CN105910639A - Route segmentation method based on turning points and system - Google Patents
Route segmentation method based on turning points and system Download PDFInfo
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- CN105910639A CN105910639A CN201610202055.XA CN201610202055A CN105910639A CN 105910639 A CN105910639 A CN 105910639A CN 201610202055 A CN201610202055 A CN 201610202055A CN 105910639 A CN105910639 A CN 105910639A
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- G—PHYSICS
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- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
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Abstract
The invention discloses a route segmentation method based on turning points and a system. According to the method, route tracing points are acquired; sampling is carried out according to the route track at a preset time interval N to acquire route sampling points; course angle difference between a sampling point and a previous sampling point is calculated; whether the difference is greater than the threshold is determined to acquire a first determination result; a distance between adjacent roughly-measured route turning points is calculated, and an average turning point distance threshold is determined; whether the distance between two adjacent turning points is greater than the average turning point distance threshold to acquire a second determined result; according to long route segments and short route segments, precisely-measured route turning points are determined. Through the method, the turning points at course change portions during route measurement are realized, the data can be divided into uniform-length data segments, storage and processing are easy, and the data integrity can be guaranteed to the maximum degree.
Description
Technical field
The present invention relates to aerial survey field, particularly relate to a kind of course line based on flex point dividing method and system.
Background technology
Aerial survey is the important means obtaining ground elevation model, map making, geographical national conditions monitoring etc., once
Aerophotogrammetric field work, it will usually complete the data acquisition operation of tens air strips, owing to being continuous operation, therefore institute
It is identical for having data type, and data volume is the hugest, brings difficulty to data processing operation.
Prior art shows in visual software complete course line, according to artificial judgment flex point, by course line
It is divided into different course line sections.The method efficiency is low, error-prone, and splitting scheme varies with each individual, it is impossible to ensure
The integrity of data.
Summary of the invention
It is an object of the invention to formulate the flex point judgment rule meeting actual requirement, by course line automatization, specification
Change and be divided into different course lines section, on the premise of ensureing same air strips data integrity, data are carried out piecemeal
Process, ensure that the integrity of same air strips data to greatest extent, it is simple to subsequent processing operations, for realizing
Above-mentioned purpose, the present invention provides a kind of course line based on flex point dividing method and system.
For achieving the above object, the invention provides following scheme: a kind of course line based on flex point dividing method,
Comprise the following steps:
Obtain course line tracing point；
Sample according to predetermined interval N according to course line track, obtain course line sampled point；
For each described sampled point, calculate the boat between sampled point and the previous sampled point of described sampled point
To angular difference value；
Judge that difference, whether more than predetermined threshold value, obtains the first judged result；
When the first judged result represent be time, determine that sampled point is bigness scale course line flex point；
Calculate the distance between adjacent bigness scale course line flex point, determine flex point average distance threshold value；
For often organizing adjacent bigness scale course line flex point, by the distance between adjacent bigness scale course line flex point more than flex point
Leg between the adjacent bigness scale course line flex point of average distance threshold value is divided into long leg；
Distance between adjacent bigness scale course line flex point is less than the adjacent bigness scale of described flex point average distance threshold value
Leg between the flex point of course line is divided into short leg；
According to long leg and described short leg, determine thin survey course line flex point.
Optionally, according to long leg and short leg, determine thin survey course line flex point, specifically include:
Judge whether short leg has adjacent short leg, obtain the second judged result；
When the second judged result represent be time,
Determine the multiple short leg of the continuous print comprising short leg,
Retain the flex point in the middle of multiple short leg；
Judge whether short leg is between long leg, obtain the 3rd judged result；
When the 3rd judged result represent be time, retain the left end point flex point of described short leg, remove right endpoint and turn
Point；
Judge whether long leg has adjacent long leg, obtain the 4th judged result；
When the 4th judged result represent be time, retain all flex points of long leg.
Optionally, when described second judged result represent be time, determine that the continuous print comprising short leg is many
Individual short leg, retains the flex point in the middle of the plurality of short leg, specifically includes:
Calculate the flex point number of short leg；
When flex point number is odd number, retain theIndividual flex point, wherein N is the flex point of described short leg
Number；
When flex point number is even number, retain theIndividual orIndividual flex point, wherein N is short leg
Flex point number.
Optionally, predetermined threshold value is 50 °.
Optionally, the span of predetermined interval N is 700-900, i.e. 700-900 the track in interval clicks on
Row is once sampled.
The application also includes a kind of course line based on flex point segmenting system, including:
Acquiring unit, is used for obtaining course line tracing point；
Sampling unit, for sampling according to predetermined interval N according to course line track, obtains course line sampling
Point；
First computing unit, for calculating the boat between each sampled point and the previous sampled point of sampled point
To angular difference value；
First judging unit, it is judged that difference, whether more than predetermined threshold value, obtains the first judged result；
Second computing unit, for calculating the distance of adjacent bigness scale course line flex point, determines flex point average distance
Threshold value；
First determines unit, for the distance between adjacent bigness scale course line flex point is more than flex point average distance threshold
Leg between the adjacent bigness scale course line flex point of value is divided into long leg；
Second determines unit, for the distance between adjacent bigness scale course line flex point is less than flex point average distance threshold
Leg between the adjacent bigness scale course line flex point of value is divided into short leg；
3rd determines unit, for according to long leg and short leg, determines thin survey course line flex point.
Optionally, the 3rd determines that unit specifically includes:
First judgment sub-unit, for judging whether described short leg has adjacent short leg, obtains second
Judged result；
First determines subelement, for when described second judged result represent be time, determine and comprise described short boat
Section is in the interior multiple short leg of continuous print；
First retains subelement, for retaining the flex point in the middle of the plurality of short leg；
Second judgment sub-unit, is used for judging whether described short leg is between long leg, obtains the 3rd and sentence
Disconnected result；
Second retain subelement, for when described 3rd judged result represent be time, retain described short leg
Left end point flex point, removes right endpoint flex point；
3rd judgment sub-unit, for judging whether described long leg has adjacent long leg, obtains the 4th
Judged result；
3rd retain subelement, for when described 4th judged result represent be time, retain described long leg
All flex points.
Optionally, the first judgment sub-unit specifically includes:
First calculates first order subelement, for calculating the flex point number of described short leg；
First retains first order subelement, for when described flex point number is odd number, retains theIndividual
Flex point, wherein N is the flex point number of described short leg；
Second retains first order subelement, for when described flex point number is even number, retains theIndividual or
PersonIndividual flex point, wherein N is the flex point number of described short leg.
By course line based on the flex point dividing method in the application, it is possible to realize course in aerial survey and change
The flex point at place, and data can be divided into the segment data of even length, it is easy to preserve and process, simultaneously
Ensure that the integrity of data to greatest extent.
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 enforcement
In example, the required accompanying drawing used is briefly described, it should be apparent that, the accompanying drawing in describing below is only
Some embodiments of the present invention, for those of ordinary skill in the art, are not paying creative work
On the premise of, it is also possible to other accompanying drawing is obtained according to these accompanying drawings.
Fig. 1 is the flow chart of embodiment of the present invention course line based on flex point dividing method.
Fig. 2 is the structure chart of embodiment of the present invention course line based on flex point segmenting system.
Fig. 3 is flex point signal in bigness scale course line in the dividing method of embodiment of the present invention course line based on flex point
Figure.
Fig. 4 is embodiment of the present invention course line based on flex point dividing method Intermediate Course segmentation intermediate object program
First schematic diagram.
Fig. 5 is embodiment of the present invention course line based on flex point dividing method Intermediate Course segmentation intermediate object program
Second schematic diagram.
Fig. 6 is embodiment of the present invention course line based on flex point dividing method Intermediate Course segmentation intermediate object program
3rd schematic diagram.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clearly
Chu, be fully described by, it is clear that described embodiment be only a part of embodiment of the present invention rather than
Whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art are not making creation
The every other embodiment obtained under property work premise, broadly falls into the scope of protection of the invention.
It is an object of the invention to provide a kind of course line based on flex point dividing method, as it is shown in figure 1, mainly wrap
Include following steps:
Step 101, obtains course line tracing point；
Step 102, samples according to predetermined interval N according to course line track, obtains course line sampled point；
Step 103, for each described sampled point, calculates the previous sampling of sampled point and described sampled point
Course angle difference between point；
Step 104, it is judged that difference, whether more than predetermined threshold value, obtains the first judged result；
When the first judged result represent be time, determine that sampled point is bigness scale course line flex point；
Step 105, calculates the distance between adjacent bigness scale course line flex point, determines flex point average distance threshold value；
Step 106, for often organizing adjacent bigness scale course line flex point, by between adjacent bigness scale course line flex point away from
It is divided into long leg from more than the leg between the adjacent bigness scale course line flex point of flex point average distance threshold value；
Step 107, by the distance between adjacent bigness scale course line flex point less than described flex point average distance threshold value
Leg between the flex point of adjacent bigness scale course line is divided into short leg；
Step 108, according to long leg and described short leg, determines thin survey course line flex point.
Optionally, according to long leg and short leg, determine thin survey course line flex point, specifically include:
Judge whether short leg has adjacent short leg, obtain the second judged result；
When the second judged result represent be time,
Determine the multiple short leg of the continuous print comprising short leg,
Retain the flex point in the middle of multiple short leg.
Judge whether short leg is between long leg, obtain the 3rd judged result；
When the 3rd judged result represent be time, retain the left end point flex point of described short leg, remove right endpoint and turn
Point.
Judge whether long leg has adjacent long leg, obtain the 4th judged result；
When the 4th judged result represent be time, retain all flex points of long leg.
Optionally, when described second judged result represent be time, determine that the continuous print comprising short leg is many
Individual short leg, retains the flex point in the middle of the plurality of short leg, specifically includes:
Calculate the flex point number of short leg；
When flex point number is odd number, retain theIndividual flex point, wherein N is the flex point of described short leg
Number；
When flex point number is even number, retain theIndividual orIndividual flex point, wherein N is short leg
Flex point number.
Optionally, predetermined threshold value is 50 °.
Optionally, the span of predetermined interval N is 700-900, i.e. 700-900 the track in interval clicks on
Row is once sampled.
By course line based on the flex point dividing method in the application, it is possible to realize course in aerial survey and change
The flex point at place, and data can be divided into the segment data of even length, it is easy to preserve and process, simultaneously
Ensure that the integrity of data to greatest extent.
The application also includes, a kind of course line based on flex point segmenting system, includes as shown in Figure 2:
Acquiring unit 1, is used for obtaining course line tracing point；
Sampling unit 2, for sampling according to predetermined interval N according to course line track, obtains course line sampling
Point；
First computing unit 3, for calculating between each sampled point and the previous sampled point of sampled point
Course angle difference；
First judging unit 4, it is judged that difference, whether more than predetermined threshold value, obtains the first judged result；
Second computing unit 5, for calculating the distance of adjacent bigness scale course line flex point, determines flex point average departure
From threshold value；
First determines unit 6, for the distance between adjacent bigness scale course line flex point is more than flex point average distance
Leg between the adjacent bigness scale course line flex point of threshold value is divided into long leg；
Second determines unit 7, for the distance between adjacent bigness scale course line flex point is less than flex point average distance
Leg between the adjacent bigness scale course line flex point of threshold value is divided into short leg；
3rd determines unit 8, for according to long leg and short leg, determines thin survey course line flex point.
Optionally, the 3rd determines that unit 8 specifically includes:
First judgment sub-unit, for judging whether described short leg has adjacent short leg, obtains second
Judged result；
First determines subelement, for when described second judged result represent be time, determine and comprise described short boat
Section is in the interior multiple short leg of continuous print；
First retains subelement, for retaining the flex point in the middle of the plurality of short leg；
Second judgment sub-unit, is used for judging whether described short leg is between long leg, obtains the 3rd and sentence
Disconnected result；
Second retain subelement, for when described 3rd judged result represent be time, retain described short leg
Left end point flex point, removes right endpoint flex point；
3rd judgment sub-unit, for judging whether described long leg has adjacent long leg, obtains the 4th
Judged result；
3rd retain subelement, for when described 4th judged result represent be time, retain described long leg
All flex points.
Optionally, the first judgment sub-unit specifically includes:
First calculates first order subelement, for calculating the flex point number of described short leg；
First retains first order subelement, for when described flex point number is odd number, retains theIndividual
Flex point, wherein N is the flex point number of described short leg；
Second retains first order subelement, for when described flex point number is even number, retains theIndividual or
PersonIndividual flex point, wherein N is the flex point number of described short leg.
Understandable for enabling the above-mentioned purpose of the present invention, feature and advantage to become apparent from, below in conjunction with the accompanying drawings and
The present invention is further detailed explanation for detailed description of the invention.
It is illustrated in figure 3 the schematic diagram of the embodiment of the present application bigness scale flex point, by obtaining the tracing point in course line,
Sample according to predetermined interval N according to course line track, obtain course line sampled point；Adopt described in each
Sampling point, calculates the course angle difference between sampled point and the previous sampled point of described sampled point；Judge difference
Whether more than predetermined threshold value, obtain the first judged result；When the first judged result represent be time, determine sampling
Point is bigness scale course line flex point.
Calculate the distance between adjacent bigness scale course line flex point, determine flex point average distance threshold value；For often group
Adjacent bigness scale course line flex point, by the distance between adjacent bigness scale course line flex point more than flex point average distance threshold value
Adjacent bigness scale course line flex point between leg be divided into long leg；By between adjacent bigness scale course line flex point away from
It is divided into short leg from less than the leg between the adjacent bigness scale course line flex point of described flex point average distance threshold value；
Fig. 4 is embodiment of the present invention course line based on flex point dividing method Intermediate Course segmentation intermediate object program
First schematic diagram, it is judged that whether short leg has adjacent short leg, obtains the second judged result；When
Two judged results represent when being, determine the multiple short leg of the continuous print comprising short leg, retain multiple short
Flex point in the middle of leg；As shown in Figure 4, after judging the multiple short leg comprising short leg, only
Flex point in the middle of retaining.
Fig. 5 is embodiment of the present invention course line based on flex point dividing method Intermediate Course segmentation intermediate object program
Second schematic diagram, it is judged that whether short leg is between long leg, obtains the 3rd judged result；When the 3rd
Judged result represents when being, retains the left end point flex point of described short leg, removes right endpoint flex point；Such as Fig. 5
Shown in, it is determined that middle short leg is between two long legs, only retains the left end flex point of short leg, deletes
Except right-hand member flex point.
Fig. 6 is embodiment of the present invention course line based on flex point dividing method Intermediate Course segmentation intermediate object program
3rd schematic diagram, it is judged that whether long leg has adjacent long leg, obtains the 4th judged result；When
Four judged results represent when being, retain all flex points of long leg；As shown in Figure 6, multiple adjacent when existing
Long leg time, retain the flex point of all legs.
When described second judged result represent be time, determine the multiple short boat of the continuous print comprising short leg
Section, retains the flex point in the middle of the plurality of short leg, specifically includes:
Calculate the flex point number of short leg；When flex point number is odd number, retain theIndividual flex point, its
Middle N is the flex point number of described short leg；When flex point number is even number, retain theIndividual or
Individual flex point, wherein N is the flex point number of short leg.As shown in Figure 4, the number of described flex point is 4, protects
Stay the 2nd flex point.
Principle and the embodiment of the present invention are set forth by specific case used herein, above enforcement
The explanation of example is only intended to help to understand method and the core concept thereof of the present invention；Simultaneously for this area
Those skilled in the art, according to the thought of the present invention, the most all can change
Part.In sum, this specification content should not be construed as limitation of the present invention.
Claims (8)
1. course line based on a flex point dividing method, it is characterised in that
Obtain course line tracing point；
Sample according to predetermined interval N according to described course line track, obtain course line sampled point；
For each described sampled point, calculate between described sampled point and the previous sampled point of described sampled point
Course angle difference；
Judge that described difference, whether more than predetermined threshold value, obtains the first judged result；
When the first judged result represent be time, determine that described sampled point is bigness scale course line flex point；
Calculate the distance between adjacent described bigness scale course line flex point, determine flex point average distance threshold value；
For often organizing adjacent described bigness scale course line flex point, by the distance between adjacent described bigness scale course line flex point
It is divided into long leg more than the leg between the adjacent bigness scale course line flex point of described flex point average distance threshold value；
Distance between adjacent described bigness scale course line flex point is less than the adjacent of described flex point average distance threshold value
Leg between the flex point of bigness scale course line is divided into short leg；
According to described long leg and described short leg, determine thin survey course line flex point.
Course line based on flex point the most according to claim 1 dividing method, it is characterised in that according to
Described long leg and short leg, determine thin survey course line flex point, specifically include:
Judge whether described short leg has adjacent short leg, obtain the second judged result；
When described second judged result represent be time,
Determine the multiple short leg of continuous print comprising described short leg,
Retain the flex point in the middle of the plurality of short leg；
Judge whether described short leg is between long leg, obtain the 3rd judged result；
When described 3rd judged result represent be time, retain the left end point flex point of described short leg, remove right-hand member
Point flex point；
Judge whether described long leg has adjacent long leg, obtain the 4th judged result；
When described 4th judged result represent be time, retain all flex points of described long leg.
Course line based on flex point the most according to claim 2 dividing method, it is characterised in that work as institute
State the second judged result and represent when being, determine the multiple short leg of continuous print comprising described short leg, protect
Stay the flex point in the middle of the plurality of short leg, specifically include:
Calculate the flex point number of described short leg；
When described flex point number is odd number, retain theIndividual flex point, wherein N is described short leg
Flex point number；
When described flex point number is even number, retain theIndividual orIndividual flex point, wherein N is institute
State the flex point number of short leg.
Course line based on flex point the most according to claim 1 dividing method, it is characterised in that described
Predetermined threshold value is 50 °.
Course line based on flex point the most according to claim 1 dividing method, it is characterised in that described
The span of predetermined interval N is 700-900.
6. course line based on a flex point segmenting system, it is characterised in that including:
Acquiring unit, is used for obtaining course line tracing point；
Sampling unit, for sampling according to predetermined interval N according to described course line track, obtains course line
Sampled point；
First computing unit, for calculating between each sampled point and the previous sampled point of described sampled point
Course angle difference；
First judging unit, it is judged that described difference, whether more than predetermined threshold value, obtains the first judged result；
Second computing unit, for calculating the distance of adjacent described bigness scale course line flex point, determines that flex point is average
Distance threshold；
First determines unit, for the distance between adjacent described bigness scale course line flex point being put down more than described flex point
All legs between the adjacent bigness scale course line flex point of distance threshold are divided into long leg；
Second determines unit, for the distance between adjacent described bigness scale course line flex point being put down less than described flex point
All legs between the adjacent bigness scale course line flex point of distance threshold are divided into short leg；
3rd determines unit, for according to described long leg and short leg, determines thin survey course line flex point.
System is analyzed in course line based on flex point the most according to claim 6, it is characterised in that described
3rd determines that unit specifically includes:
First judgment sub-unit, for judging whether described short leg has adjacent short leg, obtains second
Judged result；
First determines subelement, for when described second judged result represent be time, determine and comprise described short boat
Section is in the interior multiple short leg of continuous print；
First retains subelement, for retaining the flex point in the middle of the plurality of short leg；
Second judgment sub-unit, is used for judging whether described short leg is between long leg, obtains the 3rd and sentence
Disconnected result；
Second retain subelement, for when described 3rd judged result represent be time, retain described short leg
Left end point flex point, removes right endpoint flex point；
3rd judgment sub-unit, for judging whether described long leg has adjacent long leg, obtains the 4th
Judged result；
3rd retain subelement, for when described 4th judged result represent be time, retain described long leg
All flex points.
System is analyzed in course line based on flex point the most according to claim 7, it is characterised in that described
First judgment sub-unit specifically includes:
First calculates first order subelement, for calculating the flex point number of described short leg；
First retains first order subelement, for when described flex point number is odd number, retains theIndividual
Flex point, wherein N is the flex point number of described short leg；
Second retains first order subelement, for when described flex point number is even number, retains theIndividual or
PersonIndividual flex point, wherein N is the flex point number of described short leg.
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| CN201610202055.XA CN105910639B (en) | 2016-04-01 | 2016-04-01 | A kind of course line dividing method and system based on flex point |
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| CN201610202055.XA CN105910639B (en) | 2016-04-01 | 2016-04-01 | A kind of course line dividing method and system based on flex point |
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| CN110411458A (en) * | 2019-08-30 | 2019-11-05 | 深圳市道通智能航空技术有限公司 | Flight course planning method and unmanned vehicle |
| WO2020113394A1 (en) * | 2018-12-03 | 2020-06-11 | 深圳市大疆创新科技有限公司 | Route planning method for aircraft, console, aircraft system and storage medium |
| CN111739348A (en) * | 2020-07-20 | 2020-10-02 | 成都民航空管科技发展有限公司 | ATC system-based airway resolution method and system |
| CN113781603A (en) * | 2021-09-15 | 2021-12-10 | 北京有竹居网络技术有限公司 | Method and device for generating track points, computer equipment and computer storage medium |
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|---|---|
| CN105910639B (en) | 2017-12-26 |
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