CN104575075B - A kind of city road network vehicle coordinate bearing calibration based on the Big Dipper and device - Google Patents
A kind of city road network vehicle coordinate bearing calibration based on the Big Dipper and device Download PDFInfo
- Publication number
- CN104575075B CN104575075B CN201510018927.2A CN201510018927A CN104575075B CN 104575075 B CN104575075 B CN 104575075B CN 201510018927 A CN201510018927 A CN 201510018927A CN 104575075 B CN104575075 B CN 104575075B
- Authority
- CN
- China
- Prior art keywords
- big dipper
- coordinate
- floating car
- road network
- section
- 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.)
- Active
Links
Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/123—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Navigation (AREA)
- Traffic Control Systems (AREA)
Abstract
The present invention provides a kind of city road network vehicle coordinate bearing calibration based on the Big Dipper, including: obtain vehicle Big Dipper information;Gridding processes city road network;Read vehicle coordinate information;Determine vehicle coordinate place grid;Determine vehicle coordinate place nine grids;Determine candidate road section collection;Computed range and deflection deviation;Calculate match index;Judge coupling section;Update correction vehicle coordinate.The present invention also provides for a kind of city road network vehicle coordinate correcting unit based on the Big Dipper.The present invention is by building nine grids and coordinate matching exponential model, it is capable of the quick and precisely location of vehicle coordinate in city road network, reduce under high buildings and large mansions traffic environment, the deviation of city road network Big Dipper location, improve the speed of mass data coupling, promote operational efficiency and the service level of floating car traffic information acquisition system.
Description
Technical field
The present invention relates to city road network vehicle positioning technology field based on Big Dipper data, a kind of based on the Big Dipper
City road network vehicle coordinate bearing calibration and device.
Background technology
Floating car traffic information acquisition technique is by installing the device such as the Big Dipper, GPS on vehicle, utilizing the dynamic of vehicle
Change in location information carries out the technology of real-time road extraction, based on Floating Car displacement data, is sat by seasonal effect in time series vehicle location
Mark mates with map, calculates average speed and the section travelling speed of all points that floats, and then can extract the friendship of road
Logical state, this technology includes that data prediction, map match, path culculating and historical speed such as supplement at the crucial processing routine, respectively
The process model of individual program is also diversified, and precision also exists difference.
City road network environment is different from rural area and rural road, due to the impact of a large amount of high-rise building things, the location of the Big Dipper
There is deviation, at present normal deviation is at about 10 meters, and the more local effect of building is worse, it is impossible to vehicle is carried out essence
Certainly position.In Floating Car information acquisition system, owing to the object scale of Floating Car map match is the hugest, particularly towards
Metropolitan application, will be completed in a relatively short time mating, to matching speed of up to ten thousand Floating Car and up to ten thousand sections
Require higher.
Summary of the invention
It is an object of the invention to provide a kind of city road network vehicle coordinate bearing calibration based on the Big Dipper and device, it is possible to
Under high buildings and large mansions traffic environment, it is achieved the quick and precisely location of vehicle coordinate in city road network, promote Floating Car information gathering
The operational efficiency of system and service level.
The technical scheme is that
A kind of city road network vehicle coordinate bearing calibration based on the Big Dipper, comprises the following steps:
(1) dynamic parameter of all Big Dipper Floating Car in city road network is obtained, including time, coordinate and deflection data;
(2) city road network map is carried out gridding process, by city road network all sections numbering and grid number into
Row association binding;
(3) changing coordinates based on Big Dipper Floating Car, determines the grid at its place, centered by this grid, with around nine
Palace lattice are radius, using being in the section in the range of Big Dipper position error in nine grids as candidate road section, obtain candidate road section collection;
(4) changing coordinates and the candidate road section that calculate Big Dipper Floating Car concentrate the distance between each candidate road section, knot
Current deflection and the candidate road section of closing Big Dipper Floating Car concentrate the deviation between each candidate road section deflection, build city road
Net vehicle coordinate match index model, obtains the section matched with the changing coordinates of Big Dipper Floating Car;
(5) use distance between beeline and dot formula, calculate the changing coordinates of Big Dipper Floating Car in the section matched with it
On intersection point coordinate, and using this intersection point coordinate as the calibration coordinate of the changing coordinates of Big Dipper Floating Car.
Described city road network vehicle coordinate bearing calibration based on the Big Dipper, described step (2) specifically includes:
(21) on the basis of city road network, nerve of a covering is formatted process layer, determines numbering and the bounds of each grid, net
The ultimate unit of lattice size is 25 meters * 25 meters;
(22) beginning and end coordinate informations based on sections all in city road network, are associated tying up to section and grid
Fixed.
Described city road network vehicle coordinate bearing calibration based on the Big Dipper, in described step (3), based on Big Dipper Floating Car
Changing coordinates, determine the grid at its place, if particularly as follows: the changing coordinates of Big Dipper Floating Car fall into certain grid upper left sit
In the range of mark, upper right coordinate, lower-left coordinate, lower right coordinate define, then judge that the changing coordinates of Big Dipper Floating Car belongs to this net
Lattice.
Described city road network vehicle coordinate bearing calibration based on the Big Dipper, described step (4) specifically includes:
(41) obtain candidate road section and concentrate each candidate road section information, sit including candidate road section numbering, candidate road section starting point
Mark, candidate road section terminal point coordinate and candidate road section deflection;
(42) according to candidate road section starting point coordinate and candidate road section terminal point coordinate, candidate road section linear function is obtained;
(43) changing coordinates of Big Dipper Floating Car is set as (x0, y0, z0), candidate road section PiLinear equation be Aix+Biy+
Ciz+Di=0, then use below equation to calculate (x0, y0, z0) and PiBetween distance di:
(44) city road network vehicle coordinate match index model is built:
Wherein, MIiRepresent changing coordinates and candidate road section P of Big Dipper Floating CariMatch index, diRepresent changing coordinates
With candidate road section PiBetween distance, d represents Big Dipper data range deviation threshold value, θiRepresent the current deflection of Big Dipper Floating Car
With candidate road section PiDeflection between deviation, θ represents Big Dipper data direction angular displacement threshold value;
(45) section that the maximum candidate road section of match index matches is chosen as the changing coordinates with Big Dipper Floating Car.
Described city road network vehicle coordinate bearing calibration based on the Big Dipper, described step (5) specifically includes:
(51) changing coordinates of Big Dipper Floating Car is set as (x0, y0, z0), with (x0, y0, z0) straight line of section P that matches
Equation is Ax+By+Cz+D=0, then use below equation to calculate (x0, y0, e0) and intersection point coordinate (x ' on P0, y '0, z '0):
(52) by the changing coordinates (x of Big Dipper Floating Car0, y0, z0) it is updated to (x '0, y '0, z '0)。
A kind of city road network vehicle coordinate correcting unit based on the Big Dipper, including data communication and storage server, backstage
Processing server, issue terminal and some Big Dipper Floating Car, the outfan of described Big Dipper Floating Car passes through data communication and storage
Server is connected with the input of background process server, the outfan of described background process server and the input of issue terminal
End connects.
The present invention, by the mining analysis to Big Dipper data, carries out gridding process to city road network map, builds nine palaces
Lattice search model and coordinate matching exponential model, by the coupling section of search vehicle coordinate, determine that it is in city road network
Calibration coordinate, it is achieved the fast accurate location of vehicle, reduces under high buildings and large mansions traffic environment, and it is inclined that the city road network Big Dipper positions
Difference, improves the speed of mass data coupling, promotes operational efficiency and the service level of traffic information acquisition system.
Accompanying drawing explanation
Fig. 1 is the method flow diagram of the present invention;
Fig. 2 is that the vehicle coordinate of the present invention mates schematic diagram with section;
Fig. 3 is assembly of the invention structural representation.
Detailed description of the invention
Below, the present invention is further illustrated in conjunction with the drawings and specific embodiments.
As it is shown in figure 1, a kind of city road network vehicle coordinate bearing calibration based on the Big Dipper, use the some north being sequentially connected with
Bucket Floating Car 1, data communication and storage server 2, background process server 3 and issue terminal 4 realize (as shown in Figure 3), should
Method comprises the following steps:
S1, utilize the dynamic parameter of all Big Dipper Floating Car 1 in floating car technology detection city road network, including time, seat
Mark and deflection data, the dynamic parameter detected is stored in background process server in real time through data communication and storage server 2
3。
S2, on the basis of city road network, nerve of a covering is formatted process layer, determines numbering and the bounds of each grid, net
The ultimate unit of lattice size is 25 meters * 25 meters, is then based on the beginning and end coordinate information in all little sections in city road network,
It is associated binding to little section and grid:
If section is encoded to Pi, grid coding is Qj, grid coding QjP is encoded with sectioniCarry out one-to-many association to match:
Qj={ P1, P2..., Pi(i ∈ I, j ∈ J) (1)
I is the numbering of current road segment;J is the numbering of current grid;I is all sections number in current grid;J is city
Total number of all grids in city's road network.
S3, changing coordinates based on Big Dipper Floating Car, determine the grid at its place, centered by this grid, with around nine
Palace lattice are radius, the road section information in search target zone, determine candidate road section collection, specifically include:
If the changing coordinates of Big Dipper Floating Car is G=(x0, y0, z0), grid Qj={ G1, G2, G3, G4, wherein, G1For Qj
Top-left coordinates, G2For QjUpper right coordinate, G3For QjLower-left coordinate, G4For QjLower right coordinate, if G falls into G1,G2、G3、
G4In the range of defining, then judge that G belongs to Qj:
Then with QjCentered by, search nine grids around, utilize formula (1) to extract all road section informations in nine grids,
As candidate road section collection.
S4, acquisition candidate road section concentrate each candidate road section information, sit including candidate road section numbering, candidate road section starting point
Mark, candidate road section terminal point coordinate and candidate road section deflection;According to candidate road section starting point coordinate and candidate road section terminal point coordinate,
To candidate road section linear function;
If the changing coordinates of Big Dipper Floating Car is (x0, y0, z0), candidate road section PiLinear equation be Aix+Biy+Ciz+Di
=0, then use below equation to calculate (x0, y0, z0) and PiBetween distance di:
Structure city road network vehicle coordinate match index model:
Wherein, MIiRepresent changing coordinates and candidate road section P of Big Dipper Floating CariMatch index, diRepresent changing coordinates
With candidate road section PiBetween distance, d represents default Big Dipper data range deviations threshold constant, is traditionally arranged to be 10 meters, θiTable
Show current deflection and candidate road section P of Big Dipper Floating CariDeflection between deviation, θ represents default Big Dipper data side
To angular displacement threshold constant, it is traditionally arranged to be 30 degree;
MIiThe biggest, represent changing coordinates and candidate road section P of Big Dipper Floating CariMatching degree the highest, therefore, choose coupling
The section that the candidate road section of index maximum matches as the changing coordinates with Big Dipper Floating Car.
Fig. 2 is that city road network vehicle coordinate mates schematic diagram, if having trunk section and three gps coordinates point P, Q, R, with coordinate
Being analyzed as a example by some Q, its place nine grids are as shown in Fig. 2 bend region, and candidate road section includes b, e, m, c, g, coordinate points Q
Distance relation to each candidate road section is dm< db=dc< dg< de, the deflection deviation between section m and coordinate points Q is relatively
Greatly, further according to the match index calculated, it is determined that coordinate points Q is on the b of section.In like manner obtain coordinate points P on the l of section.And coordinate
Point R is positioned near crossing, and its deflection has relatively large deviation, and once coupling is it is difficult to ensure that correctly, can determine when route searching
Its position, if next coordinate points is on a of section, then can determine that coordinate points R is on the b of section.
S5, set the changing coordinates (x with Big Dipper Floating Car0, y0, z0) linear equation of section P that matches is Ax+By+Cz
+ D=0, then use below equation to calculate (x0, y0, z0) intersection point coordinate (x ' on P0, y '0, z '0):
By the changing coordinates (x of Big Dipper Floating Car0, y0, z0) it is updated to (x '0, y '0, z '0) realize city road network vehicle coordinate
Correction.
Vehicle coordinate after S6, correction is stored in data base, and issue terminal 4 is by calling data base interface service acquisition vehicle
Calibration coordinate information, it is achieved city road network vehicle coordinate be accurately positioned and information issue.
The present invention is by building nine grids and coordinate matching exponential model, it is possible to realize the fast of vehicle coordinate in city road network
Speed is accurately positioned, and reduces under high buildings and large mansions traffic environment, and the deviation of city road network Big Dipper location improves the speed of mass data coupling
Degree, promotes operational efficiency and the service level of floating car traffic information acquisition system.
The above embodiment is only to be described the preferred embodiment of the present invention, the not model to the present invention
Enclose and be defined, on the premise of designing spirit without departing from the present invention, the those of ordinary skill in the art technical side to the present invention
Various deformation that case is made and improvement, all should fall in the protection domain that claims of the present invention determines.
Claims (5)
1. a city road network vehicle coordinate bearing calibration based on the Big Dipper, it is characterised in that comprise the following steps:
(1) dynamic parameter of all Big Dipper Floating Car in city road network is obtained, including time, coordinate and deflection data;
(2) city road network map is carried out gridding process, all sections numbering in city road network is closed with grid numbering
Connection binding;
(3) changing coordinates based on Big Dipper Floating Car, determines the grid at its place, centered by this grid, with nine grids around
For radius, using nine grids being in the section in the range of Big Dipper position error as candidate road section, obtain candidate road section collection;
(4) changing coordinates and the candidate road section that calculate Big Dipper Floating Car concentrate the distance between each candidate road section, in conjunction with north
Current deflection and the candidate road section of bucket Floating Car concentrate the deviation between each candidate road section deflection, build city road network car
Coordinate matching exponential model, obtains the section matched with the changing coordinates of Big Dipper Floating Car;
(5) use distance between beeline and dot formula, calculate the changing coordinates of Big Dipper Floating Car on the section matched with it
Intersection point coordinate, and using this intersection point coordinate as the calibration coordinate of the changing coordinates of Big Dipper Floating Car;
Described step (4) specifically includes:
(41) obtain candidate road section and concentrate each candidate road section information, including candidate road section numbering, candidate road section starting point coordinate, time
Routing segment endpoint coordinate and candidate road section deflection;
(42) according to candidate road section starting point coordinate and candidate road section terminal point coordinate, candidate road section linear function is obtained;
(43) changing coordinates of Big Dipper Floating Car is set as (x0, y0, z0), candidate road section PiLinear equation be Aix+Biy+Ciz+Di
=0, then use below equation to calculate (x0, y0, z0) and PiBetween distance di:
(44) city road network vehicle coordinate match index model is built:
Wherein, MIiRepresent changing coordinates and candidate road section P of Big Dipper Floating CariMatch index, diRepresent changing coordinates and time
Routing section PiBetween distance, d represents Big Dipper data range deviation threshold value, θiRepresent current deflection and the time of Big Dipper Floating Car
Routing section PiDeflection between deviation, θ represents Big Dipper data direction angular displacement threshold value;
(45) section that the maximum candidate road section of match index matches is chosen as the changing coordinates with Big Dipper Floating Car.
City road network vehicle coordinate bearing calibration based on the Big Dipper the most according to claim 1, it is characterised in that described step
Suddenly (2) specifically include:
(21) on the basis of city road network, nerve of a covering is formatted process layer, determines numbering and the bounds of each grid, and grid is big
Little ultimate unit is 25 meters * 25 meters;
(22) beginning and end coordinate informations based on sections all in city road network, are associated binding to section and grid.
City road network vehicle coordinate bearing calibration based on the Big Dipper the most according to claim 1, it is characterised in that described step
Suddenly in (3), changing coordinates based on Big Dipper Floating Car, determine the grid at its place, if particularly as follows: the current seat of Big Dipper Floating Car
In the range of village enters the top-left coordinates of certain grid, upper right coordinate, lower-left coordinate, lower right coordinate define, then judge that the Big Dipper floats
The changing coordinates of motor-car belongs to this grid.
City road network vehicle coordinate bearing calibration based on the Big Dipper the most according to claim 1, it is characterised in that described step
Suddenly (5) specifically include:
(51) changing coordinates of Big Dipper Floating Car is set as (x0,y0, z0), with (x0, y0, z0) linear equation of section P that matches
For Ax+By+Cz+D=0, then below equation is used to calculate (x0, y0, z0) intersection point coordinate (x ' on P0, y '0, z '0):
(52) by the changing coordinates (x of Big Dipper Floating Car0, y0, z0) it is updated to (x '0,y′0, z '0)。
5. realize a city road network vehicle coordinate correcting unit based on the Big Dipper for method described in any one of Claims 1-4,
It is characterized in that: include data communication and storage server, background process server, issue terminal and some Big Dipper Floating Car,
The outfan of described Big Dipper Floating Car is connected with the input of background process server by data communication and storage server, institute
The input of the outfan and issue terminal of stating background process server is connected.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201510018927.2A CN104575075B (en) | 2015-01-14 | 2015-01-14 | A kind of city road network vehicle coordinate bearing calibration based on the Big Dipper and device |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201510018927.2A CN104575075B (en) | 2015-01-14 | 2015-01-14 | A kind of city road network vehicle coordinate bearing calibration based on the Big Dipper and device |
Publications (2)
Publication Number | Publication Date |
---|---|
CN104575075A CN104575075A (en) | 2015-04-29 |
CN104575075B true CN104575075B (en) | 2016-09-28 |
Family
ID=53091016
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201510018927.2A Active CN104575075B (en) | 2015-01-14 | 2015-01-14 | A kind of city road network vehicle coordinate bearing calibration based on the Big Dipper and device |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN104575075B (en) |
Families Citing this family (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN105261210B (en) * | 2015-07-23 | 2017-11-10 | 合肥革绿信息科技有限公司 | A kind of road section traffic volume congestion index computational methods based on Big Dipper equipment |
CN106469505B (en) * | 2015-08-20 | 2021-05-18 | 方正国际软件(北京)有限公司 | Floating car track deviation rectifying method and device |
CN106980029B (en) * | 2016-01-15 | 2021-11-02 | 厦门雅迅网络股份有限公司 | Vehicle overspeed judgment method and system |
CN106997419B (en) * | 2016-01-22 | 2019-11-15 | 北京四维图新科技股份有限公司 | Road acquires opposite offset deviation polarization state and divides equally correcting method and device |
CN107284477B (en) * | 2017-07-17 | 2019-01-22 | 中车株洲电力机车有限公司 | A kind of anti-control method and the anti-mobile unit that advances rashly of line end of advancing rashly of line end |
CN107911786A (en) * | 2017-10-24 | 2018-04-13 | 星际空间(天津)科技发展有限公司 | A kind of mixing indoor orientation method based on road network correction |
CN109164799A (en) * | 2018-07-24 | 2019-01-08 | 江苏大学 | A kind of driving Active collision avoidance system and method |
CN111552759B (en) * | 2020-05-06 | 2023-08-01 | 深圳市丰巢科技有限公司 | Method, device, equipment and medium for acquiring action track related data |
CN112288550B (en) * | 2020-11-19 | 2022-11-22 | 食亨(上海)科技服务有限公司 | Regional order analysis method, system and computer readable medium |
CN112433211B (en) * | 2020-11-27 | 2022-11-29 | 浙江商汤科技开发有限公司 | Pose determination method and device, electronic equipment and storage medium |
CN113176599B (en) * | 2021-05-20 | 2024-03-15 | 中国第一汽车股份有限公司 | Geographic position determining method, device, equipment and storage medium |
CN113722728B (en) * | 2021-08-13 | 2023-09-15 | 深圳市法自然信息科技有限公司 | Intelligent government affair information management method based on block chain |
CN116228188B (en) * | 2022-12-19 | 2023-11-24 | 西南交通大学 | Railway passenger station equipment management method, device, equipment and readable storage medium |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7079946B2 (en) * | 2003-08-29 | 2006-07-18 | Denso Corporation | Iterative logical renewal of navigable map database |
CN101409011B (en) * | 2008-10-28 | 2010-08-25 | 北京世纪高通科技有限公司 | Method, apparatus and system for matching map and conferring route |
CN102280031B (en) * | 2011-07-22 | 2013-10-09 | 南京莱斯信息技术股份有限公司 | Crossing traffic state recognition method based on floating car data |
CN103149576B (en) * | 2013-01-29 | 2014-12-17 | 武汉大学 | Map matching method of floating car data |
CN103927873B (en) * | 2014-04-28 | 2016-06-15 | 中国航天系统工程有限公司 | Floating Car and section matching process and the parallel method obtaining real-time road |
-
2015
- 2015-01-14 CN CN201510018927.2A patent/CN104575075B/en active Active
Also Published As
Publication number | Publication date |
---|---|
CN104575075A (en) | 2015-04-29 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN104575075B (en) | A kind of city road network vehicle coordinate bearing calibration based on the Big Dipper and device | |
CN104567906B (en) | A kind of city road network vehicle path planning method and device based on the Big Dipper | |
CN104574967B (en) | A kind of city based on Big Dipper large area road grid traffic cognitive method | |
CN110427360A (en) | Processing method, processing unit, processing system and the computer program product of track data | |
CN104819724B (en) | A kind of autonomous travel assist system of Unmanned Ground Vehicle based on GIS | |
CN106969764B (en) | Road matching method and device and vehicle-mounted map acquisition system | |
CN104575085B (en) | A kind of bus arrival dynamic inducing method based on Floating Car | |
CN109215347A (en) | A kind of traffic data quality control method based on crowdsourcing track data | |
CN105628033A (en) | Map matching method based on road connection relationship | |
CN104700617A (en) | High-precision lane information extracting method based on low-precision GPS track data | |
CN108508900A (en) | A kind of wall-surface mobile robot wall detection autonomous path planning method | |
CN104884899A (en) | Method of determining trajectories through one or more junctions of a transportation network | |
CN101334288A (en) | Public transport bus exact stop method based on standard line matching | |
CN106469505B (en) | Floating car track deviation rectifying method and device | |
CN105355042B (en) | A kind of road network extraction method based on taxi GPS | |
CN104776855B (en) | The air navigation aid and device of a kind of intersection | |
CN114005280A (en) | Vehicle track prediction method based on uncertainty estimation | |
CN104406589B (en) | Flight method of aircraft passing through radar area | |
CN102226700B (en) | Method for matching electronic map of flyover road network | |
CN104034337B (en) | Map matching method and device for geographic position point of floating vehicle | |
CN102750413A (en) | Data processing and mapping method of topographic surveying of electric transmission line tower positions | |
CN105740505A (en) | GPS-RTK technology based road space line shape recovery method | |
CN110796337A (en) | System for evaluating accessibility of urban bus station service | |
CN104900057A (en) | City expressway main and auxiliary road floating vehicle map matching method | |
CN106772516A (en) | A kind of compound new location method based on fuzzy theory |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
C06 | Publication | ||
PB01 | Publication | ||
C10 | Entry into substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
C14 | Grant of patent or utility model | ||
GR01 | Patent grant | ||
TR01 | Transfer of patent right | ||
TR01 | Transfer of patent right |
Effective date of registration: 20230913 Address after: 230088 2801, Block B, Zheshang Building, High tech Zone, Hefei City, Anhui Province Patentee after: Anhui Langqiu Intelligent Technology Co.,Ltd. Address before: University Science Park B509, No. 602, Mount Huangshan Road, High tech Zone, Hefei, Anhui 230088 Patentee before: HEFEI GELYU INFORMATION TECHNOLOGY Co.,Ltd. |