定的若干有效样本点的经炜度均值来锁定新的有效位置点;若定位终端为动态,则根据不定位累积时间用接收到的定位数据刷新定位点; 所述静态位置锁定算法具体包括如下步骤:定位终端根据过滤延时时间设定要采集并用于计算的有效定位的样本点总个数为m,其中确定为有效样本点的最少个数为n,ie [〇, m], a定位终端采集多个有效定位的样本点^,取前η个样本点Ρο-Ρρη组成样本组; b计算样本组内所有样本点的经炜度均值 1. A processing method of positioning drift, wherein: a terminal never positioned in the positioning time for the positioning handover, the terminal first determines the state of positioning at the time when the terminal is positioned static, static drift in accordance with the filtering process, i.e., the delay time is provided to filter the accumulation time and the positioning terminal is not located on a deviation of a distance effective anchor point, then the delay time in the filter, the algorithm in accordance with the static locking position, taking a number of valid samples within the determined time delay filter by Wei points of new effective mean to lock the position of the point; if the terminal is a dynamic positioning, the positioning point used to refresh the received positioning data according to the accumulation time is not positioned; said static position fix algorithm includes the following steps: the positioning terminal according to filtered and collected to set the delay time for the total effective positioning of sample points is calculated as the number m, which is determined as the minimum number of valid sample points is n, ie [square, m], a plurality of collecting valid positioning terminal ^ positioning of sample points, sample points before taking η Ρο-Ρρη group consisting sample; Wei B by calculating the mean of all samples in the sample set point 到重心点Ρ',分别计算各个样本点到该重心点P'的距离h,并求出I1的平均距离hc将 The center of gravity Ρ ', were calculated for each sample point to the gravity center point P' to distance h, the distance hc I1 and determine the average of the
Figure CN103852771BC00021
:的样本点标识为无效样本点并剔除出该样本组,其余标记为有效样本点, 判断i是否大于或等于m,若是,则进入步骤d;若否,则将样本点P1=1+1加入样本组,重复步骤b; d将样本组内的所有有效样本点进行经炜度均值计算即得到有效位置点; 在步骤c中将无效样本点组成无效样本组,将有效样本点组成有效样本组,当无效样本组中的无效样本点个数大于或等于η时,每增加一个新的无效样本点都进行如下步骤: cl计算无效样本组内所有样本点的经炜度均值得到重心点Ρ',分别计算各个样本点到该重心点P'的距离h,并求出I1的平均距离 : Sample points marked as invalid and rejected the sample points in the sample set, the remaining sample points marked as valid, it is determined whether or not i is greater than or equal to m, if yes, entering step D; if not, the sample point P1 = 1 + 1 added to the sample group, repeating step b; d all valid sample points in the sample group was calculated to obtain the mean degree Wei active position points; invalid sample in the sample set of points is not valid in step c, an effective composition effective sample sample points group, when the number of valid sample points in the sample set invalid than or equal to [eta], for each new sample points are invalid following steps: cl ineffective within the sample group were calculated for all sample points Wei mean center of gravity obtained Ρ ', were calculated for each sample point to the gravity center point P' to distance h, the distance and to determine the average of I1
Figure CN103852771BC00022
c2将 The c2
Figure CN103852771BC00023
的样本点剔除出该无效样本组;当无效样本组的样本点个数大于或等于有效样本组的样本点个数,计算此时有效样本点的,若,则无效样本组升格为有效样本组,原有效样本组降格为无效样本组。 Remove the sample points of the set of valid sample; invalid if the number of sample points is greater than or equal to the sample set point of the effective sample number of the sample set, the effective sample point calculated at this time, if, upgrade the sample set is invalid effective sample group original effective sample group reduced to an invalid sample group.
Figure CN103852771BC00024
Figure CN103852771BC00025
2. 如权利要求1所述的一种定位漂移的处理方法,其特征在于:所述有效定位点是定位终端对接收到的定位标识为有效的定位数据根据卫星信号的状态包括精度误差因子和信噪比进行判断过滤后所得到的定位点。 2. The processing method for locating said drift claim 1, characterized in that: said alignment mark is valid anchor point positioned to the received terminal positioning data comprises a valid accuracy error factor based on satellite signals, and Analyzing the signal to noise ratio setpoint obtained was filtered.
3. 如权利要求1所述的一种定位漂移的处理方法,其特征在于:具体包括如下步骤:定位终端预先设置过滤延时时间为T1、T2以及不定位的累积时间参考值tl、t2,动态锁定时间参考值t3,且Tl〈T2、tl〈t2, 1) 判断定位终端是否处于静态,若是则进行步骤2),若否则进行步骤3); 2) 定位终端处于静态,判断定位终端是否首次定位,若是则设置过滤延时时间为T2,若否则进行步骤4); 3) 定位终端处于动态,判断定位终端不定位的累积时间是否大于tl,若是,则用上一有效定位点的位置锁定t3,而后用新的定位数据刷新定位点;若否,则直接用新的定位数据刷新定位点; 4) 将当前定位点与上一有效定位点比较,判断定位终端不定位的累积时间是否大于或等于t2,若是,则设置过滤延时时间为T2,若否则设置过滤延时时间为T1,而后,在过滤延时时间内,按照静态位置锁定算 3. The processing method for locating said drift claim 1, characterized in that: includes the following steps: positioning the terminal a preset delay time filtering T1, T2 and the accumulated value of the reference time is not positioned tl, t2, dynamic locking time reference value T3, and Tl <T2, tl <t2, 1) determines the positioning terminal is in static state, if the step 2), if no, proceed to step 3); 2) the positioning terminal is in a static state, determines the positioning terminal is positioning the first, if the delay time is set by filtration T2, if otherwise, to step 4); 3) in a dynamic positioning terminal, the terminal determines whether the location is not positioned accumulated time is greater than tl, and if yes, to spend a valid position fix locking T3, then refresh the anchor point with the new position data; if not, directly refreshed anchor point with the new positioning data; 4) the current position accumulation time points compared with the last valid setpoint, determining the positioning terminal not positioned to whether greater than or equal to T2, if yes, setting the filter delay time is T2, or if the delay time set filter is T1, then, in the filter delay time, the locking position of the operator in accordance with the static ,取过滤延时时间内确定的若干有效样本点的经炜度均值来锁定新的有效位置点。 , Filtered take several valid sample points within the delay time determined by the average of the Wei effective to lock the new position of the point.
4. 如权利要求3所述的一种定位漂移的处理方法,其特征在于:定位终端预先设置距离参考值L,在步骤4)中,判断定位终端与上一有效定位点的偏差距离是否大于或等于L,若是,则设置过滤延时时间为T2,若否则设置过滤延时时间为T1。 4. A processing method of positioning the drift of claim 3, wherein: the positioning terminal from the previously set reference value L, at step 4), it is determined whether the terminal is positioned on a deviation from the setpoint is greater than the effective or equal to L, if yes, setting the filter delay time is T2, or if the delay time set by filtration T1.
5. 如权利要求3或4所述的一种定位漂移的处理方法,其特征在于:定位终端预先设置定位终端的速度参考值vl、v2,秒方向变化量参考值A,且vl〈v2,在步骤4)中,定位终端处于静态,此时,定位终端每隔一段时间计算一次平均速度 5. The processing method of claim 3 or 4, positioning drift claim, wherein: the positioning terminal positioning terminal preset speed reference value vl, v2, second directional change amount reference value A, and vl <v2, in step 4), the positioning terminal is in the static case, a positioning terminal calculates the average speed at regular intervals
Figure CN103852771BC00031
,若 If the
Figure CN103852771BC00032
,则定位终端按照静态位置锁定算法重新计算得到又一新的有效位置点刷新上一个有效位置点;若 , The positioning terminal according to the lock position static algorithm recalculated another new active refresh position of a point on a valid point position; if
Figure CN103852771BC00033
,则定位终端保持上一个按照静态位置锁定算法计算得到的有效位置点;若定位终端的速度V 持续一段时间满足v>v2且相邻定位点的秒方向变化量持续小于A,则认为定位终端从静态切换到动态,在该段时间内,定位终端依然采用静态漂移过滤处理锁定定位点。 , Positioning the terminal holds a valid location point locking algorithm obtained in accordance with the static position; when the positioning terminal velocity V for a time satisfying v> v2 and located adjacent dots second duration is less than the amount of change in the direction A, the positioning terminal that switching from a static to dynamic, in that period of time, the positioning terminal is still locked static filtering process drift setpoint.
6. 如权利要求5所述的一种定位漂移的处理方法,其特征在于:在步骤3)中,此时定位终端处于动态,若定位终端的速度V持续一端时间满足v<v2,则认为定位终端从动态切换到静态,在该段时间内,用新的定位数据刷新定位点,而后将若干个满足静态条件即的定位点按照位置静态锁定算法得到新的有效位置点。 6. The process of claim 5 for positioning drift claim, wherein: in step 3), this time in a dynamic positioning terminal, when the speed V of the positioning terminal end of time duration satisfies v <v2, is considered positioning terminal from a static to dynamic, in that period of time, the refresh with the new anchor point positioning data, and will meet several static conditions, i.e. anchor point according to the position of the new static algorithm effectively locking the position of the point.
7. 如权利要求1所述的一种定位漂移的处理方法,其特征在于:若在过滤延时时间结束时,若仍未得到η个有效样本点,则延长延时过滤时间,直至获得η个有效样本点。 7. The processing method for locating said drift claim 1, wherein: if the end of the delay time in the filter, if they have not been η valid sample points, the delay will be extended filtration time, until η valid sample points.
8. 如权利要求7所述的一种定位漂移的处理方法,其特征在于:在步骤d中,将有效样本组中所有有效样本点进行经炜度均值计算即得到有效位置点,该锁定后的位置点,其速度值置为〇,方向为最后5个有效定位点的方向均值。 After step d, all valid sample points for a valid sample set by calculating the mean of the Wei i.e. effective position of the point, the lock: 8. The process of claim 7 for positioning drift claim, characterized in that the position of the point, the speed value set square, the mean direction of the last five points in the direction of valid location.
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