CN106289307B - A kind of optimization method of the VMT Vehicle-Miles of Travel algorithm based on satellite positioning application - Google Patents
A kind of optimization method of the VMT Vehicle-Miles of Travel algorithm based on satellite positioning application Download PDFInfo
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- CN106289307B CN106289307B CN201610624177.8A CN201610624177A CN106289307B CN 106289307 B CN106289307 B CN 106289307B CN 201610624177 A CN201610624177 A CN 201610624177A CN 106289307 B CN106289307 B CN 106289307B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C22/00—Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers, using pedometers
Abstract
A kind of VMT Vehicle-Miles of Travel algorithm based on satellite positioning application, step include: that an initial origin is arranged for vehicle driving trace；It is primary to vehicle location every 5 seconds, obtain positioning coordinate；Direction of traffic is checked when positioning, determines position function；Determine mileage experiment curv；Arc length absolute value summation on will be equidirectional obtains mileage.It the beneficial effects of the present invention are: the present invention, which is used, calculates the distance between two o'clock for the method for the arc length of the equivalent Cheng Yuan of two o'clock, and joined the rule of optimization algorithm, improve the precision of ranging.
Description
Technical field
The present invention relates to GPS field of locating technology is belonged to, be related to it is a kind of based on satellite positioning application vehicle driving in
Journey algorithm.
Background technique
The basic principle of GPS navigation system is to measure the satellite of known location the distance between to receiver user, so
The data for integrating multi-satellite afterwards just may know that the specific location of receiver.It is not accurate enough by GPS satellite positioning distance measuring at present,
Since the surface of the earth is ellipse, the simple linear distance using between two o'clock replaces the length of circular arc that can generate accumulation mistake
Poor effect, therefore, remote ranging can bring very big error.
Summary of the invention
Present invention aim to address the prior art position it is not accurate enough and provide it is a kind of based on satellite positioning application
VMT Vehicle-Miles of Travel algorithm.
The present invention solves above-mentioned technical problem by following technological means: a kind of vehicle row based on satellite positioning application
Mileage algorithm is sailed, step includes: that an initial origin is arranged for vehicle driving trace: it is mobile eventually that the automobile is equipped with satellite
End, is connected to wireless communication networks by base station, records original real-time measurement orbital data；It is primary to vehicle location every 5 seconds,
Obtain positioning coordinate: original real-time measurement orbital data is subjected to navigation calculating sequentially in time, obtain accurate deflection,
Inclination angle and roll angle, and navigate raw data is recorded in real time, and the data are located offline by Data Post unit
Reason；Direction of traffic is checked when positioning: the processing of the level signal of vehicle mileage meter is realized, according to the successive judgement vehicle of level signal
The rotating direction of wheel, and one of pulse signal is accumulated according to direction or successively decrease calculating whether be negative value, if it is
Negative value illustrates that driving direction changes, and resets origin, finder return step one；It determines mileage experiment curv: making
The shape of track circuit in a horizontal plane is described with horizontal direction angle and navigate raw data, establishes and retouches in direction mile coordinate
State the direction mile experiment curv of track circuit geometry in a horizontal plane；Determine position function: in navigate raw data
The coordinate points repeatedly extracted carry out Matlab circular fitting, by the track fitting of running car in the same direction at a Duan Yuan
Arc, and pass through the AB circular arc calculation formula under polar coordinates: A (α1,β1),B(α2,β2),L=R*Θ=R*arccos[cos(α1-α2)
cosβ1cosβ2+sinβ1sinβ2] calculate mileage arc length；Determine mileage number: the arc length absolute value summation on will be equidirectional
To obtain mileage.
Preferably, the positioning coordinate information includes direction, height above sea level, longitude, latitude, positioning time.
Preferably, the original real-time measurement orbital data includes satellite position data and satellite time reference data.
Preferably, satellite mobile terminal includes satellite signal receiving apparatus and data processing transmitting device in vehicle, described
Satellite signal receiving apparatus is used for position function for receiving original real-time measurement orbital data, the data processing transmitting device
With mileage experiment curv, and mileage addition is carried out.
Preferably, the satellite time reference data is subtracted using the estimated code phase migration of the base station location
Value for correct vehicle operation side away from.
Preferably, the data processing i.e. raw measurement data is pre-processed, export base station position-order row number,
GPS data, horizontal direction angle and inclination angle are simultaneously recorded.
Preferably, the satellite mobile terminal further includes reference mode, for record do not have to position Perfect Time with it is right
The satellite position data answered.
The method of the arc length of the equivalent Cheng Yuan of two o'clock is calculated between two o'clock the beneficial effects of the present invention are: the present invention uses
Distance, and the step of joined optimization algorithm improve the precision of ranging.
Detailed description of the invention
Fig. 1 is flow diagram of the present invention.
Specific embodiment
With reference to the accompanying drawing, the present invention is described further.
Embodiment 1:
As shown in Figure 1, a kind of VMT Vehicle-Miles of Travel algorithm based on satellite positioning application, step includes: for vehicle row
Sail track and an initial origin is arranged: the automobile is equipped with satellite mobile terminal, is connected to wireless communication networks by base station,
Record original real-time measurement orbital data；It is primary to vehicle location every 5 seconds, obtain positioning coordinate: by original real-time measurement rail
Track data carries out navigation calculating sequentially in time, obtains the navigate raw datas such as accurate deflection, inclination angle and roll angle,
And navigate raw data is recorded in real time, and the data are subjected to processed offline by Data Post unit；Vehicle is checked when positioning
Direction: realizing the processing of the level signal of vehicle mileage meter, according to the rotating direction of the successive judgement wheel of level signal, and
One of pulse signal is accumulated according to direction or whether calculating of successively decreasing is negative value, illustrates driving direction if it is negative value
It changes, resets origin, finder return step one；It determines mileage experiment curv: using horizontal direction angle and leading
Boat initial data describes the shape of track circuit in a horizontal plane, and description track circuit is established in direction mile coordinate in level
The direction mile experiment curv of geometry in face；Determine position function: to the coordinate points repeatedly extracted in navigate raw data
Matlab circular fitting is carried out, by the track fitting of running car in the same direction at one section of circular arc, and passes through polar coordinates
Under AB circular arc calculation formula: A (α1,β1),B(α2,β2),L=R*Θ=R*arccos[cos(α1-α2)cosβ1cosβ2+sinβ1sinβ2] calculate mileage arc length；Determine mileage number: the arc length absolute value summation on will be equidirectional can obtain mileage.
Embodiment 2:
As shown in Figure 1, a kind of VMT Vehicle-Miles of Travel algorithm based on satellite positioning application, step includes: for vehicle row
Sail track and an initial origin is arranged: the automobile is equipped with satellite mobile terminal, is connected to wireless communication networks by base station,
Record original real-time measurement orbital data；It is primary to vehicle location every 5 seconds, obtain positioning coordinate: by original real-time measurement rail
Track data carries out navigation calculating sequentially in time, obtains the navigate raw datas such as accurate deflection, inclination angle and roll angle,
And navigate raw data is recorded in real time, and the data are subjected to processed offline by Data Post unit；Vehicle is checked when positioning
Direction: realizing the processing of the level signal of vehicle mileage meter, according to the rotating direction of the successive judgement wheel of level signal, and
One of pulse signal is accumulated according to direction or whether calculating of successively decreasing is negative value, illustrates driving direction if it is negative value
It changes, resets origin, finder return step one；It determines mileage experiment curv: using horizontal direction angle and leading
Boat initial data describes the shape of track circuit in a horizontal plane, and description track circuit is established in direction mile coordinate in level
The direction mile experiment curv of geometry in face；Determine position function: to the coordinate points repeatedly extracted in navigate raw data
Matlab circular fitting is carried out, by the track fitting of running car in the same direction at one section of circular arc, and passes through polar coordinates
Under AB circular arc calculation formula: A (α1,β1),B(α2,β2),L=R*Θ=R*arccos[cos(α1-α2)cosβ1cosβ2+sinβ1sinβ2] calculate mileage arc length；Determine mileage number: the arc length absolute value summation on will be equidirectional can obtain mileage, described
Positioning coordinate information includes direction, height above sea level, longitude, latitude, positioning time.
Embodiment 3:
As shown in Figure 1, a kind of VMT Vehicle-Miles of Travel algorithm based on satellite positioning application, step includes: for vehicle row
Sail track and an initial origin is arranged: the automobile is equipped with satellite mobile terminal, is connected to wireless communication networks by base station,
Record original real-time measurement orbital data；It is primary to vehicle location every 5 seconds, obtain positioning coordinate: by original real-time measurement rail
Track data carries out navigation calculating sequentially in time, obtains the navigate raw datas such as accurate deflection, inclination angle and roll angle,
And navigate raw data is recorded in real time, and the data are subjected to processed offline by Data Post unit；Vehicle is checked when positioning
Direction: realizing the processing of the level signal of vehicle mileage meter, according to the rotating direction of the successive judgement wheel of level signal, and
One of pulse signal is accumulated according to direction or whether calculating of successively decreasing is negative value, illustrates driving direction if it is negative value
It changes, resets origin, finder return step one；It determines mileage experiment curv: using horizontal direction angle and leading
Boat initial data describes the shape of track circuit in a horizontal plane, and description track circuit is established in direction mile coordinate in level
The direction mile experiment curv of geometry in face；Determine position function: to the coordinate points repeatedly extracted in navigate raw data
Matlab circular fitting is carried out, by the track fitting of running car in the same direction at one section of circular arc, and passes through polar coordinates
Under AB circular arc calculation formula: A (α1,β1),B(α2,β2),L=R*Θ=R*arccos[cos(α1-α2)cosβ1cosβ2+sinβ1sinβ2] calculate mileage arc length；Determine mileage number: the arc length absolute value summation on will be equidirectional can obtain mileage, described
Original real-time measurement orbital data includes satellite position data and satellite time reference data.
Embodiment 4:
As shown in Figure 1, a kind of VMT Vehicle-Miles of Travel algorithm based on satellite positioning application, step includes: for vehicle row
Sail track and an initial origin is arranged: the automobile is equipped with satellite mobile terminal, is connected to wireless communication networks by base station,
Record original real-time measurement orbital data；It is primary to vehicle location every 5 seconds, obtain positioning coordinate: by original real-time measurement rail
Track data carries out navigation calculating sequentially in time, obtains the navigate raw datas such as accurate deflection, inclination angle and roll angle,
And navigate raw data is recorded in real time, and the data are subjected to processed offline by Data Post unit；Vehicle is checked when positioning
Direction: realizing the processing of the level signal of vehicle mileage meter, according to the rotating direction of the successive judgement wheel of level signal, and
One of pulse signal is accumulated according to direction or whether calculating of successively decreasing is negative value, illustrates driving direction if it is negative value
It changes, resets origin, finder return step one；It determines mileage experiment curv: using horizontal direction angle and leading
Boat initial data describes the shape of track circuit in a horizontal plane, and description track circuit is established in direction mile coordinate in level
The direction mile experiment curv of geometry in face；Determine position function: to the coordinate points repeatedly extracted in navigate raw data
Matlab circular fitting is carried out, by the track fitting of running car in the same direction at one section of circular arc, and passes through polar coordinates
Under AB circular arc calculation formula: A (α1,β1),B(α2,β2),L=R*Θ=R*arccos[cos(α1-α2)cosβ1cosβ2+sinβ1sinβ2] calculate mileage arc length；Determine mileage number: the arc length absolute value summation on will be equidirectional can obtain mileage.Vehicle
Interior satellite mobile terminal includes satellite signal receiving apparatus and data processing transmitting device, and the satellite signal receiving apparatus is used for
Original real-time measurement orbital data is received, the data processing transmitting device is gone forward side by side for position function and mileage experiment curv
Row mileage is added.
Embodiment 5:
As shown in Figure 1, a kind of VMT Vehicle-Miles of Travel algorithm based on satellite positioning application, step includes: for vehicle row
Sail track and an initial origin is arranged: the automobile is equipped with satellite mobile terminal, is connected to wireless communication networks by base station,
Record original real-time measurement orbital data；It is primary to vehicle location every 5 seconds, obtain positioning coordinate: by original real-time measurement rail
Track data carries out navigation calculating sequentially in time, obtains the navigate raw datas such as accurate deflection, inclination angle and roll angle,
And navigate raw data is recorded in real time, and the data are subjected to processed offline by Data Post unit；Vehicle is checked when positioning
Direction: realizing the processing of the level signal of vehicle mileage meter, according to the rotating direction of the successive judgement wheel of level signal, and
One of pulse signal is accumulated according to direction or whether calculating of successively decreasing is negative value, illustrates driving direction if it is negative value
It changes, resets origin, finder return step one；It determines mileage experiment curv: using horizontal direction angle and leading
Boat initial data describes the shape of track circuit in a horizontal plane, and description track circuit is established in direction mile coordinate in level
The direction mile experiment curv of geometry in face；Determine position function: to the coordinate points repeatedly extracted in navigate raw data
Matlab circular fitting is carried out, by the track fitting of running car in the same direction at one section of circular arc, and passes through polar coordinates
Under AB circular arc calculation formula: A (α1,β1),B(α2,β2),L=R*Θ=R*arccos[cos(α1-α2)cosβ1cosβ2+sinβ1sinβ2] calculate mileage arc length；Determine mileage number: the arc length absolute value summation on will be equidirectional can obtain mileage, utilize
The estimated code phase migration of the base station location subtracts the value of the satellite time reference data for correcting vehicle operation
Side away from.
Embodiment 6:
As shown in Figure 1, a kind of VMT Vehicle-Miles of Travel algorithm based on satellite positioning application, step includes: for vehicle row
Sail track and an initial origin is arranged: the automobile is equipped with satellite mobile terminal, is connected to wireless communication networks by base station,
Record original real-time measurement orbital data；It is primary to vehicle location every 5 seconds, obtain positioning coordinate: by original real-time measurement rail
Track data carries out navigation calculating sequentially in time, obtains the navigate raw datas such as accurate deflection, inclination angle and roll angle,
And navigate raw data is recorded in real time, and the data are subjected to processed offline by Data Post unit；Vehicle is checked when positioning
Direction: realizing the processing of the level signal of vehicle mileage meter, according to the rotating direction of the successive judgement wheel of level signal, and
One of pulse signal is accumulated according to direction or whether calculating of successively decreasing is negative value, illustrates driving direction if it is negative value
It changes, resets origin, finder return step one；It determines mileage experiment curv: using horizontal direction angle and leading
Boat initial data describes the shape of track circuit in a horizontal plane, and description track circuit is established in direction mile coordinate in level
The direction mile experiment curv of geometry in face；Determine position function: to the coordinate points repeatedly extracted in navigate raw data
Matlab circular fitting is carried out, by the track fitting of running car in the same direction at one section of circular arc, and passes through polar coordinates
Under AB circular arc calculation formula: A (α1,β1),B(α2,β2),L=R*Θ=R*arccos[cos(α1-α2)cosβ1cosβ2+sinβ1sinβ2] calculate mileage arc length；Determine mileage number: the arc length absolute value summation on will be equidirectional can obtain mileage, described
Data processing pre-processes raw measurement data, exports the position-order row number, GPS data, horizontal direction angle of base station
With inclination angle and recorded.
Embodiment 7:
As shown in Figure 1, a kind of VMT Vehicle-Miles of Travel algorithm based on satellite positioning application, step includes: for vehicle row
Sail track and an initial origin is arranged: the automobile is equipped with satellite mobile terminal, is connected to wireless communication networks by base station,
Record original real-time measurement orbital data；It is primary to vehicle location every 5 seconds, obtain positioning coordinate: by original real-time measurement rail
Track data carries out navigation calculating sequentially in time, obtains the navigate raw datas such as accurate deflection, inclination angle and roll angle,
And navigate raw data is recorded in real time, and the data are subjected to processed offline by Data Post unit；Vehicle is checked when positioning
Direction: realizing the processing of the level signal of vehicle mileage meter, according to the rotating direction of the successive judgement wheel of level signal, and
One of pulse signal is accumulated according to direction or whether calculating of successively decreasing is negative value, illustrates driving direction if it is negative value
It changes, resets origin, finder return step one；It determines mileage experiment curv: using horizontal direction angle and leading
Boat initial data describes the shape of track circuit in a horizontal plane, and description track circuit is established in direction mile coordinate in level
The direction mile experiment curv of geometry in face；Determine position function: to the coordinate points repeatedly extracted in navigate raw data
Matlab circular fitting is carried out, by the track fitting of running car in the same direction at one section of circular arc, and passes through polar coordinates
Under AB circular arc calculation formula: A (α1,β1),B(α2,β2),L=R*Θ=R*arccos[cos(α1-α2)cosβ1cosβ2+sinβ1sinβ2] calculate mileage arc length；Determine mileage number: the arc length absolute value summation on will be equidirectional can obtain mileage, described
Satellite mobile terminal further includes reference mode, for recording the Perfect Time and the corresponding satellite position data that do not have to position.
Those skilled in the art should know the protection scheme of the present invention is not limited only to the above embodiments, can also be
Various permutation and combination and transformation are carried out on the basis of above-described embodiment, on the premise of without prejudice to spirit of the invention, to the present invention
The various transformation carried out are fallen within the scope of protection of the present invention.
Claims (7)
1. a kind of optimization method of the VMT Vehicle-Miles of Travel algorithm based on satellite positioning application, which is characterized in that its step includes:
1) an initial origin is arranged for vehicle driving trace: automobile is equipped with satellite mobile terminal, is connected to nothing by base station
Line communication network records original real-time measurement orbital data；
2) primary to vehicle location every 5 seconds, obtain positioning coordinate: by original real-time measurement orbital data sequentially in time into
Row navigation calculates, and obtains accurate deflection, inclination angle and roll angle,
And navigate raw data is recorded in real time, and the data are subjected to processed offline by Data Post unit；
3) direction of traffic is checked when positioning: realizing the processing of the level signal of vehicle mileage meter, according to successively sentencing for level signal
Determine the rotating direction of wheel, and one of pulse signal is accumulated according to direction or successively decrease calculating whether be negative value, such as
Fruit sails direction for negative value description line and changes,
Reset origin, finder return step 1)；
4) it determines mileage experiment curv: describing the shape of track circuit in a horizontal plane using horizontal direction angle and navigate raw data
Shape establishes the direction mile experiment curv of description track circuit geometry in a horizontal plane in direction mile coordinate；
5) it determines position function: Matlab circular fitting being carried out to the coordinate points repeatedly extracted in navigate raw data, by automobile
The track fitting of traveling in the same direction passes through the AB circular arc calculation formula under polar coordinates: A (α at one section of circular arc1,
β1),B(α2,β2), L=R* Θ=R*arccos [cos (α1-α2)cosβ1cosβ2+sinβ1sinβ2] calculate mileage arc length；
6) determine mileage number: the arc length absolute value summation on will be equidirectional obtains mileage.
2. the optimization method of the VMT Vehicle-Miles of Travel algorithm according to claim 1 based on satellite positioning application, feature
It is, the positioning coordinate information includes direction, height above sea level, longitude, latitude, positioning time.
3. the optimization method of the VMT Vehicle-Miles of Travel algorithm according to claim 1 based on satellite positioning application, feature
It is, the original real-time measurement orbital data includes satellite position data and satellite time reference data.
4. the optimization method of the VMT Vehicle-Miles of Travel algorithm according to claim 1 based on satellite positioning application, feature
It is, satellite mobile terminal includes satellite signal receiving apparatus and data processing transmitting device in vehicle, and the satellite-signal connects
Receiving apparatus is measured for receiving original real-time measurement orbital data, the data processing transmitting device for position function and mileage
Curve, and carry out mileage adduction.
5. the optimization method of the VMT Vehicle-Miles of Travel algorithm according to claim 3 based on satellite positioning application, feature
It is, subtracts the value of the satellite time reference data for correcting vehicle using the estimated code phase migration of the position of the base station
Operation side away from.
6. the optimization method of the VMT Vehicle-Miles of Travel algorithm according to claim 4 based on satellite positioning application, feature
It is, data processing pre-processes raw measurement data, exports position-order row number, GPS data, the horizontal direction of base station
Angle and inclination angle are simultaneously recorded.
7. the optimization method of the VMT Vehicle-Miles of Travel algorithm according to claim 1 based on satellite positioning application, feature
It is, the satellite mobile terminal further includes reference mode, for recording the Perfect Time and the corresponding satellite position that do not have to position
Set data.
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| CN109448377B (en) * | 2018-11-29 | 2020-07-28 | 交通运输部公路科学研究所 | Method for evaluating vehicle driving safety by using satellite positioning data |
| CN113643451B (en) * | 2021-08-17 | 2023-04-11 | 重庆愉客行网络有限公司 | Network car booking machine order receiving and charging system in offline state |
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| CN102981173A (en) * | 2012-12-25 | 2013-03-20 | 天泽信息产业股份有限公司 | Self-adapting correction method for mileage calculation |
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| US4788645A (en) * | 1986-03-21 | 1988-11-29 | Etak, Incorporated | Method and apparatus for measuring relative heading changes in a vehicular onboard navigation system |
| CN102981173A (en) * | 2012-12-25 | 2013-03-20 | 天泽信息产业股份有限公司 | Self-adapting correction method for mileage calculation |
| US9127946B1 (en) * | 2014-05-15 | 2015-09-08 | State Farm Mutual Automobile Insurance Company | System and method for identifying heading of a moving vehicle using accelerometer data |
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