CN104200042A - Positioning-data trajectory tracking method - Google Patents
Positioning-data trajectory tracking method Download PDFInfo
- Publication number
- CN104200042A CN104200042A CN201410476300.7A CN201410476300A CN104200042A CN 104200042 A CN104200042 A CN 104200042A CN 201410476300 A CN201410476300 A CN 201410476300A CN 104200042 A CN104200042 A CN 104200042A
- Authority
- CN
- China
- Prior art keywords
- road
- point
- spaced points
- tracking method
- coordinate
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- Traffic Control Systems (AREA)
- Navigation (AREA)
Abstract
The invention relates to the technical field of software engineering research and discloses a positioning-data trajectory tracking method. The positioning-data trajectory tracking method includes the following steps of A), acquiring neighboring positioning points of P1 and P2; B), acquiring road data matched with the P1 and a road element point set in the road data; C), sequentially acquiring points located ahead of the P2 and included in the road element point set for moving points along the moving direction of a vehicle when the road matched with the P1 is a curve; D), drawing trajectories according to coordinates of the P1, the moving points and the P2; wherein if the number of the moving points is larger than 1, arraying the drawn trajectories according to the order acquired. By the aid of analysis of the neighboring positioning points, the proper points in the road element point set are selected as the moving points of the vehicle, untruthfulness in drawing of the trajectories due to the fact that the neighboring positioning points are scattered therebetween is improved, and the accurate, true and smooth trajectories can be acquired by drawing the trajectories according to the points.
Description
Technical field
The present invention relates to soft project studying technological domain, particularly the locator data trace tracking method of posteriority formula.
Background technology
Develop rapidly along with China's economy, automobile is as a kind of vehicles easily, huge numbers of families have been entered, thing followed traffic problems are day by day serious, Urbanization is built fast development in cities at different levels, overpass, under wear tunnel, massif tunnel etc., solved the various traffic problems under this environment.
But the tracking of special vehicle, the management of emergency vehicles etc., all need to adopt the trace tracking method of posteriority formula, and complicated, diversified along with road singly usingd existing simple connection anchor point and often can cause inaccurate as the method for trajectory.The travel track of vehicle has many possibilities, on identical road, may there is different travel tracks, how these travel tracks are analyzed, thereby the correct track of judgement vehicle, being that current track of vehicle is followed the tracks of comparatively complicated part, is also the place that easily occurs error statistics and analysis.
Summary of the invention
The object of the present invention is to provide a kind of locator data trace tracking method, the vehicle historical track that utilizes accurately locator data to realize posteriority formula is followed the tracks of, obtain accurately true level and smooth trajectory.
For solving the problems of the technologies described above, embodiments of the present invention provide a kind of locator data trace tracking method, comprise following steps:
A. obtain adjacent anchor point P1 and P2;
B. obtain the road data mating with P1, obtain the road key element point set in road data;
When the road C. mating at described P1 is curve, along vehicle direct of travel, obtains and be positioned at before P2 successively, and put concentrated point as progress point in described road key element;
D. according to the coordinate track drafting line of P1, progress point and P2; Wherein, if the quantity of described progress point is greater than one, according to acquisition, sequentially arrange track drafting line.
Embodiment of the present invention in terms of existing technologies; the key distinction and effect thereof are: utilize the analysis to adjacent positioned point; choosing road key element point concentrates suitable point as vehicle progress point; improve between adjacent positioned point the too sparse trajectory causing untrue; and carry out track drafting according to each point, obtain accurately true level and smooth trajectory.Realize the historical track of the vehicle of posteriority formula, can be widely used in needing in the enterprises and institutions of fine-grained management in various emergency disposals, monitoring management vehicle management tracker.
As further improvement, in described step C, comprise following sub-step:
If described P1 and on it positioned adjacent point on same road, while obtaining progress point, from road key element, put concentrated starting point and start to obtain;
If described P1 not with its on a positioned adjacent point on same road, while obtaining progress point, from described P1, start to obtain.
By judgement P1 and the relation of a positioned adjacent point on it, determine the reference position that progress point is obtained, make the position of progress point more approach true driving trace.
As further improvement, after described step B, comprise following steps: according to described road key element point set, judge whether the road that described P1 mates is straight line; The road that described P1 mates if judge during as straight line, calculates spaced points and the coordinate thereof between P1 and P2 by average speed and rectilinear direction; According to the coordinate track drafting line of P1, spaced points and P2;
When the road that described P1 mates if judge is not straight line, carry out described step C to D.
Further judge whether the road at place when vehicle is advanced is straight line, and when being not straight line, while namely confirming as curve, perform step the method for describing in C to D, when being straight line, adopting the spaced points of calculating gained is carried out to the method for drawing between insertion point.Due to when vehicle course is straight line, road key element point is concentrated the intermediate point that not can be used to interpolation, so need to carry out interpolation drawing by the spaced points calculating; And vehicle course is while being curve, road key element point concentrates existing enough points to can be used as the progress point in the middle of vehicle traveling process, route is drawn more accurate.The concrete course of distinguishing, is plotted under the prerequisite that guarantees accuracy route, accelerates render speed.
As further improvement, after the step that the road mating is straight line, judge whether the spacing of P1 and P2 is greater than predeterminable range at the described P1 of judgement; When judging that described spacing is greater than predeterminable range, carry out describedly by average speed and rectilinear direction, calculating spaced points between P1 and P2 and the step of coordinate thereof; When judging that described spacing is less than or equal to predeterminable range, according to the coordinate track drafting line of P1 and P2.
At vehicle, advance road while being straight line, whether the spacing of further distinguishing anchor point is long, if overlong time can be inserted spaced points and carry out smooth trajectory, spaced points can be calculated and obtain according to average speed and rectilinear direction, quick and precisely; If spacing does not have long, directly line P1 and P2 are same guarantees accurately, and more quick.
As further improvement, the quantity of described spaced points is greater than one; Described in each, spaced points obtains with the first Preset Time interval acquiring; Described according to the step of the coordinate track drafting line of P1, spaced points and P2 in, described spaced points is sequentially arranged according to acquisition.Utilize the set time to calculate spaced points, not only calculate simply, also make route more level and smooth.
As further improvement, at the described road that judges that described P1 mates, whether be in straight line step, the method for judgement is: according to described road key element, put concentrated quantity and judge; Or, according to described road key element, put concentrated starting point, intermediate point and terminal and whether on same straight line, judge.
Further whether refinement is the determination methods of straight line to road, makes judgement fast and accurately.
As further improvement, after described step B, comprise following steps: according to described road data judge described P2 whether with described P1 on same road; Being judged to be while being, carry out described step C to D.
By judging whether P2 matches with described road data, can know that vehicle is from P1 point marches to P2 point, whether also on original road, and carry out corresponding operation, make track draw more true and accurate.
As further improvement, according to described road data, judge described P2 whether with the step of described P1 on same road after, also comprise following steps: being judged to be when no, judge whether the acquisition time interval of described P1 and P2 is greater than the second Preset Time; When judging that acquisition time is less than or equal to described the second Preset Time, along vehicle direct of travel, obtain described road key element and put concentrated terminal P3, and according to the coordinate track drafting line of P1, P3 and P2.
At P2 not under the prerequisite on the road in P1 coupling, then obtain the flex point that the terminal P3 of road that P1 mates advances as vehicle, make route drafting more accurate.
As further improvement, described, according in the step of the coordinate track drafting line of P1, P3 and P2, also comprise following sub-step:
Whether the spacing that judges P1 and P2 is greater than predeterminable range;
When judging that described spacing is greater than predeterminable range, by average speed and rectilinear direction, calculate respectively the first spaced points between P1 and P3 and the second spaced points and the coordinate thereof between coordinate, P2 and P3 thereof;
According to the coordinate track drafting line of P1, the first spaced points, P3, the second spaced points and P2.
The further spacing of judgement P1 and P2, if interval is oversize, still needs to obtain between P1 and P3, the spaced points between P2 and P3 inserts and draw, if interval is not long, can draw by straight line, under the prerequisite of accurate track drafting, accelerates render speed, raising real-time.
Accompanying drawing explanation
Fig. 1 is according to the locator data trace tracking method process flow diagram in first embodiment of the invention;
Fig. 2 is according to the locator data trace tracking method process flow diagram in second embodiment of the invention;
Fig. 3 a is according to the road straight line determination methods process flow diagram in second embodiment of the invention;
Fig. 3 b is according to another road straight line determination methods process flow diagram in second embodiment of the invention;
Fig. 4 is according to the locator data trace tracking method process flow diagram in third embodiment of the invention;
Fig. 5 is according to curve tracking process flow diagram in the locator data trace tracking method in four embodiment of the invention;
Fig. 6 a and Fig. 6 b are respectively according to the anchor point P0 in four embodiment of the invention and the location diagram of P1.
Embodiment
For making the object, technical solutions and advantages of the present invention clearer, below in conjunction with accompanying drawing, the embodiments of the present invention are explained in detail.Yet, persons of ordinary skill in the art may appreciate that in each embodiment of the present invention, in order to make reader understand the application better, many ins and outs have been proposed.But, even without these ins and outs and the many variations based on following embodiment and modification, also can realize each claim of the application technical scheme required for protection.
The first embodiment of the present invention relates to a kind of locator data trace tracking method, and its flow process is as shown in Figure 1, specific as follows:
Step 101, obtains adjacent anchor point P1 and P2.
Specifically, in present embodiment, can be from the GPS locator data that vehicle receives, obtain successively adjacent two anchor point P1 and P2.That is to say, vehicle is to open the point to P2 from P1 point, that is to say, the starting point using P1 as vehicle starts follow-up drawing.
Step 102, obtains the road data mating with P1, obtains the road key element point set in road data.
Specifically, the road that vehicle travels itself has GIS (Geographic Information System) data map, utilizes each some set on road axis to form road key element point set in GIS data.
In the present embodiment, to utilize P1 to mate with the road axis in GIS data, obtain certain road axis mating, road axis is road data, and according to this road data, obtain the road key element point set of this road, namely directly from center line, obtain the set of point coordinate.Also it should be noted that, the matching process of anchor point and road axis specifically obtains according to GIS space topological algorithm, namely obtain point and close on relation with the space of line, in certain error range, point and line being carried out to space mates, to obtain road data.
It is worth mentioning that, in present embodiment, giving tacit consent to P2, to order the Road that mates identical with P1 point, and namely vehicle drives to P2 from P1 and travels on same path line.In addition, if go to situation on other Roads etc. in Vehicle Driving Cycle, all not within the limit of consideration of present embodiment.
Step 104, along vehicle direct of travel, obtains and is positioned at before P2 successively, and puts concentrated point as progress point in road key element.
Specifically, be road that P1 mates while being curve, from road key element point, concentrate and take out before the point needing inserts P2, effectively improved due to the too sparse trajectory distortion causing between anchor point.Meanwhile, because being obtains successively, and put concentrated point as progress point in road key element, accurate again fast, progress point is equivalent to the pilot process point of Vehicle Driving Cycle, has given full expression to the true route of Vehicle Driving Cycle between P1 and P2.
It should be noted that, progress point can be got one or more, because road situations is complicated, especially during curve, not only have a flex point, the progress point number of getting is more, more can make the more accurate level and smooth of trajectory drafting, but get the speed that trajectory is drawn that a little also can affect too much.Specifically, present embodiment is got progress point with set time (as 5 seconds) interval, in assurance trajectory simultaneously accurately, has taken into account plotting speed.
Step 105, draws with P1, progress point and P2.
Specifically, according to the coordinate track drafting line of P1, progress point and P2.
Also it should be noted that, if the quantity of progress point is greater than one, according to acquisition, sequentially arrange track drafting line.
Present embodiment in terms of existing technologies; the key distinction and effect thereof are: utilize the analysis to adjacent positioned point; choosing road key element point concentrates suitable point as vehicle progress point; improve between adjacent positioned point the too sparse trajectory causing untrue; realize the track of vehicle road coupling identification under complicated road conditions; and carry out track drafting according to each point, obtain accurately true level and smooth trajectory.Can realize fast and accurately the historical track of the vehicle of posteriority formula, can be widely used in needing in the enterprises and institutions of fine-grained management in various emergency disposals, monitoring management vehicle management tracker.
It is worth mentioning that, locator data trace tracking method in present embodiment is only after analyzing according to one group of adjacent positioned point (be equivalent to " data to ") and road data, the trajectory of carrying out is drawn, after the drawing completing between P1 and P2, by the advance method of an iteration of utilization, get back to step 101, P2 is become to the first anchor point P1 in present embodiment, obtain again next anchor point P ' as the second anchor point P2 in present embodiment, then repeat the locator data trace tracking method in present embodiment.That is to say, in actual applications, only need to utilize the method for an iteration of advancing, can be by repeating this flow process, the locator data realizing in advancing according to vehicle continues to draw the trajectory that vehicle is advanced.
In addition, present embodiment can also further be optimized, and before once circulating, also can increase and judge whether first to turn other vehicle location trigger conditions and to process other trigger events if any on flow process enters.Trigger event can comprise: 1, according to user, imposing a condition to trigger adds power station periphery and show (for example radius 1 kilometer in), and whether the Show Button inquiry carries out optimal path computation.2, electric weight is not enough, triggers the Show Button inquiry and whether carries out optimal path computation.3, can carry out as required other extension process.Certainly, trigger event herein can default setting for not carrying out Trigger Function, because trigger condition can account for resource.
The second embodiment of the present invention relates to a kind of locator data trace tracking method equally.The second embodiment is on the basis of the first embodiment, to have done further improvement, and main improvements are: in the first embodiment, utilize at road key element point and concentrate and choose between suitable some insertion adjacent positioned point.And in second embodiment of the invention, increased Vehicle Driving Cycle newly when straight line road, choose the method for suitable intermediate point.When straight path line is drawn, provide more interpolation method, make the locator data trace tracking method in present embodiment more quick.
Specifically, the locator data trace tracking method process flow diagram in present embodiment is as shown in Figure 2, specific as follows:
Step 201 is similar to step 102 with the step 101 in the first embodiment to step 202, does not repeat them here.
Equally, if vehicle goes to the situation on other Roads etc. from the driving process of P1 to P2, all not within the limit of consideration of present embodiment.
Step 103, judges whether the road that P1 mates is straight line; If so, perform step 106; If not, perform step 104.
Specifically, because the course of vehicle may be straight line, may be curve, to its analysis differentiation, to implement different track method for drafting, make the drafting of trajectory not only accurate, and also more quick.
Also it should be noted that, in present embodiment, is according to road key element, to put concentrated quantity to judge that whether road is straight line, and its judgement flow process is as shown in Figure 3 a, specific as follows:
Step 301, whether the quantity of judging point centrostigma is over two; If so, judge that road is as curve; If not, judge that road is as straight line.
The present inventor's discovery, generally, when road is straight line, road key element point is concentrated and is only collected starting point and two points of terminal.That is to say, when the concentrated quantity of decision-point is no more than two, be considered as straight line, surpass two, be considered as curve.This method is simple and practical, and judgement fast.
In addition, in actual applications, real road often has the situation of near linear, although namely there is flex point, direction changes very little, and the situation that overall road still can be approximated to be straight line is carried out trajectory drawing.In this case, whether can put concentrated starting point, intermediate point and terminal according to road key element judges on same straight line, its judgement flow process as shown in Figure 3 b, namely utilize some discriminant function on line to judge, the coordinate that the coordinate of establishing starting point Pa is (X1, Y1), terminal Pc is (X2, Y2), the coordinate of intermediate point Pb is (X, Y), and some discriminant function is on line as follows:
Specifically, in above-mentioned function, the Pb point that calculates gained is less than to preset value to Pa with the minor increment of the straight line of Pc point formation, can judges that this Road is straight line.
It is worth mentioning that, judging that the Road that P1 mates is not under the prerequisite of straight line, can know that route is curve, the two ends that P1 and P2 may transfer at curve respectively, if directly line is drawn and certainly will be caused trajectory distortion, so after this utilize step 204 to the intermediate interpolated method of step 205, can greatly improve the distortion of trajectory.In actual applications, even if the road that P1 mates is straight line, also can utilize the method for obtaining progress point of mentioning in step 204, utilize progress point to carrying out interpolation between P1 and P2, but the requirement of real-time of considering track following is higher, guaranteeing, under the prerequisite of accuracy, to need to guarantee equally the speed of drawing, so utilize the method for this step, plotting speed accelerated greatly.
Step 204 is similar to step 104 with the step 103 in the first embodiment to step 205, does not repeat them here.
Step 206, judges whether the spacing of P1 and P2 is greater than predeterminable range; If so, perform step 208; If not, perform step 207.
According to linear characteristic, can confirm route at 2, and in present embodiment for avoiding due to the route distortion too far away of adjacent positioned point interval, so the spacing to P1 and P2 is done further judgement at this, namely whether the spacing for P1 and P2 surpasses predeterminable range judgement, when surpassing, be judged to be too far away, while being no more than, be judged to be nearer, and according to different result of determination, in subsequent step, process respectively, effectively improve the efficiency of drawing.
Step 207, draws with P1 and P2.
Specifically, at P1 and P2, on straight line road, and under the nearer prerequisite in interval, directly carry out 2 lines, can draw trajectory accurately, namely utilize the coordinate of P1 and P2 to draw trajectory.
Step 208, calculates spaced points and the coordinate thereof between P1 and P2 by average speed and rectilinear direction.
Specifically, utilize spaced points to insert P1 and P2, the point in the time of can making to draw is more intensive, improves the trajectory distortion causing because anchor point is too sparse.
It is worth mentioning that, average speed herein can be the average velocity of vehicle between P1 and P2, also can generally can not produce larger error for the Vehicle Speed of the last time acquisition, also can when design, determine according to actual needs.
It should be noted that, spaced points can have a plurality of, with the first Preset Time, does interval calculation, utilizes the spaced points that the set time calculates, and not only calculates simply, also makes route more level and smooth.For instance, can arrange and using 5 seconds as the time interval.
Step 209, draws with P1, spaced points and P2.
Specifically, be the coordinate track drafting line according to P1, spaced points and P2.
It should be noted that, if now spaced points has a plurality ofly, when drawing, need to sequentially arrange according to the acquisition of each spaced points.
The 3rd embodiment of the present invention relates to a kind of locator data trace tracking method.The 3rd embodiment is on the basis of the second embodiment, to have done further improvement, and main improvements are: in the second embodiment, adjacent positioned point only can be on same Road.And in second embodiment of the invention, adjacent positioned point can be on same Road, when trajectory is drawn, more interpolation method is provided, the changeable situation that locator data trace tracking method in present embodiment is run in more realistic, draws out route track more really and accurately.
Process flow diagram in present embodiment is as shown in Figure 4, specific as follows:
Step 401 is similar to step 102 with the step 101 in the first embodiment to step 402, does not repeat them here.
Step 403, judges on the road whether P2 mate at P1; If so, perform step 404; If not, perform step 411.
Specifically, by mating of P2 and road axis in GIS data, judge P2 and whether match with the road data that P1 matches, that is to say, judge that anchor point P2 and current road key element whether on the same line, that is to say, judge that P2 and P1 are whether on same road.
In particular, if be judged to be, be, be namely judged to be on the road that P2 mates at P1, that is to say, P2 and P1 are on same straight line, thereby determine that P2 is the continuity point of P1 but not new point; If be judged to be noly, be namely judged to be on the road that P2 do not mate at P1, that is to say just judge anchor point P2 and P1 not on same straight line, but whether P1 is new point, need to further judgement in subsequent step 411.
Step 404 is similar to step 109 to step 103 in step 410 and the first embodiment, does not repeat them here.
Step 411, judges whether the acquisition time interval of P1 and P2 is greater than the second Preset Time; If so, perform step 412; If not, process ends.
Specifically, not on same Road, may there are two kinds of situations in P1 and P2, may be the corner that runs into road, may be also that vehicle advances on another route.By the acquisition time interval of judgement P1 and P2, if know that the acquisition time interval of P1 and P2 is long, illustrate vehicle when P2 to another route, that is to say, P2 is a new point, but not continuity point, with P1 without contacting, so, just using P2 as starting point, the anchor point receiving after associating starts to draw again.Two kinds of situations can be carried out respectively the method for different drawing after distinguishing, and realize the accurate drafting of track of vehicle line.
Step 412, along vehicle direct of travel, obtains road key element and puts concentrated terminal P3.
Specifically, because the time interval of P1 and P2 is not oversize, can know, because vehicle has travelled through flex point, cause P1 and P2 not on a Road, that is to say, P2 is now the continuity point of P1, but not new point, so, now the simplest mapping operation can directly carry out coordinate plot according to the order of P1-P3-P2.
It is worth mentioning that, due to Road this as line of vector, also there is terminal, but that terminal herein refers to according to vehicle direct of travel is determined, but not the terminal of Road itself.
Step 413, judges whether the spacing of P1 and P2 is greater than predeterminable range; If so, perform step 409; If not, perform step 414.
Specifically, the judgement of the step 106 in this step and the first embodiment is similar, does not repeat them here.It is worth mentioning that, in whole flow process, so similar step, when program design, can be utilized the method for designing of " privately owned member ", with this, reduces calculated amount, reduces power consumption.
In present embodiment, in order to make track draw more true and accurate, at this, utilize this step to do further differentiation judgement, namely judge that whether P1 and P2 distance between two points be too sparse, whether need to carry out in centre interpolation encryption.
Step 414, draws with P1, P2 and P3.
Specifically, be the coordinate track drafting line according to P1, P3 and P2.
The 4th embodiment of the present invention relates to a kind of locator data trace tracking method.The 4th embodiment is on the basis of the first embodiment, to have done further improvement, main improvements are: in the first embodiment, when judging that Road that P1 mates is as curve, the method of directly obtaining progress point with regard to utilizing is carried out interpolation drawing, and in the present embodiment, approximate location to P2 on this Road has been done further judgement, direction and order when with this, further progress point is obtained in differentiation, make obtaining of progress point more quick, further accelerate in present embodiment the render speed of trajectory in locator data trace tracking method.
In present embodiment, tracking when Road is curve is that the step 104 in the first embodiment has been carried out to further refinement judgement.As shown in Figure 5, specifically, be concentrate to take out starting point PP1 and terminal PP2 from road key element point, compare with P1 respectively, from starting index search with the nearer end points of P1, get the pilot process point that all points between P1 and P2 are advanced as vehicle.
It is worth mentioning that the step 501 in present embodiment and step 502 can also further judge respectively that a upper positioned adjacent point of P1 and P1 is whether on same road, specifically, if on same road, while obtaining progress point, from road key element, put concentrated starting point and start to obtain; If not on same road, while obtaining progress point, from P1, start to obtain.For instance, if a upper positioned adjacent point of P1 is P0, Road A-PP1 is straight line, and PP1-PP2 is curve, and P1 is on curve PP1-PP2, and there are two kinds of situations P0 position, specific as follows:
If the position of P0 as shown in Figure 6 a, P0 and P1 be not on the same line, and P1 is Vehicle Driving Cycle to the anchor point obtaining for the first time after curve so, when obtaining progress point, need to from the starting point PP1 of road, start to obtain, in case track is inaccurate because PP1-P1 section centre is too sparse.
If the position of P0 as shown in Figure 6 b; P0 and P1 are on the same line, and P1 is Vehicle Driving Cycle to the non-anchor point that obtained for the first time after curve so, when obtaining progress point; only need to start to obtain from P0, the track of PP1-P0 section have been completed in the track of a upper circulation is drawn.
The step of the whole bag of tricks is divided above, just in order being described clearly, can to merge into a step or some step is split while realizing, and is decomposed into a plurality of steps, as long as comprise identical logical relation, all in the protection domain of this patent; To adding inessential modification in algorithm or in flow process or introducing inessential design, but the core design that does not change its algorithm and flow process is all in the protection domain of this patent.
Persons of ordinary skill in the art may appreciate that the respective embodiments described above are to realize specific embodiments of the invention, and in actual applications, can to it, do various changes in the form and details, and without departing from the spirit and scope of the present invention.
Claims (10)
1. a locator data trace tracking method, is characterized in that, comprises following steps:
A. obtain adjacent anchor point P1 and P2;
B. obtain the road data that P1 mates, obtain the road key element point set in road data;
When the road C. mating at described P1 is curve, along vehicle direct of travel, obtains and be positioned at before P2 successively, and put concentrated point as progress point in described road key element;
D. according to the coordinate track drafting line of P1, progress point and P2; Wherein, if the quantity of described progress point is greater than one, according to acquisition, sequentially arrange track drafting line.
2. locator data trace tracking method according to claim 1, is characterized in that, in described step C, comprises following sub-step:
If described P1 and on it positioned adjacent point on same road, while obtaining progress point, from road key element, put concentrated starting point and start to obtain;
If described P1 not with its on a positioned adjacent point on same road, while obtaining progress point, from described P1, start to obtain.
3. locator data trace tracking method according to claim 1, is characterized in that, after described step B, comprises following steps:
According to described road key element point set, judge whether the road that described P1 mates is straight line;
The road that described P1 mates if judge during as straight line, calculates spaced points and the coordinate thereof between P1 and P2 by average speed and rectilinear direction; According to the coordinate track drafting line of P1, spaced points and P2;
When the road that described P1 mates if judge is not straight line, carry out described step C to D.
4. locator data trace tracking method according to claim 3, is characterized in that, the quantity of described spaced points is greater than one; Described in each, spaced points obtains with the first Preset Time interval acquiring;
Described according to the step of the coordinate track drafting line of P1, spaced points and P2 in, described spaced points is sequentially arranged according to acquisition.
5. locator data trace tracking method according to claim 3, is characterized in that, after the step that the road mating is straight line, judges whether the spacing of P1 and P2 is greater than predeterminable range at the described P1 of judgement;
When judging that described spacing is greater than predeterminable range, carry out describedly by average speed and rectilinear direction, calculating spaced points between P1 and P2 and the step of coordinate thereof;
When judging that described spacing is less than or equal to predeterminable range, by the coordinate track drafting line of P1 and P2.
6. whether locator data trace tracking method according to claim 3, is characterized in that, at the described road that judges that described P1 mates, be in straight line step, and the method for judgement is:
According to described road key element, putting concentrated quantity judges; Or,
Whether according to described road key element, put concentrated starting point, intermediate point and terminal judges on same straight line.
7. locator data trace tracking method according to claim 1, is characterized in that, after described step B, comprises following steps: according to described road data judge described P2 whether with described P1 on same road;
Being judged to be while being, carry out described step C to D.
8. locator data trace tracking method according to claim 7, is characterized in that, according to described road data, judge described P2 whether with the step of described P1 on same road after, also comprise following steps:
Being judged to be when no, judge whether the acquisition time interval of described P1 and P2 is greater than the second Preset Time;
When judging that acquisition time is less than or equal to described the second Preset Time, along vehicle direct of travel, obtain described road key element and put concentrated terminal P3, and according to the coordinate track drafting line of P1, P3 and P2.
9. locator data trace tracking method according to claim 8, is characterized in that, described, according in the step of the coordinate track drafting line of P1, P3 and P2, also comprises following sub-step:
Whether the spacing that judges P1 and P2 is greater than predeterminable range;
When judging that described spacing is greater than predeterminable range, by average speed and rectilinear direction, calculate respectively the first spaced points between P1 and P3 and the second spaced points and the coordinate thereof between coordinate, P2 and P3 thereof;
According to the coordinate track drafting line of P1, the first spaced points, P3, the second spaced points and P2.
10. locator data trace tracking method according to claim 9, is characterized in that, the quantity of described spaced points is greater than one; Described in each, spaced points obtains with the first Preset Time interval acquiring;
Described, according in the step of the coordinate track drafting line of P1, the first spaced points, P3, the second spaced points and P2, described the first spaced points and described the second spaced points are sequentially arranged according to acquisition.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410476300.7A CN104200042B (en) | 2014-09-17 | 2014-09-17 | A kind of location data trace tracking method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410476300.7A CN104200042B (en) | 2014-09-17 | 2014-09-17 | A kind of location data trace tracking method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104200042A true CN104200042A (en) | 2014-12-10 |
| CN104200042B CN104200042B (en) | 2017-09-01 |
Family
ID=52085335
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410476300.7A Active CN104200042B (en) | 2014-09-17 | 2014-09-17 | A kind of location data trace tracking method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104200042B (en) |
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105184387A (en) * | 2015-07-23 | 2015-12-23 | 北京理工大学 | Path similarity comparison method |
| CN105590087A (en) * | 2015-05-19 | 2016-05-18 | 中国人民解放军国防科学技术大学 | Road recognition method and device |
| CN106017486A (en) * | 2016-05-16 | 2016-10-12 | 浙江大学 | Trajectory inflection point filter-based map location method for unmanned vehicle navigation |
| CN108228632A (en) * | 2016-12-15 | 2018-06-29 | 方正国际软件(北京)有限公司 | A kind of terminal track method for drafting and device |
| CN108507586A (en) * | 2017-02-28 | 2018-09-07 | 北京嘀嘀无限科技发展有限公司 | Show the Mobile exhibiting method, apparatus and storage medium of object |
| CN109102712A (en) * | 2017-06-20 | 2018-12-28 | 北京嘀嘀无限科技发展有限公司 | The data processing method and device smoothly moved for realizing vehicle |
| CN109145065A (en) * | 2017-06-19 | 2019-01-04 | 北京嘀嘀无限科技发展有限公司 | Methods of exhibiting and device, the computer readable storage medium of vehicle driving trace |
| CN109143294A (en) * | 2018-08-29 | 2019-01-04 | 南京行者易智能交通科技有限公司 | A kind of method and device of the fine running track of reduction based on sparse GPS sampled point |
| CN109300304A (en) * | 2017-07-24 | 2019-02-01 | 神州优车（平潭）电子商务有限公司 | Method and apparatus for determining history road conditions |
| CN110275515A (en) * | 2018-03-15 | 2019-09-24 | 北京智行鸿远汽车有限公司 | A method of improving closed path precision |
| CN110414098A (en) * | 2019-07-12 | 2019-11-05 | 北京三快在线科技有限公司 | A kind of generation method and device of Simulation Test Environment |
| CN110443287A (en) * | 2019-07-19 | 2019-11-12 | 北京航空航天大学 | A kind of mobile stream method for drafting of the crowd based on sparse track data |
| US10777080B2 (en) | 2017-06-19 | 2020-09-15 | Beijing Didi Infinity Technology And Development Co., Ltd. | Systems and methods for displaying a movement of a vehicle on a map |
| CN112147655A (en) * | 2019-06-28 | 2020-12-29 | 厦门雅迅网络股份有限公司 | Method for discriminating positioning track and computer readable storage medium |
| CN112747755A (en) * | 2019-10-30 | 2021-05-04 | 武汉四维图新科技有限公司 | Road route determining method, road route determining device, readable storage medium and map updating system |
| CN113252050A (en) * | 2021-06-11 | 2021-08-13 | 天津所托瑞安汽车科技有限公司 | Route matching method, device, equipment and storage medium |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH04190283A (en) * | 1990-11-24 | 1992-07-08 | Hitachi Ltd | Car running position display method and its device |
| JPH07270170A (en) * | 1994-03-31 | 1995-10-20 | Japan Radio Co Ltd | Navigation apparatus |
| US20060111837A1 (en) * | 2004-11-22 | 2006-05-25 | Denso Corporation | Automobile navigation system and road map delivery system |
| CN1948913A (en) * | 2006-08-25 | 2007-04-18 | 北京航空航天大学 | Heuristic path culculating method for treating large scale floating vehicle data |
| CN101201255A (en) * | 2007-12-21 | 2008-06-18 | 四川川大智胜软件股份有限公司 | Vehicle combined navigation system based on intelligent navigation algorithm |
| CN101694749A (en) * | 2009-08-25 | 2010-04-14 | 北京世纪高通科技有限公司 | Method and device for speculating routes |
| CN101922939A (en) * | 2009-06-11 | 2010-12-22 | 高德信息技术有限公司 | Map matching method and device in navigation process |
| CN102110363A (en) * | 2011-03-30 | 2011-06-29 | 北京世纪高通科技有限公司 | Floating vehicle data processing method and device |
| CN102155950A (en) * | 2011-02-23 | 2011-08-17 | 泉州市视通光电网络有限公司 | Road matching method based on GIS (Geographic Information System) |
| CN103037507A (en) * | 2012-12-17 | 2013-04-10 | 浙江鸿程计算机系统有限公司 | Map matching method based on Cell-identification (ID) location technology |
| CN104007705A (en) * | 2014-05-05 | 2014-08-27 | 上海交通大学 | Prospective interpolation system for compressing and smoothening small segment paths |
-
2014
- 2014-09-17 CN CN201410476300.7A patent/CN104200042B/en active Active
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH04190283A (en) * | 1990-11-24 | 1992-07-08 | Hitachi Ltd | Car running position display method and its device |
| JPH07270170A (en) * | 1994-03-31 | 1995-10-20 | Japan Radio Co Ltd | Navigation apparatus |
| US20060111837A1 (en) * | 2004-11-22 | 2006-05-25 | Denso Corporation | Automobile navigation system and road map delivery system |
| CN1948913A (en) * | 2006-08-25 | 2007-04-18 | 北京航空航天大学 | Heuristic path culculating method for treating large scale floating vehicle data |
| CN101201255A (en) * | 2007-12-21 | 2008-06-18 | 四川川大智胜软件股份有限公司 | Vehicle combined navigation system based on intelligent navigation algorithm |
| CN101922939A (en) * | 2009-06-11 | 2010-12-22 | 高德信息技术有限公司 | Map matching method and device in navigation process |
| CN101694749A (en) * | 2009-08-25 | 2010-04-14 | 北京世纪高通科技有限公司 | Method and device for speculating routes |
| CN102155950A (en) * | 2011-02-23 | 2011-08-17 | 泉州市视通光电网络有限公司 | Road matching method based on GIS (Geographic Information System) |
| CN102110363A (en) * | 2011-03-30 | 2011-06-29 | 北京世纪高通科技有限公司 | Floating vehicle data processing method and device |
| CN103037507A (en) * | 2012-12-17 | 2013-04-10 | 浙江鸿程计算机系统有限公司 | Map matching method based on Cell-identification (ID) location technology |
| CN104007705A (en) * | 2014-05-05 | 2014-08-27 | 上海交通大学 | Prospective interpolation system for compressing and smoothening small segment paths |
Non-Patent Citations (1)
| Title |
|---|
| 高海辉 等: "《路径匹配及轨迹回放的算法研究与应用》", 《计算机应用与软件》 * |
Cited By (25)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105590087A (en) * | 2015-05-19 | 2016-05-18 | 中国人民解放军国防科学技术大学 | Road recognition method and device |
| CN105590087B (en) * | 2015-05-19 | 2019-03-12 | 中国人民解放军国防科学技术大学 | A kind of roads recognition method and device |
| CN105184387A (en) * | 2015-07-23 | 2015-12-23 | 北京理工大学 | Path similarity comparison method |
| CN106017486A (en) * | 2016-05-16 | 2016-10-12 | 浙江大学 | Trajectory inflection point filter-based map location method for unmanned vehicle navigation |
| CN106017486B (en) * | 2016-05-16 | 2018-11-09 | 浙江大学 | A kind of Orientation on map method based on the filtering of track inflection point towards unmanned vehicle navigation |
| CN108228632A (en) * | 2016-12-15 | 2018-06-29 | 方正国际软件(北京)有限公司 | A kind of terminal track method for drafting and device |
| CN108507586A (en) * | 2017-02-28 | 2018-09-07 | 北京嘀嘀无限科技发展有限公司 | Show the Mobile exhibiting method, apparatus and storage medium of object |
| CN109145065A (en) * | 2017-06-19 | 2019-01-04 | 北京嘀嘀无限科技发展有限公司 | Methods of exhibiting and device, the computer readable storage medium of vehicle driving trace |
| US10777080B2 (en) | 2017-06-19 | 2020-09-15 | Beijing Didi Infinity Technology And Development Co., Ltd. | Systems and methods for displaying a movement of a vehicle on a map |
| CN109102712A (en) * | 2017-06-20 | 2018-12-28 | 北京嘀嘀无限科技发展有限公司 | The data processing method and device smoothly moved for realizing vehicle |
| CN109102712B (en) * | 2017-06-20 | 2021-08-17 | 北京嘀嘀无限科技发展有限公司 | Data processing method and device for achieving smooth movement of vehicle |
| CN109300304A (en) * | 2017-07-24 | 2019-02-01 | 神州优车（平潭）电子商务有限公司 | Method and apparatus for determining history road conditions |
| CN110275515A (en) * | 2018-03-15 | 2019-09-24 | 北京智行鸿远汽车有限公司 | A method of improving closed path precision |
| CN109143294B (en) * | 2018-08-29 | 2019-06-14 | 南京行者易智能交通科技有限公司 | A kind of method and device of the fine running track of reduction based on sparse GPS sampled point |
| CN109143294A (en) * | 2018-08-29 | 2019-01-04 | 南京行者易智能交通科技有限公司 | A kind of method and device of the fine running track of reduction based on sparse GPS sampled point |
| CN112147655A (en) * | 2019-06-28 | 2020-12-29 | 厦门雅迅网络股份有限公司 | Method for discriminating positioning track and computer readable storage medium |
| CN112147655B (en) * | 2019-06-28 | 2023-07-04 | 厦门雅迅网络股份有限公司 | Identification method of positioning track and computer readable storage medium |
| CN110414098A (en) * | 2019-07-12 | 2019-11-05 | 北京三快在线科技有限公司 | A kind of generation method and device of Simulation Test Environment |
| CN110414098B (en) * | 2019-07-12 | 2021-07-06 | 北京三快在线科技有限公司 | Generation method and device of simulation test environment |
| CN110443287A (en) * | 2019-07-19 | 2019-11-12 | 北京航空航天大学 | A kind of mobile stream method for drafting of the crowd based on sparse track data |
| CN110443287B (en) * | 2019-07-19 | 2022-01-14 | 北京航空航天大学 | Crowd moving stream drawing method based on sparse trajectory data |
| CN112747755A (en) * | 2019-10-30 | 2021-05-04 | 武汉四维图新科技有限公司 | Road route determining method, road route determining device, readable storage medium and map updating system |
| CN112747755B (en) * | 2019-10-30 | 2024-04-30 | 武汉四维图新科技有限公司 | Method and device for determining road route, readable storage medium and map updating system |
| CN113252050A (en) * | 2021-06-11 | 2021-08-13 | 天津所托瑞安汽车科技有限公司 | Route matching method, device, equipment and storage medium |
| CN113252050B (en) * | 2021-06-11 | 2021-10-29 | 天津所托瑞安汽车科技有限公司 | Route matching method, device, equipment and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104200042B (en) | 2017-09-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104200042A (en) | Positioning-data trajectory tracking method | |
| CN110443904B (en) | Missed fee detection method, device, server and storage medium | |
| CN102136192B (en) | Method for identifying trip mode based on mobile phone signal data | |
| CN104866670B (en) | Based on road network topology change automatic testing method and the system of GPS space-time track | |
| CN102879003B (en) | GPS (global position system) terminal-based map matching method for vehicle position tracking | |
| CN102183256B (en) | Map matching method for marching fleet | |
| CN105241465B (en) | A kind of method of road renewal | |
| CN104573116B (en) | The traffic abnormity recognition methods excavated based on GPS data from taxi | |
| CN105489004B (en) | The bayonet and floating car data fusion method calculated towards road real-time speed | |
| CN102096702B (en) | Process system of vehicle travel mileage and process method thereof | |
| CN102155950B (en) | Road matching method based on GIS (Geographic Information System) | |
| CN104111073A (en) | Method and device for identifying inaccurate paths in map data | |
| Zheng et al. | Drive smartly as a taxi driver | |
| CN104062671A (en) | Curvature-restrained GNSS floating car map matching method and device | |
| CN104217593A (en) | Real-time road condition information acquisition method orienting to cellphone traveling speed | |
| CN109035783A (en) | A kind of virtual networks missing section automatic identifying method based on public transport GPS track | |
| CN110913345B (en) | Section passenger flow calculation method based on mobile phone signaling data | |
| CN106896392B (en) | The method tested using ADAS technology auxiliary positioning | |
| CN103680185A (en) | Vehicle traveling road level precise division method | |
| CN111475591B (en) | Road association method and equipment for interest point acquisition | |
| CN105427592A (en) | Electronic navigation map turning cost calculation method based on floating car | |
| CN111033591B (en) | Method and server device for determining the course of a road lane of a road network | |
| CN102506880A (en) | Method for matching global positioning system (GPS) coordinate and coordinate on road in vector map | |
| CN108877211A (en) | A kind of link travel speed calculation method based on sparse GPS data | |
| CN110736474B (en) | Map information acquisition method and device for vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |