CN105868553A - Track data processing method - Google Patents

Abstract

The invention discloses a track data processing method. The method comprises the steps of obtaining positions from a starting track point Ps to a <i>th track point Pi and a fitting vector Ri-1' of an <i-1> track segment formed by all track points between the starting track point Ps and an <i-1>th track point Pi-1', wherein i is an integer which is greater than or equal to 1 and smaller than or equal to N, and N represents the number of all the track points; according to the position of the starting track point Ps and the position of the <i>th track point Pi, obtaining an original vector Ri formed by Pi and Ps, and according to the fitting vector Ri-1'and the original vector Ri, conducting calculation and obtaining a fitting vector Ri'; when i equals to N, outputting the fitting vector Ri', so that a compression track segment corresponding to an <N>th track segment formed by all the track points between the starting track point and an <N>th track point is obtained. By means of the track data processing method, data compression efficiency is improved.

Description

Track data processing method

Technical field

The present invention relates to data processing field, particularly relate to a kind of for track data processing method.

Background technology

In recent years, along with popularizing of mobile device, the various application programs with positioning function obtain extensively Use, produce substantial amounts of track data therewith.Such as when vehicle runs, mobile unit, such as, the whole world Alignment system with the data of certain frequency (such as 5 seconds) each tracing point of collection vehicle, including longitude, The information such as latitude, acquisition time, vehicle current driving direction.Track data typically requires uploads high in the clouds, For subsequent analysis, process and service.When mobile device uploads initial trace point data, factor data amount Greatly, memory space and Internet resources are wasted.It is thus desirable to track data is compressed.

In prior art, a kind of conventional track data processing method is to use polyline compression method pair Initial trace data are compressed, and the way of existing polyline compression method is: often gather a rail The data of mark point, in the track line segment gathered, are compressed meter before just being added by newly-increased tracing point During calculation, all tracing points in tracking trace segments are compressed calculating.

But, use polyline compression method of the prior art, often increasing a tracing point will be right All tracing points in track line segment calculate before, i.e. the tracing point relatively early gathered can be through repeatedly Calculating, it is higher that this makes to calculate process complexity, causes efficiency of data compression low, wastes resource.

Summary of the invention

The embodiment of the present invention provides a kind of track data processing method, is used for solving track of the prior art During data processing method calculates, complexity is higher, the problem that efficiency of data compression is low.

Embodiment of the present invention track data processing method, including:

Obtain start track point P_sAnd i-th tracing point P_iPosition, and described start track point P_sExtremely The i-th-1 tracing point P_i-1Between the matching vector of the i-th-1 track line segment that formed of all tracing points R_i-1', described matching vector R_i-1' represent the compression that described the i-th-1 track line segment obtains after compression Track line segment；I is the integer more than or equal to 1 and less than or equal to N, and N represents the quantity of all tracing points；

According to described start track point P_sAnd described i-th tracing point P_iPosition, obtain described P_iWith institute State P_sThe original vector R formed_i, and according to matching vector R_i-1' and described original vector R_i, calculate To matching vector R_i', described matching vector R_i' represent described P_sBetween described i-th tracing point The matching vector of i-th track line segment that all tracing points are formed, the most described i-th track line segment is through pressure The compressed tracks trace segments obtained after contracting；

As i=N, export described matching vector R_i', obtain described start track point to described n-th The compressed tracks trace segments that the N article track line segment that all tracing points between tracing point are formed is corresponding.

In another embodiment, described method also includes:

Calculate i-th tracing point P_iTo described matching vector R_i-1Distance d between '_i；

Judge described d_iWhether more than predetermined threshold value δ；

If described d_iMore than or equal to described predetermined threshold value δ, export described R_i-1', determine new initiateing Tracing point P_{S is new}；

The most described according to described start track point P_sAnd described i-th tracing point P_iPosition, obtain described P_iWith described P_sThe described original vector R formed_i, and according to matching vector R_i-1' and described original vector R_i, it is calculated described matching vector R_i', including:

According to described new start track point P_{S is new}And described i-th tracing point P_iPosition, obtain described I tracing point P_iWith described start track point P_{S is new}The described original vector R formed_i, and according to described matching Vector R_i-1' and described original vector R_i, it is calculated described matching vector R_i’。

In another embodiment, described determine new start track point P_{S is new}, including:

By described matching vector R_i-1' terminal P_i-1' or the i-th-1 tracing point P_i-1Be set to described newly Start track point P_{S is new}；

The most described according to described new start track point P_{S is new}And described i-th tracing point P_iPosition, obtain Described i-th tracing point P_iWith described new start track point P_{S is new}The original vector R formed_i, and according to Described matching vector R_i-1' and described original vector R_i, it is calculated matching vector R_i', including:

According to described matching vector R_i-1' terminal P_i-1' and described i-th tracing point P_iPosition, To described matching vector R_i’；

Or,

According to the i-th-1 tracing point P_i-1With described i-th tracing point P_iPosition, obtain described i-th Tracing point P_iWith described the i-th-1 tracing point P_i-1The original vector R formed_i；And according to described matching vector R_i-1' and described original vector R_i, it is calculated described matching vector R_i’。

In another embodiment, described determine new start track point P_{S is new}, including:

By described i-th tracing point P_iIt is set to described new start track point P_{S is new}。

In another embodiment, described method also includes:

Obtain the first matching vector R that the nth bar compressed tracks trace segments of output is corresponding_n' and (n+1)th pressure The second matching vector R that contracting track line segment is corresponding_n+1', described first matching vector R_n' with described second Matching vector R_n+1' adjacent；Described first matching vector R_n' by the first starting point P_ns' and First terminal point P_ne' constitute, described second matching vector R_n+1' by the second starting point P_(n+1)s' and the second terminal P_(n+1)e’ Constitute；N is the integer more than or equal to 1 and less than or equal to N；

If described First terminal point P_ne' extremely described second matching vector R_n+1' distance less than predetermined threshold value δ, then according to described First terminal point P_ne' at described second matching vector R_n+1Subpoint P on '_x', And described second final on trajectory P_(n+1)e' form original vector R_m；

Export described first matching vector R_nAnd described original vector R_m。

In another embodiment, described method also includes:

Obtain the first matching vector R that the nth bar compressed tracks trace segments of output is corresponding_n' and (n+1)th pressure The second matching vector R that contracting track line segment is corresponding_n+1', described first matching vector R_n' with described second Matching vector R_n+1' adjacent；Described first matching vector R_n' by the first starting point P_ns' and First terminal point P_ne' constitute, described second matching vector R_n+1' by the second starting point P_(n+1)s' and the second terminal P_(n+1)e’ Constitute；N is the integer more than or equal to 1 and less than or equal to N；

If described First terminal point P_ne' extremely described second matching vector R_n+1' distance more than described default threshold Value δ, described first matching vector R_n' and described second matching vector R_n+1' extension line intersect at friendship Point P_x', and meet γ₁> 0 and γ₂> 0, or γ₁< 0 and γ₂< 0, and described first matching vector R_n’ With described second matching vector R_n+1' angle γ₃Meet | γ₃| less than or equal to presetting angle value γ_m, then basis Described first starting point P_ns' and described intersection point P_x' form original vector R_a；According to described intersection point P_x' and Described second terminal P_(n+1)e' form original vector R_b；

Wherein, γ₁Represent described first matching vector R_n' extended line and line segment P_ne’P_(n+1)s' folder Angle, described line segment P_ne’P_(n+1)s' represent described First terminal point P_ne' and described second terminal P_(n+1)s’ The line segment formed；

γ₂Represent described second matching vector R_n+1' extended line and described line segment P_ne’P_(n+1)s' folder Angle；

γ₃Represent described first matching vector R_n' extended line and described second matching vector R_n+1' The angle of extended line；

γ_mRepresent described line segment P_ne’P_(n+1)s' and described second matching vector R_n+1' the most described One matching vector R_n' angle threshold that deflects, described γ_mBoundary is between (pi/2, π)；

Export described original vector R_aAnd R_b。

In another embodiment, described according to described matching vector R_i-1' and described original vector R_i, calculate Obtain matching vector R_i', including:

According to

θ’_i=θ '_i-1+asin(d_i/r_i)/i

Calculate described matching vector R_i' angle, θ '_i, wherein, r_iRepresent described；

According to r_i'=r_iDetermine described matching vector R_i' length r_i', wherein, r_iRepresent described initial rail Distance between mark point Ps and described i-th point.

In another embodiment, described according to described matching vector R_i-1' and described original vector R_i, calculate Obtain matching vector R_i', including:

If r_i-r_i-1＜ δ,

Then basis

θ’_i=θ '_i-1+asin(d_i/r_i)/m

Calculate described matching vector R_i' angle, θ '_i, wherein, m=r_i/ δ, r_iRepresent described i-th rail Mark point is to described start track point P_sDistance, r_i-1Represent that described the i-th-1 tracing point is to described initial rail Mark point P_sDistance；

According to r_i'=r_iDetermine described matching vector R_i' length r_i’。

In another embodiment, described according to described matching vector R_i-1' and described original vector R_i, calculate Obtain matching vector R_i', including:

According to

θ’_i=θ '_i-1+asin(d_i/r_i)/(i* (1+logi)),

Calculate described matching vector R_i' angle, θ '_i；

Wherein, r_iRepresent described i-th tracing point P_iTo described start track point P_sDistance；

According to r_i'=r_iDetermine described matching vector R_i' length r_i’。

In another embodiment, described according to described matching vector R_i-1' and described original vector R_i, calculate Obtain matching vector R_i', including:

According to

θ’_i=θ '_i-1+asin(d_i/r_i)/(m*(1+logm))

Calculate described matching vector R_i' angle, θ '_i；

Wherein, r_iRepresent that described i-th tracing point is to described start track point P_sDistance；M=r_i/δ；

According to r_i'=r_iDetermine described matching vector R_i' length r_i’.The track data that the present invention provides Processing method, by start track point P_sAnd i-th tracing point P_iPosition, obtain described P_iWith described P_sThe described vector R formed_i, and according to R_i-1' and described R_i, it is calculated R_i', described R_i-1' table Show described P_sThe matching vector of the track line segment that all tracing points between the i-th-1 tracing point are formed. Use the embodiment of the present invention to provide track data processing method, carry out for each newly-increased tracing point data During compression, it is only necessary to get what all tracing points between previous tracing point and start track point were formed The matching vector R of track line segment_i-1', at R_i-1On the basis of ', according to newly-increased tracing point and track primary The vector that mark point is formed, i.e. can obtain all track point-shaped between tracing point and the start track point increased newly The track line segment after overcompression become, newly-increased tracing point only need to be processed by the process that compression calculates, All tracing points in path segment have only to process once, greatly reduce computation complexity, improve Efficiency of data compression.

Accompanying drawing explanation

In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to reality The accompanying drawing used required for executing in example or description of the prior art does one and introduces simply, it should be apparent that, Accompanying drawing in describing below is some embodiments of the present invention, comes for those of ordinary skill in the art Say, on the premise of not paying creative work, it is also possible to obtain the attached of other according to these accompanying drawings Figure.

Fig. 1 is the flow chart of embodiment of the present invention track data processing method；

Fig. 2 is for using R_i-1' terminal P_i-1' as start track point P_sReconfigure new matching vector R_i' schematic diagram of two compressed tracks trace segments that obtains；

Fig. 3 is for using i-th tracing point P_iAs start track point P_sReconfigure new matching vector R_i’ The schematic diagram of two the compressed tracks trace segments obtained；

Fig. 4 is the signal that discrete compressed tracks trace segments is repaired the first embodiment obtained Figure；

Fig. 5 is the signal that discrete compressed tracks trace segments is repaired the second embodiment obtained Figure.

Detailed description of the invention

For making the purpose of the embodiment of the present invention, technical scheme and advantage clearer, below in conjunction with this Accompanying drawing in bright embodiment, is clearly and completely described the technical scheme in the embodiment of the present invention, Obviously, described embodiment is a part of embodiment of the present invention rather than whole embodiments.Based on Embodiment in the present invention, those of ordinary skill in the art are obtained under not making creative work premise The every other embodiment obtained, broadly falls into the scope of protection of the invention.

Embodiment of the present invention track data processing method is carried out for the track data collecting mobile terminal Compression.Such as, gather automobile track data in the process of moving and be compressed.

Fig. 1 is the flow chart of embodiment of the present invention track data processing method.

Referring to Fig. 1, the track data processing method that the embodiment of the present invention provides includes:

S101: obtain start track point P_sAnd i-th tracing point P_iPosition, and described start track Point P_sTo the i-th-1 tracing point P_i-1Between the matching of the i-th-1 track line segment that formed of all tracing points Vector R_i-1', described matching vector R_i-1' represent that described the i-th-1 track line segment obtains after compression Compressed tracks trace segments；I is the integer more than or equal to 1 and less than or equal to N, and N represents all tracing points Quantity；

Specifically, as i=1, according to start track point P_sAnd with the 1st tracing point P_iPosition, To described P₁With described P_sThe initialization vector R formed₁, and described P_sWith described P_iThe trajectory formed The matching vector R of section₁', for the input initial value as subsequent step.

S102: according to described start track point P_sAnd described i-th tracing point P_iPosition, obtain described P_iWith described P_sThe original vector R formed_i, and according to matching vector R_i-1' and described original vector R_i, It is calculated matching vector R_i', described matching vector R_i' represent described P_sTo described i-th tracing point Between the matching vector of i-th track line segment that formed of all tracing points, the most described i-th track line segment The compressed tracks trace segments obtained after overcompression；

Repeat above-mentioned steps S102, until during i=N, obtaining described start track point P_sWith described N number of tracing point P_NMatching vector R_N’。

S103: as i=N, exports described matching vector R_i', obtain described start track point to described The compressed tracks trace that the N article track line segment that all tracing points between n-th tracing point are formed is corresponding Section.

As i=N, stop calculating described R_i', i.e. all N number of tracing points are completed compression and calculates, The described R obtained eventually_N' i.e. represent described start track point P_sThe rail formed to described n-th tracing point Trace segments track line segment after overcompression.Export described R_N', i.e. complete the compression of described track line segment.

Embodiment of the present invention track data processing method, by start track point P_sAnd i-th tracing point P_i Position, obtain described P_iWith described P_sThe described vector R formed_i, and according to R_i-1' and described R_i, It is calculated R_i', described R_i-1' represent described P_sAll track point-shaped between the i-th-1 tracing point The matching vector of the track line segment become.The embodiment of the present invention is used to provide track data processing method, for When each newly-increased tracing point data are compressed, it is only necessary to get previous tracing point and start track The matching vector R of the track line segment that all tracing points between point are formed_i-1', at R_i-1On the basis of ', The vector formed with initial track point according to newly-increased tracing point, the tracing point that i.e. can obtain increasing newly is with initial The track line segment after overcompression that all tracing points between tracing point are formed, the process that compression calculates is only Need to process newly-increased tracing point, all tracing points in path segment have only to process once, greatly Reduce greatly computation complexity, improve efficiency of data compression.

In order to reduce the error during compression calculates, further, embodiment of the present invention data process side Method, also includes:

Calculate i-th tracing point P_iTo described matching vector R_i-1Distance d between '_i；

Judge described d_iWhether more than predetermined threshold value δ；

If described d_iMore than or equal to described predetermined threshold value δ, export described R_i-1', determine new initiateing Tracing point P_{S is new}；

The most described according to described start track point P_sAnd described i-th tracing point P_iPosition, obtain described P_iWith described P_sThe described original vector R formed_i, and according to matching vector R_i-1' and described original vector R_i, it is calculated described matching vector R_i', including:

According to described new start track point P_{S is new}And described i-th tracing point P_iPosition, obtain described I tracing point P_iWith described start track point P_{S is new}The described original vector R formed_i, and according to described matching Vector R_i-1' and described original vector R_i, it is calculated described matching vector R_i’。

Wherein, described predetermined threshold value δ is used for representing compressed error, works as d_iMore than or equal to described default threshold During value δ, illustrate that the error of compression process reaches the upper limit, need to be modified.Now, output is described R_i-1', and according to new start track point P_sReconfigure described R_i’。

Further, in order to prevent vehicle from occurring during turning around, running data is lost, and the present invention implements Example data processing method, also includes:

Determine described matching vector R_i-1' length r '_n-1With described original vector R_iLength r_i, when r_i-r’_i-1During ＜-δ, redefine described start track point P_s。

Specifically, in the first implementation, described determine new start track point P_{S is new}, including:

By described matching vector R_i-1' terminal P_i-1' or the i-th-1 tracing point P_i-1Be set to described newly Start track point P_{S is new}；

The most described according to described new start track point P_{S is new}And described i-th tracing point P_iPosition, obtain Described i-th tracing point P_iWith described new start track point P_{S is new}The original vector R formed_i, and according to Described matching vector R_i-1' and described original vector R_i, it is calculated matching vector R_i', including:

According to described matching vector R_i-1' terminal P_i-1' and described i-th tracing point P_iPosition, To described matching vector R_i’；

Or,

According to the i-th-1 tracing point P_i-1With described i-th tracing point P_iPosition, obtain described i-th Tracing point P_iWith described the i-th-1 tracing point P_i-1The original vector R formed_i；And according to described matching vector R_i-1' and described original vector R_i, it is calculated described matching vector R_i’。

Fig. 2 is for using R_i-1' terminal P_i-1' as start track point P_sReconfigure new matching vector R_i' schematic diagram of two compressed tracks trace segments that obtains.

Refer to Fig. 2, when using R_i-1' terminal P_i-1' as start track point P_sReconfigure matching Vector R_i' time, the new compressed tracks trace segments obtained is the first being connected with compressed tracks trace segments before Line segment continuously.

In the second implementation, in order to improve the compression ratio of track line segment, described determine new initial Tracing point P_{S is new}, including:

By described i-th tracing point P_iIt is set to described new start track point P_s。

Fig. 3 is for using i-th tracing point P_iAs start track point P_sReconfigure new matching vector R_i’ The schematic diagram of two the compressed tracks trace segments obtained.

Refer to Fig. 3, when using i-th tracing point P_iAs start track point P_sReconfigure matching to vow Amount R_i' time, the new compressed tracks trace segments obtained is non-continuous line segment with compressed tracks trace segments before. In order to obtain continuous print compressed tracks trace segments, need described discontinuous line segment is repaired.

Fig. 4 is, according to the first embodiment, discrete compressed tracks trace segments is repaired the rail obtained The schematic diagram of trace segments.

Referring to Fig. 4, in order to repair described discontinuous line segment, described method also includes:

Obtain the first matching vector R that the nth bar compressed tracks trace segments of output is corresponding_n' and (n+1)th pressure The second matching vector R that contracting track line segment is corresponding_n+1', described first matching vector R_n' with described second Matching vector R_n+1' adjacent；Described first matching vector R_n' by the first starting point P_ns' and First terminal point P_ne' constitute, described second matching vector R_n+1' by the second starting point P_(n+1)s' and the second terminal P_(n+1)e’ Constitute；N is the integer more than or equal to 1 and less than or equal to N；

If described First terminal point P_ne' extremely described second matching vector R_n+1' distance less than predetermined threshold value δ, then according to described First terminal point P_ne' at described second matching vector R_n+1Subpoint P on '_x', And described second final on trajectory P_(n+1)e' form original vector R_m；

Export described first matching vector R_nAnd described original vector R_m。

Fig. 5 is, according to the second embodiment, discrete compressed tracks trace segments is repaired the rail obtained The schematic diagram of trace segments.

Referring to Fig. 5, in order to repair described discontinuous line segment, described method also includes:

Obtain the first matching vector R that the nth bar compressed tracks trace segments of output is corresponding_n' and (n+1)th pressure The second matching vector R that contracting track line segment is corresponding_n+1', described first matching vector R_n' with described second Matching vector R_n+1' adjacent；Described first matching vector R_n' by the first starting point P_ns' and First terminal point P_ne' constitute, described second matching vector R_n+1' by the second starting point P_(n+1)s' and the second terminal P_(n+1)e’ Constitute；N is the integer more than or equal to 1 and less than or equal to N；

If described First terminal point P_ne' extremely described second matching vector R_n+1' distance more than described default threshold Value δ, described first matching vector R_n' and described second matching vector R_n+1' extension line intersect at friendship Point P_x', and meet γ₁> 0 and γ₂> 0, or γ₁< 0 and γ₂< 0, and described first matching vector R_n’ With described second matching vector R_n+1' angle γ₃Meet | γ₃| less than or equal to presetting angle value γ_m, then basis Described first starting point P_ns' and described intersection point P_x' form original vector R_a；According to described intersection point P_x' and Described second terminal P_(n+1)e' form original vector R_b；

Wherein, γ₁Represent described first matching vector R_n' extended line and line segment P_ne’P_(n+1)s' folder Angle, described line segment P_ne’P_(n+1)s' represent described First terminal point P_ne' and described second terminal P_(n+1)s’ The line segment formed；

γ₂Represent described second matching vector R_n+1' extended line and described line segment P_ne’P_(n+1)s' folder Angle；

γ₃Represent described first matching vector R_n' extended line and described second matching vector R_n+1' The angle of extended line；

γ_mRepresent described line segment P_ne’P_(n+1)s' and described second matching vector R_n+1' the most described One matching vector R_n' angle threshold that deflects, described γ_mBoundary is between (pi/2, π)；

Export described original vector R_aAnd R_b。

Remove the situation in both the above embodiment, when discrete compressed tracks trace segments is repaired, Directly export described first matching vector R_n', described second matching vector R_n+1', and described first end Point P_ne' and described second starting point P_(n+1)s' original vector that formed.

On the basis of above-described embodiment, specifically, described according to described matching vector R_i-1' and described former Beginning vector R_i, it is calculated matching vector R_i', including:

According to

θ’_i=θ '_i-1+asin(d_i/r_i)/i

Calculate described matching vector R_i' angle, θ '_i, wherein, r_iRepresent described；

According to r_i'=r_iDetermine described matching vector R_i' length r_i', wherein, r_iRepresent described initial rail Distance between mark point Ps and described i-th point.

In order to improve the efficiency of compression process further, it is to avoid be compressed invalid tracing point calculating, Described according to described matching vector R_i-1' and described original vector R_i, it is calculated matching vector R_i', Including:

If r_i-r_i-1＜ δ,

Then basis

θ’_i=θ '_i-1+asin(d_i/r_i)/m

Calculate described matching vector R_i' angle, θ '_i, wherein, m=r_i/ δ, r_iRepresent described i-th rail Mark point is to described start track point P_sDistance, r_i-1Represent that described the i-th-1 tracing point is to described initial rail Mark point P_sDistance；

According to r_i'=r_iDetermine described matching vector R_i' length r_i’。

Specifically, if described the i-th-1 tracing point P_sIt is available point, works as r_i-r_i-1During >=δ, described i-th Individual tracing point is also available point, and otherwise, described i-th tracing point is Null Spot.For available point i, i.e. Described R can be calculated according to formula (2)_i' angle, θ '_i.For Null Spot, it is not involved in θ '_iCalculating.

In order to improve the compression degree of accuracy of tracking trace segments further, reduce the upper limit of maximum error, described According to described matching vector R_i-1' and described original vector R_i, it is calculated matching vector R_i', including:

According to

θ’_i=θ '_i-1+asin(d_i/r_i)/(i* (1+logi)),

Calculate described matching vector R_i' angle, θ '_i；

Wherein, r_iRepresent described i-th tracing point P_iTo described start track point P_sDistance；

According to r_i'=r_iDetermine described matching vector R_i' length r_i’。

Alternatively, in order to improve the compression degree of accuracy of tracking trace segments further, reduce the upper of maximum error Limit, in another embodiment, described according to described matching vector R_i-1' and described original vector R_i, It is calculated matching vector R_i', including:

According to

θ’_i=θ '_i-1+asin(d_i/r_i)/(m*(1+logm))

Calculate described matching vector R_i' angle, θ '_i；

Wherein, r_iRepresent that described i-th tracing point is to described start track point P_sDistance；M=r_i/δ；

According to r_i'=r_iDetermine described matching vector R_i' length r_i’。

One of ordinary skill in the art will appreciate that: realize all or part of step of above-mentioned each method embodiment Suddenly can be completed by the hardware that programmed instruction is relevant.Aforesaid program can be stored in a computer, In the read/write memory medium of mobile phone or other portable units.Upon execution, execution includes above-mentioned this program The step of each method embodiment；And aforesaid storage medium includes: ROM, RAM, magnetic disc or CD Etc. the various media that can store program code.

Last it is noted that various embodiments above is only in order to illustrate technical scheme, rather than right It limits；Although the present invention being described in detail with reference to foregoing embodiments, this area common Skilled artisans appreciate that the technical scheme described in foregoing embodiments still can be modified by it, Or the most some or all of technical characteristic is carried out equivalent；And these amendments or replacement, and The essence not making appropriate technical solution departs from the scope of various embodiments of the present invention technical scheme.

Claims (10)

1. a track data processing method, it is characterised in that including:

Obtain start track point P_sAnd i-th tracing point P_iPosition, and described start track point P_sExtremely The i-th-1 tracing point P_i-1Between the matching vector of the i-th-1 track line segment that formed of all tracing points R_i-1', described matching vector R_i-1' represent the compression that described the i-th-1 track line segment obtains after compression Track line segment；I is the integer more than or equal to 1 and less than or equal to N, and N represents the quantity of all tracing points；

According to described start track point P_sAnd described i-th tracing point P_iPosition, obtain described P_iWith institute State P_sThe original vector R formed_i, and according to matching vector R_i-1' and described original vector R_i, calculate To matching vector R_i', described matching vector R_i' represent described P_sBetween described i-th tracing point The matching vector of i-th track line segment that all tracing points are formed, the most described i-th track line segment is through pressure The compressed tracks trace segments obtained after contracting；

As i=N, export described matching vector R_i', obtain described start track point to described n-th The compressed tracks trace segments that the N article track line segment that all tracing points between tracing point are formed is corresponding.

Method the most according to claim 1, it is characterised in that also include:

Calculate i-th tracing point P_iTo described matching vector R_i-1Distance d between '_i；

Judge described d_iWhether more than predetermined threshold value δ；

If described d_iMore than or equal to described predetermined threshold value δ, export described R_i-1', determine new initiateing Tracing point P_{S is new}；

The most described according to described start track point P_sAnd described i-th tracing point P_iPosition, obtain described P_iWith described P_sThe described original vector R formed_i, and according to matching vector R_i-1' and described original vector R_i, it is calculated described matching vector R_i', including:

According to described new start track point P_{S is new}And described i-th tracing point P_iPosition, obtain described I tracing point P_iWith described start track point P_{S is new}The described original vector R formed_i, and according to described matching Vector R_i-1' and described original vector R_i, it is calculated described matching vector R_i’。

Method the most according to claim 2, it is characterised in that described determine new start track point P_{S is new}, including:

By described matching vector R_i-1' terminal P_i-1' or the i-th-1 tracing point P_i-1Be set to described newly Start track point P_{S is new}；

The most described according to described new start track point P_{S is new}And described i-th tracing point P_iPosition, obtain Described i-th tracing point P_iWith described new start track point P_{S is new}The original vector R formed_i, and according to Described matching vector R_i-1' and described original vector R_i, it is calculated matching vector R_i', including:

According to described matching vector R_i-1' terminal P_i-1' and described i-th tracing point P_iPosition, To described matching vector R_i’；

Or,

According to the i-th-1 tracing point P_i-1With described i-th tracing point P_iPosition, obtain described i-th Tracing point P_iWith described the i-th-1 tracing point P_i-1The original vector R formed_i；And according to described matching vector R_i-1' and described original vector R_i, it is calculated described matching vector R_i’。

Method the most according to claim 2, it is characterised in that described determine new start track point P_{S is new}, including:

By described i-th tracing point P_iIt is set to described new start track point P_{S is new}。

Method the most according to claim 4, it is characterised in that also include:

Obtain the first matching vector R that the nth bar compressed tracks trace segments of output is corresponding_n' and (n+1)th pressure The second matching vector R that contracting track line segment is corresponding_n+1', described first matching vector R_n' with described second Matching vector R_n+1' adjacent；Described first matching vector R_n' by the first starting point P_ns' and First terminal point P_ne' constitute, described second matching vector R_n+1' by the second starting point P_(n+1)s' and the second terminal P_(n+1)e’ Constitute；N is the integer more than or equal to 1 and less than or equal to N；

If described First terminal point P_ne' extremely described second matching vector R_n+1' distance less than predetermined threshold value δ, then according to described First terminal point P_ne' at described second matching vector R_n+1Subpoint P on '_x', And described second final on trajectory P_(n+1)e' form original vector R_m；

Export described first matching vector R_nAnd described original vector R_m。

Method the most according to claim 4, it is characterised in that also include:

Obtain the first matching vector R that the nth bar compressed tracks trace segments of output is corresponding_n' and (n+1)th pressure The second matching vector R that contracting track line segment is corresponding_n+1', described first matching vector R_n' with described second Matching vector R_n+1' adjacent；Described first matching vector R_n' by the first starting point P_ns' and First terminal point P_ne' constitute, described second matching vector R_n+1' by the second starting point P_(n+1)s' and the second terminal P_(n+1)e’ Constitute；N is the integer more than or equal to 1 and less than or equal to N；

If described First terminal point P_ne' extremely described second matching vector R_n+1' distance more than described default threshold Value δ, described first matching vector R_n' and described second matching vector R_n+1' extension line intersect at friendship Point P_x', and meet γ₁> 0 and γ₂> 0, or γ₁< 0 and γ₂< 0, and described first matching vector R_n’ With described second matching vector R_n+1' angle γ₃Meet | γ₃| less than or equal to presetting angle value γ_m, then basis Described first starting point P_ns' and described intersection point P_x' form original vector R_a；According to described intersection point P_x' and Described second terminal P_(n+1)e' form original vector R_b；

Wherein, γ₁Represent described first matching vector R_n' extended line and line segment P_ne’P_(n+1)s' folder Angle, described line segment P_ne’P_(n+1)s' represent described First terminal point P_ne' and described second terminal P_(n+1)s’ The line segment formed；

γ₂Represent described second matching vector R_n+1' extended line and described line segment P_ne’P_(n+1)s' folder Angle；

γ₃Represent described first matching vector R_n' extended line and described second matching vector R_n+1' The angle of extended line；

γ_mRepresent described line segment P_ne’P_(n+1)s' and described second matching vector R_n+1' the most described One matching vector R_n' angle threshold that deflects, described γ_mBoundary is between (pi/2, π)；

Export described original vector R_aAnd R_b。

7. according to the method described in any one of claim 1-6, it is characterised in that described according to described plan Resultant vector R_i-1' and described original vector R_i, it is calculated matching vector R_i', including:

According to

θ’_i=θ '_i-1+asin(d_i/r_i)/i

Calculate described matching vector R_i' angle, θ^’ _i, wherein, r_iRepresent described；

According to r_i'=r_iDetermine described matching vector R_i' length r_i', wherein, r_iRepresent described initial rail Distance between mark point Ps and described i-th point.

8. according to the method described in any one of claim 1-6, it is characterised in that described according to described plan Resultant vector R_i-1' and described original vector R_i, it is calculated matching vector R_i', including:

If r_i-r_i-1< δ,

Then basis

θ’_i=θ '_i-1+asin(d_i/r_i)/m

Calculate described matching vector R_i' angle, θ '_i, wherein, m=r_i/ δ, r_iRepresent described i-th rail Mark point is to described start track point P_sDistance, r_i-1Represent that described the i-th-1 tracing point is to described initial rail Mark point P_sDistance；

According to r_i'=r_iDetermine described matching vector R_i' length r_i’。

9. according to the method described in any one of claim 1-6, it is characterised in that described according to described plan Resultant vector R_i-1' and described original vector R_i, it is calculated matching vector R_i', including:

According to

θ’_i=θ '_i-1+asin(d_i/r_i)/(i* (1+logi)),

Calculate described matching vector R_i' angle, θ '_i；

Wherein, r_iRepresent described i-th tracing point P_iTo described start track point P_sDistance；

According to r_i'=r_iDetermine described matching vector R_i' length r_i’。

10. according to the method described in any one of claim 1-6, it is characterised in that described in described basis Matching vector R_i-1' and described original vector R_i, it is calculated matching vector R_i', including:

According to

θ’_i=θ '_i-1+asin(d_i/r_i)/(m^*(1+logm))

Calculate described matching vector R_i' angle, θ '_i；

Wherein, r_iRepresent that described i-th tracing point is to described start track point P_sDistance；M=r_i/δ；

According to r_i'=r_iDetermine described matching vector R_i' length r_i’。