CN106199660B - The modification method and device of location data - Google Patents

The modification method and device of location data Download PDF

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Publication number
CN106199660B
CN106199660B CN201610509188.1A CN201610509188A CN106199660B CN 106199660 B CN106199660 B CN 106199660B CN 201610509188 A CN201610509188 A CN 201610509188A CN 106199660 B CN106199660 B CN 106199660B
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China
Prior art keywords
data
gps
rotation data
object
according
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CN201610509188.1A
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Chinese (zh)
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CN106199660A (en
Inventor
肖辉
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百度在线网络技术(北京)有限公司
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Priority to CN201610509188.1A priority Critical patent/CN106199660B/en
Publication of CN106199660A publication Critical patent/CN106199660A/en
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Publication of CN106199660B publication Critical patent/CN106199660B/en

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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S19/00Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39Determining 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
    • G01S19/40Correcting position, velocity or attitude

Abstract

The embodiment of the invention discloses a kind of modification method of location data and devices.The described method includes: obtaining the operation rotation data of the object to be positioned by mode of operation according to object to be positioned;According to GPS positioning data corresponding with the object to be positioned, the GPS rotation data of the object to be positioned is obtained;According to Standard Map relationship, the operation rotation data and the GPS rotation data between operation rotation data and GPS rotation data, GPS positioning data are modified.Technical solution of the present invention can carry out more accurate positioning to object to be positioned, optimize existing GPS positioning technology, meet the location requirement of the growing personalization of people, accuracy, greatly improve user experience and satisfaction.

Description

The modification method and device of location data

Technical field

The present embodiments relate to microcomputer data processing more particularly to the modification methods and dress of a kind of location data It sets.

Background technique

Currently, location and navigation technology is by GPS (Global Positioning System, GPS) Be widely used in many fields, be also widely used in people's daily life, GPS positioning technology usually with lead Boat service combines, thus the GPS navigation location technology that is otherwise known as, and it is fixed that the system for providing respective service is also referred to as GPS navigation Position system.

Road guide is carried out using navigation software, has become a kind of essential mode of people's trip.It navigates soft Part carries out road guide using GPS navigation positioning system, and GPS navigation positioning system can provide comprehensive, round-the-clock, full-time Section, high-precision satellite navigation, but the precision that civil field opens is low compared with military domain, and atmosphere friction, building block And the factors such as geographical location can have an impact GPS signal.

The major defect of the prior art is: there are certain errors for GPS positioning data, and these errors may generate one The appreciable apparent error of a little users, reduces user experience and user satisfaction.

Summary of the invention

In view of this, the embodiment of the present invention provides the modification method and device of a kind of location data, to overcome GPS positioning number According to haveing the defects that certain error.

In a first aspect, the embodiment of the invention provides a kind of modification methods of location data, comprising:

According to object to be positioned by mode of operation, the operation rotation data of the object to be positioned is obtained;

According to GPS positioning data corresponding with the object to be positioned, the GPS for obtaining the object to be positioned rotates number According to;

According to operation rotation data and GPS rotation data between Standard Map relationship, the operation rotation data and The GPS rotation data, is modified GPS positioning data.

Second aspect, the embodiment of the invention provides a kind of correcting devices of location data, comprising:

It operates rotation data and obtains module, for, by mode of operation, obtaining the object to be positioned according to object to be positioned The operation rotation data of body;

GPS rotation data obtains module, for obtaining institute according to GPS positioning data corresponding with the object to be positioned State the GPS rotation data of object to be positioned;

GPS positioning data correction module, for being closed according to the Standard Map between operation rotation data and GPS rotation data System, the operation rotation data and the GPS rotation data, are modified GPS positioning data.

The modification method and device of location data provided in an embodiment of the present invention, by the operation for first obtaining object to be positioned Standard Map relationship between the corresponding GPS rotation data of rotation data, object to be positioned and this two groups of data, to object to be positioned The GPS positioning data of body are modified, and more accurate positioning can be carried out to object to be positioned, and it is fixed to optimize existing GPS Position technology, meets the location requirement of the growing personalization of people, accuracy, greatly improves user experience and satisfaction.

Detailed description of the invention

Fig. 1 a is the flow diagram of the modification method of one of first embodiment of the invention location data;

Fig. 1 b is the schematic diagram of one of first embodiment of the invention GPS rotation data calculation method;

Fig. 1 c is the schematic diagram of one of first embodiment of the invention GPS positioning data correcting method;

Fig. 2 is the flow diagram of the modification method of one of second embodiment of the invention location data;

Fig. 3 a is the flow diagram of the modification method of one of third embodiment of the invention location data;

Fig. 3 b is the schematic diagram of one of third embodiment of the invention GPS rotation data calculation method;

Fig. 4 a is the flow diagram of the modification method of one of fourth embodiment of the invention location data;

Fig. 4 b is the schematic diagram of one of fourth embodiment of the invention GPS positioning data correcting method;

Fig. 5 is the flow diagram of the modification method of one of fifth embodiment of the invention location data;

Fig. 6 is the structure chart of the correcting device of one of sixth embodiment of the invention location data.

Specific embodiment

To make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawing to of the invention specific real Example is applied to be described in further detail.It is understood that specific embodiment described herein is used only for explaining the present invention, Rather than limitation of the invention.

It also should be noted that only the parts related to the present invention are shown for ease of description, in attached drawing rather than Full content.It should be mentioned that some exemplary embodiments are described before exemplary embodiment is discussed in greater detail At the processing or method described as flow chart.Although operations (or step) are described as the processing of sequence by flow chart, It is that many of these operations can be implemented concurrently, concomitantly or simultaneously.In addition, the sequence of operations can be by again It arranges.The processing can be terminated when its operations are completed, it is also possible to have the additional step being not included in attached drawing. The processing can correspond to method, function, regulation, subroutine, subprogram etc..

First embodiment

Fig. 1 a is a kind of flow diagram of the modification method for location data that first embodiment of the invention provides, this implementation The method of example can be executed by the correcting device of location data, which can be realized by way of hardware and/or software, and Generally can integrate in intelligent terminal perhaps mobile unit with the navigation type application that is configured in intelligent terminal or mobile unit (for example, " XX map ") is used cooperatively.

The method of the present embodiment specifically includes:

110, the operation rotation data of the object to be positioned is obtained by mode of operation according to object to be positioned;

In the present embodiment, object to be positioned specifically refers to need to carry out precise positioning by GPS navigation location technology Loose impediment typically may is that the vehicles such as automobile, motorcycle, bicycle and steamer.

In the present embodiment, object to be positioned specifically referred to by mode of operation in object to be positioned can by artificial or The program-controlled mode of person directly or indirectly operate and the component that changes state by mode of operation, typically;Direction in automobile Tire in rotary state (for example, turning left 15 degree) that disk is generated due to artificial directly operate, automobile is due between artificial Connect operation and the rotary state etc. that generates due to artificial directly operate of the handle in the rotary state and motorcycle that generate.

Optionally, obtain object to be positioned may is that obtaining object to be positioned is operated by the method for mode of operation after The data that related sensor (such as: steering wheel angle sensor etc.) generates, or obtain the video that object to be positioned is operated Image obtains related data etc. by image recognition technology, and the present embodiment is to this and is not limited.

In the present embodiment, the operation rotation data of object to be positioned specifically may is that the direction of vehicle steering wheel rotation And/or angle, bicycle handle bar's rotation direction and/or, angle and motorcycle the direction of rotation and/or, angle Deng.

Wherein, the direction of vehicle steering wheel rotation and/or, angle specifically can be in vehicle steering wheel certain object of reference and rotate Direction and/or, angle, the object of reference specifically can be the logo of automobile or paste the side of being used to indicate on the steering wheel in advance To the mark line etc. of disk rotation situation.And so on, bicycle handle bar, motorcycle etc. can make the movement of object to be positioned The rotation direction of the changed object in direction and/or, angle can also by referring to object rotation direction and/or, angle come It obtains.

120, according to GPS positioning data corresponding with the object to be positioned, the GPS rotation of the object to be positioned is obtained Data;

It will be appreciated by persons skilled in the art that GPS navigation positioning system can be connected according to certain frequency acquisition Continuous GPS positioning data acquisition, collected GPS positioning data include the longitude and latitude value of sampling instant object to be positioned Deng.

In the present embodiment, the corresponding GPS positioning data of object to be positioned specifically refer to each sampling instant it is collected to Position the GPS positioning data of object.Typically may is that longitude numbers, the latitude numerical value of certain sampling instant object to be positioned with And the GPS positionings data such as relative displacement.

In the present embodiment, GPS rotation data specifically can be object to be positioned in continuous three GPS data sampling instants In the triangle for three coordinate points composition that longitude and latitude numerical value in collected three GPS positioning data are correspondingly formed, It is the interior angle angular values of the triangle on vertex as GPS rotation data, the seat using intermediate samples moment corresponding coordinate points The X-direction of punctuate is longitude numbers, and Y-direction is latitude numerical value.

In a specific example, the frequency acquisitions of GPS positioning data was that acquisition per second is primary, at 10 points in the morning 00 minute 00 second, the longitude and latitude numerical value in 10 points of 01 second 00 minute and 10 points of 02 second 00 minute collected GPS positioning data be respectively (2,2), (2,5) and (6,5), as shown in Figure 1 b, the triangle of the corresponding three coordinate points composition of this three groups of longitude and latitude numerical value is right angle three It is angular, wherein the interior angle angle of the right angled triangle is 90 degree at the corresponding coordinate points, that is, coordinate points (2,5) of intermediate time, because This, the GPS rotation data for the object to be positioned that 10: 02 00: when obtains is 90 degree.

130, according to the Standard Map relationship between operation rotation data and GPS rotation data, the operation rotation data And the GPS rotation data, GPS positioning data are modified.

In the present embodiment, the Standard Map relationship operated between rotation data and GPS rotation data is specifically referred to The operation rotation data and GPS rotation data known, establish mapping relations formula between the two, for example, G=a*T+b, wherein G GPS rotation data is represented, T represents operation rotation data, and a, b, which are represented, rotates number by known operation rotation data and GPS According to identified empirical coefficient.

After obtaining the operation rotation data that a real-time measurement obtains, turned by aforesaid operations rotation data and GPS Standard Map relationship and the operation rotation data between dynamic data, and then can determine corresponding standard GPS rotation number According to can be realized to GPS positioning by the way that the GPS rotation data of standard GPS rotation data and real-time measurement to be compared The amendment of data.

In the present embodiment, GPS positioning data are modified specifically to can be and are rotated according to operation rotation data and GPS The GPS rotation data that Standard Map relationship and the operation rotation data between data determine is in latitude and longitude coordinates system Amendment of the intersection point of theoretical correction direction and circle as the revised latitude and longitude coordinates point, that is, GPS positioning data of object to be positioned As a result, wherein the center of circle of the circle is longitude and latitude numerical value pair in the GPS positioning data of the intermediate time of continuous three sampling instants The coordinate points answered, radius are the corresponding coordinate points of longitude and latitude numerical value and last sampling instant GPS in intermediate time GPS positioning data The connecting line of the corresponding coordinate points of longitude and latitude numerical value in location data.

In a specific example, as illustrated in figure 1 c, 3 points of A, the B and C GPS positioning numbers for continuous three sampling instants The corresponding coordinate points of longitude and latitude numerical value in, the direction of ray BE are theory of the GPS rotation data in latitude and longitude coordinates system Direction is corrected, using B point as the center of circle, straight line BC is that radius does circle, and the intersection point D of the circle and ray BE are exactly revised GPS positioning Data.

It will be appreciated by persons skilled in the art that when using GPS positioning, although positioning result is more accurate, its Need heavy dependence GPS satellite to complete positioning, therefore, GPS satellite signal obtain undesirable position (for example, tunnel) or GPS obtains undesirable environment (for example, GPS satellite is covered by cloud layer or trees), and GPS positioning result will occur serious inclined Difference.The embodiment of the present invention one provide location data modification method, by first obtain object to be positioned operation rotation data, Standard Map relationship between the corresponding GPS rotation data of object to be positioned and this two groups of data, to the GPS number of object to be positioned According to being modified, more accurate positioning can be carried out to object to be positioned, existing GPS positioning technology is optimized, meets people Growing personalization, accuracy location requirement, greatly improve user experience and satisfaction.

Second embodiment

Fig. 2 is a kind of flow diagram of the modification method for location data that second embodiment of the invention provides.This implementation Example is optimized based on above-described embodiment, in the present embodiment, the object to be positioned is specifically optimized for automobile;By root According to object to be positioned by mode of operation, the operation rotation data optimization of the object to be positioned is obtained are as follows: pass through camera reality When obtain correction time section in automotive interior steering wheel image data;By first in the image data of the steering wheel Frame image is compared with last frame image, obtains the rotational parameters of the steering wheel Plays object of reference as described undetermined The operation rotation data of position object.

Correspondingly, the method for the present embodiment specifically includes:

210, the image data of the steering wheel of automotive interior in correction time section is obtained in real time by camera;

In the present embodiment, it is contemplated that the steering wheel of automotive interior by mode of operation, simply can directly react vapour The rotation situation of vehicle, therefore, steering wheel can be recorded by camera is obtained the operation rotation data by operational circumstances.

In the present embodiment, correction time section specifically refers to the acquisition with the GPS positioning data of GPS navigation positioning system The time interval that frequency matches typically may is that correction time section is equal with the acquisition time interval of GPS positioning data Or correction time section is the integer multiple etc. at the acquisition time interval of GPS positioning data.

In the present embodiment, the image data of the steering wheel of automotive interior specifically refers in correction time section, camera shooting The video data for the steering wheel rotation situation that head is recorded.

220, the first frame image in the image data of the steering wheel is compared with last frame image, obtains institute State operation rotation data of the rotational parameters as the automobile of steering wheel Plays object of reference;

It will be appreciated by those skilled in the art that video is continuous by a width and that content change is little is quiet Only image forms, wherein a static image is known as " frame ".

In the present embodiment, first frame image and last frame image specifically refer to the first frame figure in correction time section Picture and last frame image.

In the present embodiment, the operation rotational parameters of automobile specifically refer to identify first frame figure by image recognition technology The rotational parameters of steering wheel Plays object of reference, typically may is that the rotation of marker in picture and last needle image Direction and/or, the rotational parameters such as angle.Wherein, object of reference typically may is that vehicle emblem, driver operate steering wheel Hand and paste be used to indicate the objects of reference such as the mark line of steering wheel rotation situation on the steering wheel in advance, the present embodiment to this not It is limited.

In the present embodiment, it is contemplated that the sampling period of GPS data is typically small (for example, 0.5s or 1s etc.), if With the sampling period directly as correction time section, then under this lesser time interval, the rotational angle of steering wheel It is lesser.Therefore, it by comparing the difference between first frame image and last frame image, can simply and accurately determine The rotational angle of steering wheel out.

Further, it is contemplated that user in actual use, the correction time section of institute's actual selection may be long, Or user has carried out one to steering wheel in a shorter time interval and has significantly operated very much, therefore, directly compares To the difference between first frame image and last frame image, certain measurement error might have.

To solve the above-mentioned problems, each frame image in correction time section can be compared one by one by image recognition technology Mode determines the operation rotational angle of automobile.If rotated in correction time section by comparing discovery marker Angle has been more than one week, then the angle that steering wheel rotates in correction time section should be first frame image and last needle The rotational angle of steering wheel Plays object of reference adds 360 degree in image;When discovery marker is in correction time section The angle of rotation has been more than two weeks, then the angle that steering wheel rotates in correction time section should be first frame image and most The rotational angle of steering wheel Plays object of reference adds 720 degree in latter needle image.

230, according to GPS positioning data corresponding with the automobile, the GPS rotation data of the automobile is obtained;

240, according to the Standard Map relationship between operation rotation data and GPS rotation data, the operation rotation data And the GPS rotation data, GPS positioning data are modified.

The modification method of location data provided by Embodiment 2 of the present invention, the figure of the steering wheel by first obtaining automotive interior As data and then the operation rotation data of acquisition automobile, then according to the standard between operation rotation data and GPS rotation data Mapping relations, the operation rotation data and the GPS rotation data, are modified GPS positioning data, can be to automobile More accurate positioning is carried out, existing GPS positioning technology is optimized, meets people growing personalization, accuracy Location requirement greatly improves user experience and satisfaction.

3rd embodiment

Fig. 3 a is a kind of flow diagram of the modification method for location data that third embodiment of the invention provides.This implementation Example is optimized based on above-described embodiment, in the present embodiment, will be according to GPS positioning corresponding with the object to be positioned Data obtain the GPS rotation data optimization of the object to be positioned are as follows: will end of time corresponding with the correction time section As current sample time, first GPS positioning data to be processed corresponding with the object to be positioned are obtained;In setting memory block In domain, the two GPS positioning data obtained before sampling instant is located at the current sample time are fixed as the second GPS to be processed Position data, wherein the sampling interval of the GPS positioning data matches with the correction time section;According to sampling instant Sequencing determines first geographical position coordinates point corresponding with each location data to be processed, the second geographical location respectively Coordinate points and third geographical position coordinates point;Calculate the first geographical position coordinates point and second geographical position coordinates The line of point is made as the line of the first angle side and the second geographical coordinate point and the third geographical position coordinates point For the second angle side;By first angle while and when second angle between angle, as the object to be positioned GPS rotation data.

Correspondingly, the method for the present embodiment specifically includes:

310, the image data of the steering wheel of automotive interior in correction time section is obtained in real time by camera;

320, the first frame image in the image data of the steering wheel is compared with last frame image, obtains institute State operation rotation data of the rotational parameters as the automobile of steering wheel Plays object of reference;

330, will end of time corresponding with the correction time section as current sample time, obtain and the automobile Corresponding first GPS positioning data to be processed;

In the present embodiment, correction time section specifically may is that with GPS navigation positioning system acquisition location data when Between be spaced the integer multiple of identical time interval or the time interval equal to GPS navigation positioning system acquisition location data Time interval etc., therefore, two endpoints in correction time section are also GPS navigation positioning system acquisition positioning number at the time of correspondence According at the time of.The first GPS positioning data to be processed that end of time in correction time section obtains can specifically include: amendment Longitude numbers, latitude numerical value, workable satellite number and the relative displacement of the end of time automobile present position of time interval Speed etc..

340, in setting storage region, two GPS obtained before sampling instant is located at the current sample time are fixed Position data are as the second GPS positioning data to be processed, wherein the sampling interval and the correction time of the GPS positioning data Section matches;

In the present embodiment, setting storage region specifically refers to fixed for storing GPS in intelligent terminal or mobile unit The storage region of position data samples and correction value.

In the present embodiment, before the second GPS positioning data to be processed specifically refer to correction time section end of time, The GPS positioning data that continuous two GPS sampling instants obtain.

In a specific embodiment, GPS sampling time interval is 2 seconds, and correction time section is at 9 points in the morning 30 minutes 32 30: 30 seconds to 9:, then, the corresponding sampling instant of the second GPS positioning data to be processed be 30 minutes and 30 seconds at 9 points in the morning and At 9 points in the morning 30 minutes and 28 seconds.

In the present embodiment, the sampling time interval of GPS positioning data and the correction time section, which match, specifically may be used To refer to that the time interval of location data is equal or correction time section with the acquisition of GPS navigation positioning system in correction time section It is the integer multiple of the time interval of GPS navigation positioning system acquisition location data.

350, according to the sequencing of sampling instant, first ground corresponding with each location data to be processed is determined respectively Manage position coordinates point, the second geographical position coordinates point and third geographical position coordinates point;

In the present embodiment, the first geographical position coordinates point, the second geographical position coordinates point and third geographical location are sat The Y-direction of punctuate is latitude numerical value, and X-direction is longitude numbers.First geographical position coordinates point, the second geographical position coordinates point with And the position of third geographical position coordinates point is by the warp in the GPS positioning data of the corresponding GPS sampling instant acquisition of the coordinate points Degree and latitude numerical value determine.

Wherein, the first geographical position coordinates point, the second geographical position coordinates point are that the second GPS positioning data to be processed are corresponding Coordinate points, the sampling instant of the sampling instant of the first geographical position coordinates point earlier than the second geographical position coordinates point;Third Managing position coordinates point is the corresponding coordinate points of the first GPS positioning data to be processed, the sampling instant of third geographical position coordinates point It is later than the sampling instant of the second geographical position coordinates point.

360, the line of the first geographical position coordinates point and the second geographical position coordinates point is calculated as first The line of angle side and the second geographical coordinate point and the third geographical position coordinates point is as the second angle side;

In a specific example, as shown in Figure 3b, in figure A, B and C point respectively correspond the first geographical position coordinates point, Second geographical position coordinates point and third geographical position coordinates point, line segment AB are the first angle side, and line segment BC is the second angle side.

370, by first angle while and when second angle between angle, the GPS as the automobile turns Dynamic data;

In a specific example, as shown in Figure 3b, the angle of included angle A BC is the GPS rotation data of automobile in figure.

380, according to the Standard Map relationship between operation rotation data and GPS rotation data, the operation rotation data And the GPS rotation data, GPS positioning data are modified.

The modification method for the location data that the embodiment of the present invention three provides, by first obtaining the operation rotation data of automobile, Then three groups of GPS positioning data that two GPS sampling instants according to the end of time in correction time section and its before obtain Folder at the coordinate points at the intermediate samples moment for determining three geographical position coordinates points, and being formed with the line of these three coordinate points Angle determines GPS rotation data, finally according to the Standard Map relationship between operation rotation data and GPS rotation data, the behaviour The data that rotate and the GPS rotation data, are modified GPS positioning data, can carry out to automobile more accurate Positioning, optimizes existing GPS positioning technology, meets the location requirement of the growing personalization of people, accuracy, greatly Improve user experience and satisfaction.

Fourth embodiment

Fig. 4 a is a kind of flow diagram of the modification method for location data that fourth embodiment of the invention provides.This implementation Example is optimized based on above-described embodiment, in the present embodiment, will be according between operation rotation data and GPS rotation data Standard Map relationship, the operation rotation data and the GPS rotation data, optimization is modified to GPS positioning data Are as follows: according to the Standard Map relationship between the operation rotation data, and operation rotation data and GPS rotation data, determine Ideal GPS rotation data corresponding with the operation rotation data;If the ideal GPS rotation data and the GPS are rotated Data are inconsistent, then according to the ideal GPS rotation data and first angle side, determine the reason on second angle side By amendment direction;According to the theoretical correction direction on second angle side and the second geographical position coordinates point, to described Third geographical position coordinates point is modified.

Correspondingly, the method for the present embodiment specifically includes:

410, the image data of the steering wheel of automotive interior in correction time section is obtained in real time by camera;

420, the first frame image in the image data of the steering wheel is compared with last frame image, obtains institute State operation rotation data of the rotational parameters as the automobile of steering wheel Plays object of reference;

430, will end of time corresponding with the correction time section as current sample time, obtain and the automobile Corresponding first GPS positioning data to be processed;

440, in setting storage region, two GPS obtained before sampling instant is located at the current sample time are fixed Position data are as the second GPS positioning data to be processed, wherein the sampling interval and the correction time of the GPS positioning data Section matches;

450, according to the sequencing of sampling instant, first ground corresponding with each location data to be processed is determined respectively Manage position coordinates point, the second geographical position coordinates point and third geographical position coordinates point;

460, the line of the first geographical position coordinates point and the second geographical position coordinates point is calculated as first The line of angle side and the second geographical coordinate point and the third geographical position coordinates point is as the second angle side;

470, by first angle while and when second angle between angle, the GPS as the automobile turns Dynamic data;

480, according to the Standard Map between the operation rotation data, and operation rotation data and GPS rotation data Relationship determines ideal GPS rotation data corresponding with the operation rotation data;

In a specific example, as shown in Figure 4 b, figure midpoint A and B are the first geographical position coordinates point and the second ground Position coordinates point is managed, line segment AB is the first angle side, according to the standard between known operation rotation data and GPS rotation data The ideal GPS rotation data that mapping relations obtain, further according to known second geographical position coordinates point B point and ideal GPS The corresponding direction of ideal GPS rotation data that rotation data obtains is the direction of ray BD.

If 490, the ideal GPS rotation data and the GPS rotation data are inconsistent, according to the ideal GPS Rotation data and first angle side, determine the theoretical correction direction on second angle side;

As shown in Figure 4 b, C point is third geographical position coordinates point, and line segment BC is the second angle side, and included angle A BC turns for GPS Dynamic data, since included angle A BC and included angle A BD are unequal, therefore, it is necessary to correct the direction on the second angle side, the second folder after amendment The direction of the arm of angle is the direction of ray BD.

4100, according to the theoretical correction direction on second angle side and the second geographical position coordinates point, to institute Third geographical position coordinates point is stated to be modified.

In the present embodiment, carrying out modified method to third geographical position coordinates point specifically may is that with the second geography Position coordinates point is the center of circle, and the connecting line of the second geographical position coordinates point and third geographical position coordinates point does circle for radius, should The round intersection point with the theoretical correction oriented radial on the second angle side as third geographical position coordinates point correction position either Vertical segment is done from third geographical position coordinates o'clock to the ray in the theoretical correction direction on the second angle side, the line segment and the second folder Correction position etc. of the intersection point of the ray in the theoretical correction direction of the arm of angle as third geographical position coordinates point.

In a specific example, as shown in Figure 4 b, using the second geographical position coordinates point B point as the center of circle, second is geographical The connecting line of position coordinates point and third geographical position coordinates point, i.e. line segment BC are that radius does circle, the circle and the second angle side The ray in theoretical correction direction, that is, ray BD intersection point E is the correction position of third geographical position coordinates point.

The embodiment of the present invention four provide location data modification method, by first obtain the operation rotation data of automobile with And GPS rotation data, then according to the Standard Map between operation rotation data and operation rotation data and GPS rotation data Relationship determines ideal GPS rotation data, finally corrects GPS positioning number according to ideal GPS rotation data and the first angle side According to, more accurate positioning can be carried out to automobile, optimizes existing GPS positioning technology, meet people it is growing Property, accuracy location requirement, greatly improve user experience and satisfaction.

It on the basis of the above embodiments, will be according to the theoretical correction direction on second angle side and second ground Position coordinates point is managed, specific optimization is modified to the third geographical position coordinates point are as follows: with second geographical location seat Punctuate is the center of circle, does circle using second angle side as radius;By the circle second angle side theoretical correction direction On coordinate points, the correction value as the third geographical position coordinates point.

The benefit being arranged in this way is: shorter at one since the sampling time interval of general GPS positioning data is all smaller Time in, the speed of automobile generally can be assumed that be at the uniform velocity, when automobile is uniform motion between two sampling instants, then Determine that the correction value of third geographical position coordinates point is more accurate compared with other methods with the method for above-mentioned optimization.

5th embodiment

Fig. 5 is a kind of flow diagram of the modification method for location data that fifth embodiment of the invention provides.This implementation Example is optimized based on above-described embodiment, can also include: to obtain respectively in testing time section in the present embodiment Take at least one object run rotation data corresponding with the object to be positioned and with the object run rotation data pair At least one target GPS rotation data answered;According between the object run rotation data and the target GPS rotation data Corresponding relationship, determine it is described operation rotation data and GPS rotation data between Standard Map relationship.

Correspondingly, the method for the present embodiment specifically includes:

510, in testing time section, at least one object run corresponding with the object to be positioned is obtained respectively and is turned Dynamic data and at least one target GPS rotation data corresponding with the object run rotation data;

In the present embodiment, when testing time section specifically may is that equal with GPS positioning data sampling time interval Between section or the time interval etc. equal with the time interval of integer multiple at GPS positioning data sampling time interval, this implementation Example is not limited this.

In the present embodiment, object run rotation data specifically refers to when identical with corresponding target GPS rotation data Carve two data obtained.Available one group of object run rotation data and corresponding target GPS rotation data, can also obtain Multiple groups object run rotation data is taken with corresponding target GPS rotation data to determine object run rotation data and the target Corresponding relationship between GPS rotation data, the present embodiment are not limited this.

520, it according to the corresponding relationship between the object run rotation data and the target GPS rotation data, determines Standard Map relationship between the operation rotation data and GPS rotation data;

In the present embodiment, the corresponding relationship between object run rotation data and the target GPS rotation data is specific Refer to object run rotation data and corresponding target GPS rotation data analyzed by mathematical method, obtain between the two Corresponding relationship.It typically may is that object run rotation data is rotated plus a fixed angles angle value equal to corresponding target GPS Data, object run rotation data subtract a fixed angles angle value and rotate equal to corresponding target GPS rotation data, object run Data are equal to the object runs rotation datas such as corresponding target GPS rotation data and the target multiplied by a fixed proportion value Corresponding relationship between GPS rotation data.

530, the operation rotation data of the object to be positioned is obtained by mode of operation according to object to be positioned;

540, according to GPS positioning data corresponding with the object to be positioned, the GPS rotation of the object to be positioned is obtained Data;

550, according to the Standard Map relationship between operation rotation data and GPS rotation data, the operation rotation data And the GPS rotation data, GPS positioning data are modified.

The modification method for the location data that the embodiment of the present invention five provides passes through analysis object run rotation data and target Corresponding relationship between GPS rotation data obtains the Standard Map relationship between operation rotation data and GPS rotation data, so Number is rotated according to Standard Map relationship, operation rotation data and the GPS between operation rotation data and GPS rotation data afterwards According to being modified to GPS positioning data, more accurate positioning can be carried out to row object to be positioned, optimize existing GPS Location technology meets the location requirement of the growing personalization of people, accuracy, greatly improves user experience and satisfaction Degree.

Sixth embodiment

Fig. 6 is a kind of structure chart of the correcting device for location data that sixth embodiment of the invention provides.As shown in fig. 6, Described device includes: that operation rotation data obtains module 101, GPS rotation data obtains module 102 and GPS positioning data correction Module 103, in which:

It operates rotation data and obtains module 101, for, by mode of operation, being obtained described to be positioned according to object to be positioned The operation rotation data of object;

GPS rotation data obtains module 102, for obtaining according to GPS positioning data corresponding with the object to be positioned The GPS rotation data of the object to be positioned;

GPS positioning data correction module 103, for being reflected according to the standard between operation rotation data and GPS rotation data Relationship, the operation rotation data and the GPS rotation data are penetrated, GPS positioning data are modified.

The correcting device for the location data that the embodiment of the present invention six provides, the operation by first obtaining object to be positioned rotate Standard Map relationship between the corresponding GPS rotation data of data, object to be positioned and this two groups of data, to object to be positioned GPS data is modified, and more accurate positioning can be carried out to object to be positioned, optimizes existing GPS positioning technology, full The growing personalization of sufficient people, accuracy location requirement, greatly improve user experience and satisfaction.

On the basis of the various embodiments described above, the object to be positioned may include automobile.

On the basis of the various embodiments described above, operation rotation data obtains module and may include:

Image data acquisition unit, for obtaining the steering wheel of automotive interior in correction time section in real time by camera Image data;

Rotational parameters acquiring unit, for by the image data of the steering wheel first frame image and last frame figure As being compared, the rotational parameters for obtaining the steering wheel Plays object of reference rotate number as the operation of the object to be positioned According to.

On the basis of the various embodiments described above, GPS rotation data obtains module and may include:

First GPS positioning data capture unit to be processed, being used for will end of time corresponding with the correction time section As current sample time, first GPS positioning data to be processed corresponding with the object to be positioned are obtained;

Second GPS positioning data capture unit to be processed, for obtaining sampling instant and being located at institute in setting storage region Two GPS positioning data before stating current sample time are as the second GPS positioning data to be processed, wherein the GPS positioning The sampling interval of data matches with the correction time section;

Coordinate points determination unit, for the sequencing according to sampling instant, respectively determining and each positioning to be processed The corresponding first geographical position coordinates point of data, the second geographical position coordinates point and third geographical position coordinates point;

Angle side computing unit, for calculating the first geographical position coordinates point and the second geographical position coordinates point Line conduct of the line as the first angle side and the second geographical coordinate point and the third geographical position coordinates point Second angle side;

Angle calcu-lation unit, for by first angle while and when second angle between angle, as institute State the GPS rotation data of object to be positioned.

On the basis of the various embodiments described above, can also include:

Rotation data acquiring unit, for obtaining respectively corresponding with the object to be positioned in testing time section At least one object run rotation data and at least one target GPS corresponding with the object run rotation data rotate number According to;

Mapping relations determination unit, for according to the object run rotation data and the target GPS rotation data it Between corresponding relationship, determine it is described operation rotation data and GPS rotation data between Standard Map relationship.

On the basis of the various embodiments described above, GPS positioning data correction module may include:

Ideal GPS rotation data determination unit, for according to the operation rotation data, and operation rotation data with Standard Map relationship between GPS rotation data determines ideal GPS rotation data corresponding with the operation rotation data;

Second angle side theoretical correction direction-determining unit, if turned for the ideal GPS rotation data and the GPS Dynamic data are inconsistent, then according to the ideal GPS rotation data and first angle side, determine second angle side Theoretical correction direction;

Third geographical position coordinates point amending unit, for according to second angle side theoretical correction direction and institute The second geographical position coordinates point is stated, the third geographical position coordinates point is modified.

On the basis of the various embodiments described above, third geographical position coordinates point amending unit may include:

Circumference determines subelement, for being with second angle side using the second geographical position coordinates point as the center of circle Radius does circle;

Third geographical position coordinates point correction value determines subelement, for the theory by the circle on second angle side Correct the coordinate points on direction, the correction value as the third geographical position coordinates point.

The correcting device of location data provided by the embodiment of the present invention can be used for executing any embodiment of that present invention offer Location data modification method, have corresponding functional module, realize identical beneficial effect.

Obviously, it will be understood by those skilled in the art that each module of the above invention or each step can be by as above The server implementation.Optionally, the embodiment of the present invention can be realized with the program that computer installation can be performed, so as to It is executed by a processor with being stored in storage device, the program can store in a kind of computer-readable storage In medium, storage medium mentioned above can be read-only memory, disk or CD etc.;Or they are fabricated to each A integrated circuit modules, or single integrated circuit module is maked multiple modules or steps in them to realize.In this way, The present invention is not limited to the combinations of any specific hardware and software.

The above description is only a preferred embodiment of the present invention, is not intended to restrict the invention, for those skilled in the art For, the invention can have various changes and changes.All any modifications made within the spirit and principles of the present invention are equal Replacement, improvement etc., should all be included in the protection scope of the present invention.

Claims (14)

1. a kind of modification method of location data characterized by comprising
According to object to be positioned by mode of operation, the operation rotation data of the object to be positioned is obtained;
According to global position system GPS location data corresponding with the object to be positioned, the GPS of the object to be positioned is obtained Rotation data;Wherein, the GPS rotation data is object to be positioned in continuous three GPS data sampling instants collected three In the triangle for three coordinate points composition that a GPS positioning data are correspondingly formed, it is with intermediate samples moment corresponding coordinate points The interior angle angular values of the triangle on vertex;
According to the Standard Map relationship between operation rotation data and GPS rotation data, the operation rotation data and described GPS rotation data is modified GPS positioning data;
Wherein, the Standard Map relationship according between operation rotation data and GPS rotation data, the operation rotation data And the GPS rotation data, GPS positioning data are modified, comprising:
It is true according to the Standard Map relationship operated between rotation data and GPS rotation data and the operation rotation data The theoretical correction direction of the fixed GPS rotation data;
Using the intersection point of the theoretical correction direction and border circular areas as the correction result of GPS positioning data, wherein the circle The center of circle in region is the corresponding coordinate points of GPS positioning data at the intermediate samples moment of continuous three sampling instants, the circle The radius in region be the intermediate samples moment of continuous three sampling instants the corresponding coordinate points of GPS positioning data with it is described The connecting line of the corresponding coordinate points of GPS positioning data of the last sampling instant of continuous three sampling instants.
2. the method according to claim 1, wherein the object to be positioned includes automobile.
3. according to the method described in claim 2, it is characterized in that, according to object to be positioned by mode of operation, described in acquisition The operation rotation data of object to be positioned includes:
Obtain the image data of the steering wheel of automotive interior in correction time section in real time by camera;
First frame image in the image data of the steering wheel is compared with last frame image, obtains the steering wheel Operation rotation data of the rotational parameters of Plays object of reference as the object to be positioned.
4. according to the method described in claim 3, it is characterized in that, according to GPS positioning number corresponding with the object to be positioned According to the GPS rotation data for obtaining the object to be positioned includes:
Will end of time corresponding with the correction time section as current sample time, obtain and the object pair to be positioned First answered GPS positioning data to be processed;
In setting storage region, obtains two GPS positioning data before sampling instant is located at the current sample time and make For the second GPS positioning data to be processed, wherein the sampling interval of the GPS positioning data and correction time section phase Match;
According to the sequencing of sampling instant, determining first geographical location seat corresponding with each location data to be processed respectively Punctuate, the second geographical position coordinates point and third geographical position coordinates point;
The line of the first geographical position coordinates point and the second geographical position coordinates point is calculated as the first angle side, with And the line of the second geographical coordinate point and the third geographical position coordinates point is as the second angle side;
By first angle while and when second angle between angle, the GPS as the object to be positioned rotates Data.
5. according to the method described in claim 4, it is characterized in that, according between operation rotation data and GPS rotation data Standard Map relationship, the operation rotation data and the GPS rotation data, are modified GPS positioning data and include:
According to the Standard Map relationship between the operation rotation data, and operation rotation data and GPS rotation data, determine Ideal GPS rotation data corresponding with the operation rotation data;
If the ideal GPS rotation data and the GPS rotation data are inconsistent, according to the ideal GPS rotation data And first angle side, determine the theoretical correction direction on second angle side;
It is geographical to the third according to the theoretical correction direction on second angle side and the second geographical position coordinates point Position coordinates point is modified.
6. according to the method described in claim 5, it is characterized in that, according to the theoretical correction direction on second angle side and The second geographical position coordinates point, is modified the third geographical position coordinates point and includes:
Using the second geographical position coordinates point as the center of circle, circle is done using second angle side as radius;
By coordinate points of the circle on the theoretical correction direction on second angle side, as the third geographical position coordinates The correction value of point.
7. the method according to claim 1, wherein further include:
In testing time section, obtain respectively corresponding with the object to be positioned at least one object run rotation data with And at least one target GPS rotation data corresponding with the object run rotation data;
According to the corresponding relationship between the object run rotation data and the target GPS rotation data, the operation is determined Standard Map relationship between rotation data and GPS rotation data.
8. a kind of correcting device of location data characterized by comprising
It operates rotation data and obtains module, for, by mode of operation, obtaining the object to be positioned according to object to be positioned Operate rotation data;
GPS rotation data obtains module, for positioning number according to global position system GPS corresponding with the object to be positioned According to the GPS rotation data of the acquisition object to be positioned;Wherein, the GPS rotation data is object to be positioned at continuous three In the triangle for three coordinate points composition that the collected three GPS positioning data of GPS data sampling instant are correspondingly formed, in Between the corresponding coordinate points of sampling instant be vertex triangle interior angle angular values;
GPS positioning data correction module, for according to operation rotation data and GPS rotation data between Standard Map relationship, The operation rotation data and the GPS rotation data, are modified GPS positioning data;
Wherein, the GPS positioning data correction module is specifically used for:
It is true according to the Standard Map relationship operated between rotation data and GPS rotation data and the operation rotation data The theoretical correction direction of the fixed GPS rotation data;
Using the intersection point of the theoretical correction direction and border circular areas as the correction result of GPS positioning data, wherein the circle The center of circle in region is the corresponding coordinate points of GPS positioning data at the intermediate samples moment of continuous three sampling instants, the circle The radius in region be the intermediate samples moment of continuous three sampling instants the corresponding coordinate points of GPS positioning data with it is described The connecting line of the corresponding coordinate points of GPS positioning data of the last sampling instant of continuous three sampling instants.
9. device according to claim 8, which is characterized in that the object to be positioned includes automobile.
10. device according to claim 9, which is characterized in that operation rotation data obtains module and includes:
Image data acquisition unit, for obtaining the figure of the steering wheel of automotive interior in correction time section in real time by camera As data;
Rotational parameters acquiring unit, for by the image data of the steering wheel first frame image and last frame image into Row compares, and obtains operation rotation data of the rotational parameters of the steering wheel Plays object of reference as the object to be positioned.
11. device according to claim 10, which is characterized in that GPS rotation data obtains module and includes:
First GPS positioning data capture unit to be processed, being used for will end of time conduct corresponding with the correction time section Current sample time obtains first GPS positioning data to be processed corresponding with the object to be positioned;
Second GPS positioning data capture unit to be processed is located at described work as in setting storage region, obtaining sampling instant Two GPS positioning data before preceding sampling instant are as the second GPS positioning data to be processed, wherein the GPS positioning data Sampling interval match with the correction time section;
Coordinate points determination unit determines and each location data to be processed respectively for the sequencing according to sampling instant Corresponding first geographical position coordinates point, the second geographical position coordinates point and third geographical position coordinates point;
Angle side computing unit, for calculating the company of the first geographical position coordinates point Yu the second geographical position coordinates point Line is as the line of the first angle side and the second geographical coordinate point and the third geographical position coordinates point as second Angle side;
Angle calcu-lation unit, for by first angle while and when second angle between angle, as it is described to Position the GPS rotation data of object.
12. device according to claim 11, which is characterized in that GPS positioning data correction module includes:
Ideal GPS rotation data determination unit, for being turned according to the operation rotation data, and operation rotation data and GPS Standard Map relationship between dynamic data, determines ideal GPS rotation data corresponding with the operation rotation data;
Second angle side theoretical correction direction-determining unit, if rotating number for the ideal GPS rotation data and the GPS According to inconsistent, then according to the ideal GPS rotation data and first angle side, the theory on second angle side is determined Correct direction;
Third geographical position coordinates point amending unit, for according to the theoretical correction direction on second angle side and described 2 geographical position coordinates points are modified the third geographical position coordinates point.
13. device according to claim 12, which is characterized in that third geographical position coordinates point amending unit includes:
Circumference determines subelement, is used for using the second geographical position coordinates point as the center of circle, using second angle side as radius Do circle;
Third geographical position coordinates point correction value determines subelement, for the theoretical correction by the circle on second angle side Coordinate points on direction, the correction value as the third geographical position coordinates point.
14. device according to claim 8, which is characterized in that further include:
Rotation data acquiring unit, for obtaining respectively corresponding at least with the object to be positioned in testing time section One object run rotation data and at least one target GPS rotation data corresponding with the object run rotation data;
Mapping relations determination unit, for according between the object run rotation data and the target GPS rotation data Corresponding relationship determines the Standard Map relationship between the operation rotation data and GPS rotation data.
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